Arrival angle determination method and related device

Abstract

The present application provides a method for determining an angle of arrival and a related device. The method comprises: obtaining a first phase difference of an antenna signal sent by a device under test in a first direction; determining a first angle of arrival of the antenna signal in a second direction, wherein the first direction intersects with the second direction; determining a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival; and determining a target angle of arrival at which the electronic device receives the antenna signal according to the first angle of arrival and the second angle of arrival. The method for determining an angle of arrival and the related device provided by the present application can improve the accuracy of the angle of arrival measurement of the antenna signal.

Description

Technical Field

[0001] The present application belongs to the technical field of angle of arrival measurement, and specifically relates to an angle of arrival determination method and related devices. Background Art

[0002] The arrival angle measurement of antenna signals is widely used in electronic equipment positioning, remote control of devices under test, etc. As the functions of electronic devices increase, the electromagnetic environment inside the electronic devices becomes more complex, and the influence of factors such as the electromagnetic environment inside the electronic devices on the arrival angle measurement of antenna signals also increases, resulting in inaccurate arrival angle measurement of antenna signals, affecting the positioning accuracy and remote control sensitivity of the devices under test. Therefore, how to improve the accuracy of the arrival angle measurement of antenna signals has become a technical problem that needs to be solved. Summary of the invention

[0003] The present application provides an arrival angle determination method and related devices for improving the accuracy of arrival angle measurement of antenna signals.

[0004] In a first aspect, the present application provides a method for determining an angle of arrival, the method comprising:

[0005] Obtaining a first phase difference of an antenna signal sent by the device under test in a first direction;

[0006] determining a first angle of arrival of the antenna signal in a second direction, wherein the first direction intersects the second direction;

[0007] determining a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival;

[0008] A target arrival angle at which the electronic device receives the antenna signal is determined according to the first arrival angle and the second arrival angle.

[0009] The arrival angle determination method provided in the embodiment of the present application determines the first arrival angle of the antenna signal in the second direction by obtaining a first phase difference of the antenna signal sent by the device to be tested in the first direction, wherein the first direction intersects with the second direction; after obtaining the first phase difference and the first arrival angle, the second arrival angle of the antenna signal in the first direction is determined according to the first phase difference and the first arrival angle; the target arrival angle of the electronic device receiving the antenna signal is determined according to the first arrival angle and the second arrival angle, so as to determine the three-dimensional arrival angle of the antenna signal received by the electronic device; it can be seen that the determination process of the second arrival angle involves the first arrival angle, which can effectively avoid the problem of inaccurate results caused by directly calculating the second arrival angle through the first phase difference, thereby improving the accuracy of the arrival angle measurement of the antenna signal.

[0010] In a second aspect, the present application provides an arrival angle determination device, comprising:

[0011] An acquisition module, used to acquire a first phase difference of an antenna signal sent by the device under test in a first direction;

[0012] a determination module, configured to determine a first arrival angle of the antenna signal in a second direction, wherein the first direction intersects the second direction;

[0013] The determination module is further used to determine a second arrival angle of the antenna signal in the first direction according to the first phase difference and the first arrival angle;

[0014] The determination module is further configured to determine a target arrival angle at which the electronic device receives the antenna signal according to the first arrival angle and the second arrival angle.

[0015] In a third aspect, the present application provides an electronic device, the electronic device comprising:

[0016] one or more processors;

[0017] One or more memories are used to store programs, and the one or more memories and the programs are configured so that the one or more processors control the device to execute the steps in any one of the methods described.

[0018] In a fourth aspect, the present application provides an electronic device, including:

[0019] An antenna assembly, comprising a first antenna group and a second antenna group, wherein the first antenna group is used to receive an antenna signal sent from the device under test in a first direction, and the second antenna group is used to receive an antenna signal sent from the device under test in a second direction, wherein the first direction intersects with the second direction;

[0020] A processor is electrically connected to the antenna assembly, and the processor is used to: obtain a first phase difference of the antenna signal sent by the device under test in the first direction; determine a first angle of arrival of the antenna signal in the second direction; determine a second angle of arrival of the antenna signal in the first direction based on the first phase difference and the first angle of arrival; and determine a target angle of arrival for the electronic device to receive the antenna signal based on the first angle of arrival and the second angle of arrival.

[0021] In a fifth aspect, the present application provides a computer-readable storage medium storing a computer program for electronic data exchange, wherein the computer program enables a computer to execute any one of the methods described. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 is a system diagram of an electronic device and a device under test provided by an embodiment of the present application;

[0024] Figure 2 yes Figure 1 A top view of the back side of the electronic device;

[0025] Figure 3 yes Figure 1 The module structure diagram of the communication between the electronic device and the device under test;

[0026] Figure 4 is a flow chart of a method for determining an angle of arrival provided in an embodiment of the present application;

[0027] Figure 5 This is a schematic diagram of the principle of measuring the angle of arrival based on the phase difference provided in the first embodiment of the present application.

[0028] Figure 6 This is a schematic diagram of the principle of measuring the angle of arrival provided by the second embodiment of the present application.

[0029] Figure 7 yes Figure 4 A flowchart of the steps before step 130 in FIG.

[0030] Figure 8 It is a correspondence table between a preset angle interval division and a second mapping relationship provided in an embodiment of the present application;

[0031] Fig. 9 It is a structural schematic diagram of the mapping relationship between the phase difference of the electronic device rotating around the horizontal direction and the vertical reaching angle provided in an embodiment of the present application;

[0032] Fig.10 It is a structural schematic diagram of the mapping relationship between the phase difference of the electronic device rotating around the vertical direction and the horizontal reaching angle provided in an embodiment of the present application;

[0033] Fig.11 It is a curve diagram between the horizontal arrival angle and the horizontal phase difference at different vertical angles provided by the embodiment of the present application.

[0034] Fig.12 yes Figure 4 The flowchart in step 130;

[0035] Fig.13 yes Figure 4 The flowchart in step 140;

[0036] Fig.14 is a schematic diagram of the first distance measurement method provided in the embodiment of the present application;

[0037] Fig.15 is a schematic diagram of a second distance measurement method provided in an embodiment of the present application;

[0038] Fig.16 It is a system block diagram of each module in the first arrival angle determination device provided in an embodiment of the present application;

[0039] Fig.17 is a system block diagram of a second arrival angle determination device provided in an embodiment of the present application;

[0040] Fig.18 It is a system block diagram of each module in the electronic device provided in the embodiment of the present application.

[0041] Description of Figure Numbers:

[0042] Electronic device 100; device under test 200; first UWB communication module 10; first antenna group 20; second antenna group 30; first sub-antenna unit 11; second sub-antenna unit 12; third sub-antenna unit 13; second UWB communication module 21; fourth sub-antenna unit 22; arrival angle determination device 300; acquisition module 310; determination module 320; division module 330; first determination unit 321; search unit 322; correction unit 323; division unit 331; second determination unit 332; processing module 341; communication module 342; storage module 343; processor 351; memory 352; communication unit 353; program 354. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application. Mentioning "embodiment" in this article means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The appearance of this phrase in various positions in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0044] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0045] See also Figure 1 , the present application relates to the measurement of the arrival angle of antenna signals, and its application scenarios include but are not limited to the electronic device 100 receiving the antenna signal sent by the device under test 200, detecting the arrival angle of the antenna signal to detect the position of the device under test 200, or remotely controlling the device under test 200, etc. Among them, the electronic device 100 includes but is not limited to any terminal device with an antenna module with a testable orientation. Specifically, the electronic device 100 may not be limited to various types of terminal devices such as laptop computers, tablet computers, mobile devices (for example, mobile phones (cell phones), portable music players, personal digital assistants, dedicated messaging devices, portable gaming devices, vehicle-mounted devices, and wearable devices).

[0046] The device under test 200 includes but is not limited to a device with an antenna signal transmission function, including but not limited to various types of terminal devices such as laptops, tablet computers, mobile devices (for example, mobile phones (cell phones), portable music players, personal digital assistants, dedicated messaging devices, portable gaming devices, vehicle-mounted devices, and wearable devices); it can also be a tag device worn on a person, pet, object, etc., a smart home, etc.

[0047] Optionally, the antenna signal includes but is not limited to an ultra-wideband (Ultra Wide Band, UWB) signal, a Bluetooth signal, a GPS signal, and the like. The embodiment of the present application is described by taking the antenna signal as an ultra-wideband signal as an example. Ultra-wideband (Ultra Wide Band, UWB) communication technology is a wireless carrier communication technology that uses a frequency bandwidth of more than 1 GHz. It does not use a sinusoidal carrier, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and the impulse pulse has a very high positioning accuracy. Using UWB technology, it is easy to combine positioning and communication, which is difficult for conventional radio to do. UWB technology has extremely strong penetration capabilities and can be accurately positioned indoors and underground, while the Global Positioning System (GPS) can only work within the visible range of GPS positioning satellites. Unlike GPS, which provides an absolute geographic location, an ultra-wideband radio locator can give a relative position with a positioning accuracy of up to centimeters.

[0048] The UWB antenna assembly in the electronic device 100 of the present application can realize distance measurement and angle measurement to achieve precise positioning. The principle of UWB distance measurement is the same as that of Global Navigation Satellite System (GNSS) outdoor positioning and Bluetooth indoor positioning, which uses the flight time of the radio signal to calculate the distance.

[0049] In the process of achieving precise positioning in three-dimensional space, the electronic device 100 receives the antenna signal transmitted by the device under test 200 to obtain the orientation of the device under test 200 relative to the electronic device 100 in the three-dimensional space and the distance at the orientation, and then determines the position of the device under test 200, so as to facilitate remote control, object search, or positioning of the device under test 200.

[0050] See also Figure 2 , the electronic device 100 includes an antenna assembly, the antenna assembly includes a first UWB communication module 10 and a first antenna group 20 and a second antenna group 30 electrically connected to the first UWB communication module 10. The first antenna group 20 is used to receive antenna signals in a first direction, and the second antenna group 30 is used to receive antenna signals in a second direction. The first direction intersects with the second direction, that is, the angle between the first direction and the second direction is 0-90°, including 90° and excluding 0°. Optionally, the first direction is perpendicular to the second direction.

[0051] Optionally, the first antenna group 20 includes at least two UWB antennas, and the second antenna group 30 includes at least two UWB antennas. Optionally, the at least two UWB antennas of the first antenna group 20 are arranged along a first direction, and the at least two UWB antennas of the second antenna group 30 are arranged along a second direction.

[0052] Optionally, taking the electronic device 100 as a mobile phone as an example, the short side direction of the electronic device 100 is the X-axis direction, the long side direction of the electronic device 100 is the Y-axis direction, and the thickness direction of the electronic device 100 is the Z-axis direction.

[0053] Optional, see Figure 2 , the first antenna group 20 includes a first UWB antenna 11 and a second UWB antenna 12 spaced apart along a first direction. The second antenna group 30 includes a second UWB antenna 12 and a third UWB antenna 13 spaced apart along a second direction. The first direction is the X-axis direction, and the second direction is the Y-axis direction. Optionally, the first UWB antenna 11, the second UWB antenna 12, and the third UWB antenna 13 are all UWB antennas.

[0054] Optional, see Figure 3 The device under test 200 further includes a second UWB communication module 21 and a fourth UWB antenna 22. The second UWB communication module 21 is used to excite the fourth UWB antenna 22 to transmit an antenna signal, that is, a UWB signal.

[0055] See also Figure 2 and Figure 3 The first UWB antenna 11 and the second UWB antenna 12 detect the received antenna signal and then detect the first angle of arrival in the first direction, which is recorded as the horizontal angle of arrival or the azimuth. The first angle of arrival is the angle between the antenna signal and the first reference plane F1. The first reference plane F1 is a plane parallel to the ZOY plane and passing through the midpoint between the first UWB antenna 11 and the second UWB antenna 12.

[0056] See also Figure 2 and Figure 3 , the second UWB antenna 12 and the third UWB antenna 13 detect the received antenna signal, and then detect the second arrival angle in the second direction, which is recorded as the vertical arrival angle or the pitch angle. The second arrival angle is the angle of the antenna signal relative to the second reference plane F2, and the second reference plane F2 is a plane parallel to the ZOX plane and passing through the midpoint between the second UWB antenna 12 and the third UWB antenna 13.

[0057] The present application does not limit the specific structure and installation position of the first UWB antenna 11, the second UWB antenna 12, and the third UWB antenna 13. Optionally, the first UWB antenna 11, the second UWB antenna 12, and the third UWB antenna 13 include but are not limited to at least one of a patch antenna, a PIFA antenna, a monopole antenna, a dipole antenna, a loop antenna, or a dielectric resonant antenna, and the specific antenna form is not limited. Optionally, the first UWB antenna 11, the second UWB antenna 12, and the third UWB antenna 13 can be installed on the inner surface or the outer surface of the back cover of the electronic device 100, or embedded between the inner and outer surfaces.

[0058] The three-dimensional angle of arrival of the antenna signal transmitted by the device under test 200 can be determined according to the first angle of arrival and the second angle of arrival, thereby determining the position of the device under test 200 relative to the electronic device 100. In addition, during the process of signal interaction between the electronic device 100 and the device under test 200, the electronic device 100 can determine the distance between the electronic device 100 and the device under test 200 through the flight time of the antenna signal, thereby ultimately determining the precise position of the device under test 200 relative to the electronic device 100.

[0059] The above is an example of the hardware environment of an electronic device 100 and a device under test 200 provided in this application. The following embodiment specifically describes a method for determining an angle of arrival provided in this application. Figure 4 , the method comprises at least the following steps.

[0060] Step 110: Obtain a first phase difference in a first direction of an antenna signal sent by the device under test 200. In this embodiment, the first direction is a horizontal direction, and the first phase difference may also be recorded as a horizontal phase difference. Of course, in other embodiments, the first direction may also be a vertical direction, and the first phase difference may be recorded as a vertical phase difference.

[0061] For details, please refer to Figure 2 and Figure 3 , the fourth UWB antenna 22 of the device under test 200 transmits a UWB antenna signal. The first UWB antenna 11 and the second UWB antenna 12 of the electronic device 100 can both receive UWB antenna signals. The first UWB antenna 11 and the second UWB antenna 12 are spaced apart. The distance at which the first UWB antenna 11 receives the UWB antenna signal is different from the distance at which the second UWB antenna 12 receives the UWB antenna signal, so the phase of the UWB antenna signal received by the first UWB antenna 11 is different from the phase of the UWB antenna signal received by the second UWB antenna 12, so the UWB antenna signals received by the first UWB antenna 11 and the second UWB antenna 12 will have a phase difference. The phase difference is the antenna signal arrival phase difference (Phase-Difference-of-Arrival, PDoA).

[0062] It can be understood that the first UWB communication module 10 is electrically connected to the first UWB antenna 11, the second UWB antenna 12 and the third UWB antenna 13. After the first UWB antenna 11 and the second UWB antenna 12 receive the UWB antenna signal, the first UWB communication module 10 is used to process and analyze the UWB antenna signal received by the first UWB antenna 11 and the UWB antenna signal received by the second UWB antenna 12 to obtain the phase difference between the UWB antenna signal received by the first UWB antenna 11 and the UWB antenna signal received by the second UWB antenna 12, that is, the first phase difference.

[0063] The electronic device 100 further includes a processor. The processor is electrically connected to the antenna assembly, that is, the processor is electrically connected to the first UWB communication module 10. The processor receives the first phase difference sent by the first UWB communication module 10 to obtain the first phase difference.

[0064] Step 120: Determine a first arrival angle of the antenna signal in a second direction, wherein the first direction intersects the second direction.

[0065] Optionally, the second direction is a vertical direction, and the first arrival angle is also recorded as a vertical arrival angle.

[0066] In this embodiment, please refer to Figure 2 and Figure 3 , the vertical angle of arrival is calculated by the second UWB antenna 12 and the third UWB antenna 13 which are arranged at intervals in the vertical direction. The specific determination method includes but is not limited to the second UWB antenna 12 and the third UWB antenna 13 respectively receiving the UWB antenna signal sent from the device under test 200, and the first UWB communication module 10 processes and analyzes the UWB antenna signal received by the second UWB antenna 12 and the UWB antenna signal received by the third UWB antenna 13 to obtain the phase difference between the UWB antenna signal received by the second UWB antenna 12 and the UWB antenna signal received by the third UWB antenna 13, which is recorded as the second phase difference, which can also be called the vertical phase difference. The processor obtains the vertical phase difference and determines the first angle of arrival according to the vertical phase difference.

[0067] Step 130: Determine a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival.

[0068] There is a corresponding relationship between the phase difference and the angle of arrival, and the corresponding relationship will be affected by the angle of arrival in other directions. For example, the corresponding relationship between the first phase difference (horizontal phase difference) and the second angle of arrival (horizontal angle of arrival) will be affected by the first angle of arrival (vertical angle of arrival). For example, when the first angle of arrival is 0°, the first phase difference and the second angle of arrival will form a mapping relationship. When the first angle of arrival is 20°, the first phase difference and the second angle of arrival will form another mapping relationship. These two mapping relationships can be represented by curves in the coordinate axis with the horizontal coordinate being the second angle of arrival and the vertical coordinate being the first phase difference. Among them, the two mapping relationships are different curves.

[0069] In the process of determining the second arrival angle, the processor determines the mapping relationship between the first phase difference and the second arrival angle according to the value of the first arrival angle. In other words, according to the difference in the first arrival angle, the processor determines the second arrival angle according to different mapping relationships. Compared with not considering the change in the mapping relationship between the first phase difference and the second arrival angle caused by the change in the first arrival angle, and only determining the second arrival angle according to the fixed mapping relationship and the first phase difference, this embodiment can obtain a more accurate second arrival angle, and then when determining the position of the device under test 200, the device under test 200 can be positioned more accurately, reducing the positioning error.

[0070] Step 140: Determine a target arrival angle at which the electronic device 100 receives the antenna signal according to the first arrival angle and the second arrival angle.

[0071] Optionally, in step 130, after the processor obtains a more accurate second angle of arrival, combined with the first angle of arrival obtained in step 120, the target angle of arrival of the antenna signal sent by the device under test 200 received by the electronic device 100 can be determined, that is, the three-dimensional angle of arrival (Angle-of-Arrival, AOA). In this way, the determined three-dimensional angle of arrival is more accurate.

[0072] Optionally, after the first arrival angle is obtained in step 120, the first arrival angle may be corrected to obtain a more accurate vertical arrival angle, and then a more accurate three-dimensional arrival angle is determined based on the more accurate vertical arrival angle and the more accurate horizontal arrival angle.

[0073] The above is an embodiment of determining the horizontal angle of arrival by the horizontal phase difference and the vertical angle of arrival. In other embodiments, the first phase difference may be a vertical phase difference, that is, obtained by two UWB antennas arranged in a vertical direction. The first angle of arrival may be a horizontal angle of arrival, and the second angle of arrival may be a vertical angle of arrival. That is, an embodiment of determining the vertical angle of arrival by the vertical phase difference and the horizontal angle of arrival.

[0074] At present, the short-range wireless communication module (such as the first UWB communication module 10) of the electronic device 100 is affected by other electromagnetic interference and other factors in the electronic device 100. When implementing pointing control, the existing method is often to first use a fitting curve to represent the functional relationship mapping between PDOA and AOA. This method requires converting the PDOA obtained by the received signal into an accurate arrival angle AOA. However, due to different postures, the fitting curves will be different. For example, the electronic device 100 has different fitting curves at different pitch angles. This method can easily lead to misjudgment and poor user experience. That is, when the actual vertical arrival angle changes, the mapping relationship between the vertical signal arrival phase difference measurement value and the horizontal arrival angle is different. Similarly, when the actual horizontal arrival angle changes, the mapping relationship between the horizontal signal arrival phase difference measurement value and the vertical arrival angle is different. The measurement error caused by the difference in the mapping relationship will be introduced into the AOA calculation process, resulting in a corresponding error in the AOA measurement result, resulting in a poor user experience.

[0075] The arrival angle determination method provided in the embodiment of the present application determines the first arrival angle of the antenna signal in the second direction by obtaining the first phase difference of the antenna signal sent by the device under test 200 in the first direction, wherein the first direction intersects with the second direction; after obtaining the first phase difference and the first arrival angle, the second arrival angle of the antenna signal in the first direction is determined according to the first phase difference and the first arrival angle; the target arrival angle of the electronic device 100 receiving the antenna signal is determined according to the first arrival angle and the second arrival angle, so as to determine the three-dimensional arrival angle of the antenna signal received by the electronic device 100; it can be seen that the determination process of the second arrival angle involves the first arrival angle, which can effectively avoid the problem of inaccurate results caused by directly calculating the second arrival angle through the first phase difference, thereby improving the accuracy of the arrival angle measurement of the antenna signal, and improving the precision of the pointing control and the user experience.

[0076] Optionally, before step 120 of "determining a first arrival angle of the antenna signal in the second direction", the arrival angle determination method further includes the following step of acquiring a second phase difference of the antenna signal in the second direction.

[0077] Please refer to Figure 2 and Figure 3, wherein the second direction is a vertical direction. The second UWB antenna 12 and the third UWB antenna 13 are spaced apart in the vertical direction. The distance at which the second UWB antenna 12 receives the UWB antenna signal is different from the distance at which the third UWB antenna 13 receives the UWB antenna signal, and the phase of the UWB antenna signal received by the second UWB antenna 12 is different from the phase of the UWB antenna signal received by the third UWB antenna 13, so the UWB antenna signals received by the second UWB antenna 12 and the third UWB antenna 13 will have a phase difference. The phase difference is the antenna signal arrival phase difference (Phase-Difference-of-Arrival, PDoA).

[0078] After the second UWB antenna 12 and the third UWB antenna 13 receive the UWB antenna signal, the processor is used to process and analyze the UWB antenna signal received by the second UWB antenna 12 and the UWB antenna signal received by the third UWB antenna 13 to obtain the phase difference between the UWB antenna signal received by the second UWB antenna 12 and the UWB antenna signal received by the third UWB antenna 13, that is, the second phase difference.

[0079] Optionally, step 120 of “determining a first arrival angle of the antenna signal in the second direction” includes: determining the first arrival angle of the antenna signal in the second direction according to the second phase difference and the first mapping relationship.

[0080] The device under test 200 transmits a UWB signal toward the electronic device 100 through the UWB antenna. When the electronic device 100 receives the UWB signal transmitted by the device under test 200 through the second UWB antenna 12 and the third UWB antenna 13, the phase of the UWB signal received by the second UWB antenna 12 and the third UWB antenna 13 can be measured respectively, and after calculating the second phase difference, the path difference p of the fourth UWB antenna 22 of the device under test 200 from the second UWB antenna 12 and the third UWB antenna 13 of the electronic device 100 can be calculated through the second phase difference PODA, and then the first arrival angle α1 can be calculated according to the path difference p and the distance d between the second UWB antenna 12 and the third UWB antenna 13 through the (trigonometric) function relationship. The measurement of the first arrival angle α1 includes but is not limited to the following implementations.

[0081] The angle data detection process provided by the first embodiment specifically includes but is not limited to the following:

[0082] Please also read Figure 5 , Figure 5This is a schematic diagram of measuring the angle of arrival based on the phase difference provided by the first embodiment of the present application. In this schematic diagram, point P1 represents the position of the first UWB antenna 11, point P2 represents the position of the third UWB antenna 13, and point P3 represents the position of the fourth UWB antenna 22 of the device under test 200; point P4 represents the midpoint of the line connecting P1 and P2. In this embodiment, θ1 represents the angle between the line connecting P1 P2 and the line connecting P3 P1; θ2 represents the angle between the line connecting P1 P2 and the line connecting P3 P2; θ represents the angle between the line connecting P1 P2 and the line connecting P3 P4; α represents the complementary angle of θ; D represents the distance between P3 P4; λ represents the wavelength of the electromagnetic wave signal received and transmitted by the first UWB antenna 11 and the third UWB antenna 13; f represents the frequency of the electromagnetic wave signal received and transmitted by the first UWB antenna 11 and the third UWB antenna 13; d max It indicates the maximum value of the distance between the first UWB antenna 11 and the third UWB antenna 13 .

[0083] Among them, D is much larger than λ, so θ1≈θ2≈θ.

[0084] Since the first UWB antenna 11 and the third UWB antenna 13 are both UWB antennas, therefore:

[0085] The range of f is 6.25GHz-8.25GHz;

[0086] Accordingly,

[0087] The range of λ is 36.4mm-48mm, then:

[0088] The range of λ / 2 is 18.2mm-24mm.

[0089] d max =18mm;

[0090] P5P1 is a dotted line parallel to P3P4, so the angle between P5P1 and P1P2 is also θ; P2P6 is a line perpendicular to P5P1, wherein the length of P1P6 is d1; in the triangle P2P6P1, the distance difference between the electromagnetic wave signal reaching the first UWB antenna 11 and the third UWB antenna 13 is d1:

[0091] d1=d cosθ=d sinα (1)

[0092] According to formula (1), the time difference t1 between the electromagnetic wave signal reaching the first UWB antenna 11 and the third UWB antenna 13 is:

[0093]

[0094] Here, c represents the speed of light, and t1 represents the time difference between when the electromagnetic wave signal reaches the first UWB antenna 11 and the third UWB antenna 13 , and therefore, it is also called Time Difference of Arrival (TDOA).

[0095] According to formula (2), the phase difference between the electromagnetic wave signal reaching the first UWB antenna 11 and the third UWB antenna 13 is for:

[0096]

[0097] because It represents the phase difference between the electromagnetic wave signal reaching the first UWB antenna 11 and the third UWB antenna 13, and is therefore also called the phase difference of arrival (PDOA). According to formula (3), the angle data α of the first UWB antenna 11 relative to the fourth UWB antenna 22 of the device under test 200 is:

[0098]

[0099] Wherein, α represents the angle of arrival (AOA) on the first reference plane F1, that is, the first angle of arrival α1. Wherein, formula (4) is a first mapping relationship between the first angle of arrival and the second phase difference. The first angle of arrival α1 of the antenna signal in the second direction is determined according to the second phase difference and the first mapping relationship.

[0100] The angle data detection process provided by the second embodiment specifically includes but is not limited to the following contents:

[0101] This embodiment calculates angle data based on a triangle model, and is described by taking the angle data calculation on the first reference plane F1 as an example.

[0102] Among them, see Figure 6 , Figure 6 This is a schematic diagram of the principle of measuring the angle of arrival provided by the second embodiment of the present application. Figure 6 Point A is the location of the fourth UWB antenna 22 of the device under test 200 , point B is the location of the first UWB antenna 11 , and point C is the location of the third UWB antenna 13 .

[0103] Optionally, in triangle ABC, the distance between AB can be measured by distance measurement, which is r; the distance between AC can also be measured by distance measurement, which is (rp) where P is the distance difference between AB and AC. The spacing between BC is a preset spacing d. According to the sine formula of angle α, it can be obtained:

[0104]

[0105] Define the distance between AD as y. In triangle ABD, sinα=y / r. Combining formula (5), we can get:

[0106]

[0107] Wherein, when d is equal to π / 2, p will be between (-λ / 2,λ / 2), and the values ​​of α and y can be calculated. α represents the angle of arrival (AOA) on the first reference plane F1, that is, the first angle of arrival α1. Wherein, formula (6) is the first mapping relationship between the first angle of arrival and the second phase difference. The first angle of arrival α1 of the antenna signal in the second direction is determined according to the second phase difference and the first mapping relationship.

[0108] In step 130, before "determining the second arrival angle of the antenna signal in the first direction according to the first phase difference and the first arrival angle", refer to Figure 7 , the arrival angle determination method also includes the following steps.

[0109] Step 131: Divide the angle range to which the first arrival angle belongs into a plurality of preset angle intervals, wherein the angle range to which the first arrival angle belongs is greater than or equal to -90° and less than or equal to 90°.

[0110] Due to the difference in the first arrival angle, the second mapping relationship between the second arrival angle and the first phase difference will be affected. Optionally, by dividing the angle range to which the first arrival angle belongs into a plurality of preset angle intervals. Subsequently, the second mapping relationship between the second arrival angle and the first phase difference in the plurality of preset angle intervals is determined respectively, so as to obtain different mapping relationships between the second arrival angle and the first phase difference in different preset angle intervals.

[0111] The present application does not specifically limit the angle range to which the first angle of arrival belongs. For example, the angle to which the first angle of arrival belongs may be (+90°)-(-90°). Of course, the angle to which the first angle of arrival belongs may also be (+80°)-(-80°). In other embodiments, the angle to which the first angle of arrival belongs may also be (+60°)-(-60°).

[0112] The present application does not specifically limit the number of preset angle intervals. For example, the number of preset angle intervals is 13, 17, etc.

[0113] Optionally, the greater the number of preset angle intervals, the greater the number of second mapping relationships between the second arrival angle and the first phase difference, and the second mapping relationship between the second arrival angle and the first phase difference is relatively more accurate, so that the first arrival angle subsequently calculated based on the second mapping relationship and the second phase difference is more accurate.

[0114] Step 132: Establish a one-to-one correspondence table between a plurality of the preset angle intervals and a plurality of second mapping relationships, wherein the second mapping relationship is a mapping relationship between the second arrival angle and the first phase difference within a preset angle interval, and different preset angle intervals correspond to different second mapping relationships.

[0115] A corresponding relationship table is established in which a plurality of the preset angle intervals correspond to a plurality of second mapping relationships in a one-to-one manner. Specifically, a mapping relationship between the second arrival angle and the first phase difference is established in each preset angle interval.

[0116] Among them, see Figure 8 , the preset angle intervals may be divided into a first preset angle interval (-60°)-(-30°), a second preset angle interval (-30°)-(0°), a third preset angle interval (0°)-(30°), and a fourth preset angle interval (30°)-(60°). Among them, the second mapping relationships from the first preset angle interval to the fourth preset angle interval are f1, f2, f3, and f4, respectively. Among them, at least two of f1, f2, f3, and f4 are different.

[0117] Of course, in other embodiments, by detecting the second mapping relationship corresponding to multiple second arrival angles. Among them, the multiple second arrival angles are (-60°), (-50°), (-40°), (-30°), (-20°), (-10°), (0°), (10°), (20°), (30°), (40°), (50°), (60°). The second mapping relationship corresponding to the above 13 second arrival angles is obtained, and then 13 second mapping relationships are obtained. Among them, the first preset angle interval is (-65°)-(-55°), and the second mapping relationship corresponding to the preset angle interval is the second mapping relationship corresponding to the second arrival angle of -60°. By analogy, the second mapping relationships corresponding to the 13 preset angle intervals are obtained. Each second mapping relationship is a curve within the coordinate axis formed by the first arrival angle and the second phase difference, and 13 curves are obtained. It should be noted that the above angle range of the second arrival angle and the number of preset angle intervals are all examples, and the above range and quantity are not limited.

[0118] The specific steps of obtaining a mapping relationship between the second arrival angle and the first phase difference within the preset angle interval include but are not limited to the following steps:

[0119] Specifically, a darkroom environment is built for communication between the electronic device 100 and the device under test 200. The electronic device 100 and the device under test 200 are located at the same height. When the first UWB antenna 11, the second UWB antenna 12, and the third UWB antenna 13 of the electronic device 100 are located on the back cover, the fourth UWB antenna 22 of the device under test 200 is arranged opposite to the back cover of the electronic device 100. Specifically, the fourth UWB antenna 22 of the device under test 200 is directly opposite to the back cover of the electronic device 100.

[0120] See also Fig. 9 , control the electronic device 100 to rotate around the first direction (X axis). When the fourth UWB antenna 22 of the device under test 200 is arranged opposite to the back cover of the electronic device 100, the vertical arrival angle of the UWB signal emitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 is 0°, and the horizontal arrival angle of the UWB signal emitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 is 0°.

[0121] See also Fig.10 , when the electronic device 100 rotates clockwise around the first direction (X axis), the vertical arrival angle of the UWB signal emitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 increases from 0° to 60° (it should be noted that 60° is an example value and can also be other angle values). When the electronic device 100 rotates counterclockwise around the first direction (X axis), the vertical arrival angle of the UWB signal emitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 decreases from 0° to -60° (it should be noted that -60° is an example value and can also be other angle values).

[0122] When the vertical arrival angle of the UWB signal transmitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 is 0°, the electronic device 100 is controlled to rotate clockwise around the first direction (X-axis), the horizontal arrival angle of the UWB signal transmitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 increases from 0° to 60°, and the value of the first phase difference during the clockwise rotation of the electronic device 100 around the first direction (X-axis) is continuously collected; the electronic device 100 is controlled to rotate counterclockwise around the first direction (X-axis), the horizontal arrival angle of the UWB signal transmitted by the fourth UWB antenna 22 of the device under test 200 to the electronic device 100 decreases from 0° to -60°, and the value of the first phase difference during the counterclockwise rotation of the electronic device 100 around the first direction (X-axis) is continuously collected; when the vertical arrival angle is 0°, a second mapping relationship between the horizontal arrival angle from -60° to 60° and the first phase difference (horizontal phase difference) is obtained. Of course, during data collection, the horizontal arrival angle can also be changed from -90° to 90°.

[0123] When the UWB signal emitted by the fourth UWB antenna 22 of the device under test 200 reaches another vertical arrival angle of the electronic device 100, for example 10°, the value of the first phase difference during the clockwise and counterclockwise rotation of the electronic device 100 around the first direction is continuously collected; when the vertical arrival angle is 10°, a second mapping relationship between the horizontal arrival angle from -60° to 60° and the first phase difference (horizontal phase difference) is obtained.

[0124] By analogy, the change of the first phase difference with the horizontal arrival angle when the vertical arrival angle is different angles can be obtained, that is, the second mapping relationship. For example, the change curve of the first phase difference with the horizontal arrival angle when the vertical arrival angle is (-60°), (-50°), (-40°), (-30°), (-20°), (-10°), (0°), (10°), (20°), (30°), (40°), (50°), (60°) is collected respectively to form a corresponding relationship table of multiple preset angle intervals and multiple second mapping relationships in one-to-one correspondence.

[0125] See also Fig.11 , Fig.11 This is a curve graph of the change of the first phase difference with the horizontal arrival angle when the vertical arrival angle is (-60°), (-50°), (-40°), (-30°), (-20°), (-10°), (0°), (10°), (20°), (30°), (40°), (50°), and (60°).

[0126] See also Fig.12 In step 130, "determining a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival" includes at least the following steps.

[0127] Step 133: Determine a target preset angle interval in which the first arrival angle is located among the plurality of preset angle intervals.

[0128] For example, the range of the first arrival angle is [-60°, 60°], and the range of the first arrival angle is divided into multiple preset angle intervals, for example, [-60°, -30°), [-30°, 0°), [0°, 30°), [30°, 60°].

[0129] Determine the target preset angle interval where the first arrival angle is located, that is, compare the first arrival angle with the maximum and minimum values ​​of the above four preset angle intervals in turn, and then determine the preset angle interval where the first arrival angle is located, that is, the target preset angle interval. For example, if the first arrival angle is 20°, then the target preset angle interval is [0°, 30°).

[0130] Step 134: searching for a target second mapping relationship corresponding to the target preset angle interval among a plurality of the second mapping relationships according to the target preset angle interval.

[0131] For example, according to the specific steps of obtaining the mapping relationship between the second arrival angle and the first phase difference within the preset angle range, the second mapping relationship corresponding to [-60°, -30°) is f1, the second mapping relationship corresponding to [-30°, 0°) is f2, the second mapping relationship corresponding to [0°, 30°) is f3, and the second mapping relationship corresponding to [30°, 60°] is f4.

[0132] According to the target preset angle interval determined in step 131, a target second mapping relationship is determined from multiple second mapping relationships. For example, if the target preset angle interval is [0°, 30°), then the target second mapping relationship is f2.

[0133] Step 135: Determine a second arrival angle of the antenna signal in the first direction according to the target second mapping relationship and the first phase difference.

[0134] After determining the target second mapping relationship, a second angle of arrival of the antenna signal in the first direction is determined according to the target second mapping relationship and the first phase difference.

[0135] For example, the target second mapping relationship is f2, the second mapping relationship f2 is determined in a correspondence table in which multiple preset angle intervals correspond to multiple second mapping relationships, and the second arrival angle is found in the second mapping relationship f2 according to the first phase. In this way, a more accurate second arrival angle can be determined.

[0136] Since the horizontal angle of arrival will not only change with the change of the horizontal phase difference, the second mapping relationship between the horizontal angle of arrival and the horizontal phase difference will also change with the change of the vertical angle of arrival, that is, when the vertical angle of arrival changes, there will be a different second mapping relationship between the horizontal angle of arrival and the horizontal phase difference. In this embodiment, when determining the horizontal angle of arrival, an accurate second mapping relationship is first determined according to the vertical angle of arrival, and then a more accurate horizontal angle of arrival is determined according to the accurate second mapping relationship, so as to improve the accuracy of the electronic device 100 in azimuth positioning of the device under test 200. Of course, when determining the vertical angle of arrival by the horizontal angle of arrival, it can also be determined in the above manner to obtain a more accurate vertical angle of arrival.

[0137] In an optional implementation, step 140: dividing the angle range to which the first angle of arrival belongs into a plurality of preset angle intervals includes: dividing the angle range to which the first angle of arrival belongs into a plurality of preset angle intervals in equal amounts.

[0138] For example, the range of the first arrival angle is [-60°, 60°], and the range of the first arrival angle is equally divided into a plurality of preset angle intervals, for example, [-60°, -30°), [-30°, 0°), [0°, 30°), [30°, 60°]. For another example, the range of the first arrival angle is [-60°, 60°], and the range of the first arrival angle is equally divided into a plurality of preset angle intervals, for example, [-60°, -50°), [-50°, -40°), [-40°, -30°), [-30°, -20°), [-20°, -10°), [-10°, 0°), [0°, 10°), [10°, 20°), [20°, 30°), [30°, 40°), [40°, 50°), [50°, 60°]. The present application does not limit the range of each equally divided interval. The range of each interval can be 5°, 10°, 20°, 30°, etc.

[0139] By equally dividing the angle range to which the first arrival angle belongs into a plurality of preset angle intervals, this division method is relatively simple. When establishing a correspondence table in which a plurality of the preset angle intervals correspond one to one with a plurality of second mapping relationships, it is only necessary to collect the second mapping relationship every time the first arrival angle changes by the same angle, thereby simplifying the process of establishing a correspondence table in which a plurality of the preset angle intervals correspond one to one with a plurality of second mapping relationships.

[0140] In another optional embodiment, step 140: dividing the angle range to which the first arrival angle belongs into multiple preset angle intervals, including: dividing the angle range to which the first arrival angle belongs into multiple unequal preset angle intervals, and determining the angle range of the preset angle interval based on the difference between the maximum value of the first phase difference and the minimum value of the second phase difference corresponding to the second arrival angle in multiple second mapping relationships.

[0141] For example, the range of the first arrival angle is [-60°, 60°], and the range of the first arrival angle is unequally divided into multiple preset angle intervals, for example, [-60°, -55°), [-55°, -50°), [-50°, -45°), [-45°, -40°), [-40°, -30°), [-30°, -20°), [-20°, -15°), [-15°, -10°), [-10°, 0°), [0°, 10°), [10°, 20°), [20°, 25°), [25°, 30°), [30°, 35°), [35°, 40°), [40°, 45°), [45°, 50°), [50°, 55°), [55°, 60°]. The present application does not limit the range of the unequally divided intervals. The range of the interval can be 5°, 10°, 20°, 30°, etc.

[0142] Further, the following steps may be performed in the step of determining to divide the angle range to which the first angle of arrival belongs into a plurality of preset angle intervals.

[0143] The first step: equally divide the angle range to which the first arrival angle belongs into a plurality of preset angle intervals, obtain the second mapping relationships corresponding to the plurality of preset angle intervals respectively, and establish a corresponding relationship table in which the plurality of preset angle intervals correspond to the plurality of second mapping relationships one by one.

[0144] Step 2: According to the correspondence table, determine the angle range of the preset angle interval according to the difference between the maximum value and the minimum value of the first phase difference corresponding to the second arrival angle.

[0145] Optionally, in the correspondence table, it is determined that the difference between the maximum and minimum values ​​of the first phase difference corresponding to the second arrival angle in the first interval is greater than or equal to a first preset value; in the correspondence table, it is determined that the difference between the maximum and minimum values ​​of the first phase difference corresponding to the second arrival angle in the second interval is less than the first preset value, and it is determined that the angle range of the preset angle interval in the first interval is less than the angle range of the preset angle interval in the second interval.

[0146] For example, the second arrival angle is equally divided in the first interval and the second interval, wherein the range of the first interval is equal to the range of the second interval, for example, the first interval is [-60°, -40°) and the second interval is [-40°, -20°); the number of preset angle intervals divided by the second arrival angle in the first interval is greater than the number of preset angle intervals divided in the second interval, so that the angle range of the preset angle interval in the first interval is smaller than the angle range of the preset angle interval in the second interval.

[0147] In this way, it can be determined that the number of preset angle intervals of the second arrival angle in the first interval [-60°, -40°) is greater than the number of preset angle intervals of the second arrival angle in the second interval [-40°, -20°). For example, the number of preset angle intervals of the second arrival angle in the first interval [-60°, -40°) is 4, and the number of preset angle intervals of the second arrival angle in the second interval [-40°, -20°) is 2. For example, the preset angle intervals of the second arrival angle in the first interval [-60°, -40°) are specifically divided into [-60°, -55°), [-55°, -50°), [-50°, -45°), [-45°, -40°), and the preset angle intervals of the second arrival angle in the second interval [-40°, -20°) are specifically divided into [-40°, -30°), [-30°, -20°).

[0148] Further optionally, the range of the preset angle interval in the first interval is determined according to a change trend of the difference between the maximum value and the minimum value of the first phase difference corresponding to the second arrival angle in the first interval.

[0149] For example, according to the gradual decrease in the difference between the maximum and minimum values ​​of the first phase difference corresponding to the second arrival angle in the first interval, it is determined that the range of the preset angle interval in the first interval gradually increases from -60° to -40°. For example, the preset angle interval of the second arrival angle in the first interval [-60°, -40°) is specifically divided into [-60°, -58°), [-58°, -55°), [-55°, -53°), [-53°, -50°), [-50°, -45°), [-45°, -40°).

[0150] In this embodiment, by unequally dividing the angle range to which the first arrival angle belongs into a plurality of preset angle intervals, this division method can, according to actual needs, when the difference between the maximum value and the minimum value of the first phase difference corresponding to the second arrival angle is large, divide the preset angle interval into a small range and a large density, so that the number of second mapping relationships corresponding to the second arrival angle in this interval is large, and the determined value of the second arrival angle is more precise; this division method can, according to actual needs, when the difference between the maximum value and the minimum value of the first phase difference corresponding to the second arrival angle is small, divide the preset angle interval into a relatively large range and a relatively small density, so that the number of second mapping relationships corresponding to the second arrival angle in this interval is relatively small, the determined value of the second arrival angle is more precise and the workload is relatively small, thereby avoiding unnecessary work and achieving efficient acquisition of accurate second arrival angles.

[0151] Optionally, before step 140 "determining the target arrival angle of the electronic device 100 receiving the antenna signal according to the first arrival angle and the second arrival angle", the method further includes: obtaining a second phase difference in the second direction of the antenna signal sent by the device under test 200. The aforementioned part of the method for obtaining the second phase difference is not repeated here for the step of "obtaining the second phase difference of the antenna signal in the second direction".

[0152] See also Fig.13 , step 140 "determine the target arrival angle for the electronic device 100 to receive the antenna signal based on the first arrival angle and the second arrival angle" also includes the following steps.

[0153] Step 141: Correct the first angle of arrival according to the second phase difference and the second angle of arrival, and determine the corrected first angle of arrival as a third angle of arrival.

[0154] Optionally, the second phase difference is a vertical phase difference, the first arrival angle is a vertical arrival angle, and the second arrival angle is a horizontal arrival angle. After acquiring the second phase difference and the second arrival angle, the vertical arrival angle is re-corrected, and the corrected vertical arrival angle is determined as the third arrival angle.

[0155] Among them, the implementation method of correcting the first arrival angle can refer to steps 131-135: divide the angle range to which the second arrival angle belongs into multiple preset angle intervals. Among them, the angle range to which the second arrival angle belongs is greater than or equal to -90° and less than or equal to 90°. Establish a correspondence table in which multiple preset angle intervals correspond to multiple third mapping relationships. Among them, the third mapping relationship is a mapping relationship between the first arrival angle and the second phase difference within a preset angle interval, and the third mapping relationships corresponding to different preset angle intervals are different; determine the target preset angle interval where the second arrival angle is located in the multiple preset angle intervals; according to the target preset angle interval, search for the target third mapping relationship corresponding to the target preset angle interval in the multiple third mapping relationships; determine the first arrival angle of the antenna signal after correction in the second direction according to the target third mapping relationship and the second phase difference, and determine it as the third arrival angle.

[0156] Since the vertical arrival angle will not only change with the change of the vertical phase difference, the third mapping relationship between the vertical arrival angle and the vertical phase difference will also change with the change of the horizontal arrival angle, that is, when the horizontal arrival angle changes, there will be a different third mapping relationship between the vertical arrival angle and the vertical phase difference. In the present embodiment, when determining the vertical arrival angle, an accurate third mapping relationship is first determined based on a relatively accurate horizontal arrival angle, and then a more accurate vertical arrival angle is determined based on the accurate third mapping relationship, so as to improve the accuracy of the electronic device 100 in azimuth positioning of the device under test 200.

[0157] Step 142: Determine a target arrival angle at which the electronic device 100 receives the antenna signal according to the second arrival angle and the third arrival angle.

[0158] Since the second arrival angle is obtained by acquiring a relatively accurate second mapping relationship, and the third arrival angle is obtained based on a relatively accurate third mapping relationship, the obtained second arrival angle and third arrival angle are more accurate, and thus the obtained target arrival angle is more accurate.

[0159] The method for determining the angle of arrival provided in the embodiment of the present application is different from the general technology in which the angle of arrival is determined according to the arrival phase difference according to a unified mapping relationship between the arrival phase difference and the arrival angle. Instead, the method determines the angle of arrival based on a more accurate mapping relationship between the arrival phase difference and the arrival angle, and determines a more accurate horizontal angle of arrival and / or vertical angle of arrival, so as to improve the accuracy of the azimuth positioning of the electronic device 100 with respect to the device under test 200.

[0160] In addition, during the signal interaction between the device under test 200 and the electronic device 100 provided by the present application, the distance between the device under test 200 and the electronic device 100 can also be detected when the arrival phase difference is performed. The orientation of the device under test 200 relative to the electronic device 100 is determined by detecting the target arrival angle, and the three-dimensional positioning of the device under test 200 relative to the electronic device 100 is determined in combination with the distance between the device under test 200 and the electronic device 100.

[0161] The electronic device 100 detects the distance between the device under test 200 and the electronic device 100, including but not limited to the following implementations:

[0162] In the first ranging implementation, the time delay of a single round-trip signal between the device under test 200 and the electronic device 100 is used, which is the flight time of the electromagnetic wave signal flying twice between the device under test 200 and the electronic device 100. Combined with the transmission speed of the electromagnetic wave signal between the device under test 200 and the electronic device 100, the device under test 200 can measure the distance between the device under test 200 and the electronic device 100.

[0163] The schematic diagram of the signal interaction and time axis in this embodiment is as follows Fig.14 The distance measurement process is described in detail below.

[0164] The ranging in this embodiment is based on the measurement of the time of a single round trip message. Fig.14 As shown, the device under test 200 ( Fig.14 Device A) actively sends data to electronic device 100 ( Fig.14 The electronic device 100 returns data to the device under test 200. Specifically, the device under test 200 actively sends (TX) data (corresponding to the TX time node to T in the figure). round The sending timestamp is recorded at the same time. After the electronic device 100 (Device B) receives (RX) the data, the receiving timestamp is recorded. RMARKER indicates the time point when the data transmission (reception or transmission) is completed; the delay T reply Afterwards, the electronic device 100 sends data and records the sending timestamp, and the device under test 200 receives data and records the receiving timestamp.

[0165] Specifically, the first antenna signal includes the TX data sent by the device under test 200 and the timestamp of sending the TX data. The second antenna signal includes the timestamp of the electronic device 100 receiving the RX data and the timestamp of the electronic device 100 transmitting the TX data; the device under test 200 can also obtain the timestamp of receiving the RX data. The above can obtain two time difference data, the time difference T between the device under test 200 sending the TX data and receiving the RX data round The time difference T between the electronic device 100 sending TX data and receiving RX data reply , and finally obtain the flight time of the electromagnetic wave signal between the device under test 200 and the electronic device 100 as follows:

[0166]

[0167] The two time differences are calculated based on the local clock. The local clock error can be offset, but there will be a slight clock offset between different devices. Assume that the clock offsets (also called crystal oscillator frequency offsets) of the device under test 200 and the electronic device 100 are e and A and e B Therefore, the flight time will increase with the increase of Treply, and the equation of ranging error is as follows:

[0168]

[0169] Wherein, Tprop is the actual flight time of the electromagnetic wave signal between the device under test 200 and the electronic device 100 .

[0170] The distance between the device under test 200 and the electronic device 100 can be calculated based on Tprop and the transmission speed of the electromagnetic wave signal in the air, wherein the transmission speed of the electromagnetic wave signal can be the speed of light.

[0171] It should be noted that the above is that the device under test 200 is the initiating node and the electronic device 100 is the responding node. In other embodiments, the device under test 200 can also be the responding node and the electronic device 100 is the initiating node. That is, the device under test 200 receives the first antenna signal from the electronic device 100, and sends the second antenna signal to the electronic device 100 through the fourth UWB antenna 22. The first antenna signal and the second antenna signal have a time correlation.

[0172] In this embodiment, the first antenna signal and the second antenna signal are both UWB signals. UWB technology can be used to accurately locate the electronic device 100, so that the device under test 200 can emit electromagnetic waves toward the location of the electronic device 100, and the electronic device 100 can receive more electromagnetic waves, thereby improving the charging efficiency. The distance measurement provided by this embodiment only requires a single signal round trip to measure the distance, which greatly shortens the distance measurement time and achieves an extremely fast distance measurement response.

[0173] In the second distance measurement implementation, by transmitting messages three times between the device under test 200 and the electronic device 100, two round-trip time delays are obtained. The time delay is the flight time of the electromagnetic wave signal flying twice between the device under test 200 and the electronic device 100. Combined with the transmission speed of the electromagnetic wave signal between the device under test 200 and the electronic device 100, the distance is measured at the electronic device 100. Fig.15 As shown, when the device under test 200 ( Fig.15 In the figure, after receiving the data, Device A immediately returns the data, and finally the following four time differences can be obtained:

[0174] Device under test 200( Fig.15 Where: Tround1 is the time difference between the first data transmission and the first data reception of Device A;

[0175] Electronic device 100( Fig.15 : The delay after Device B receives data for the first time is Treply1 (the delay after receiving the first data);

[0176] The time difference Tround2 between the first data transmission and the first data reception by the electronic device 100;

[0177] The delay after the device under test 200 receives data for the first time is Treply2 (the delay after receiving the second data);

[0178] Use the following formula to calculate the flight time of the electromagnetic wave signal

[0179]

[0180] Time error analysis: The above distance measurement mechanisms are all asymmetric distance measurement methods, because they do not require the same response time. Even if a 20ppm crystal is used, the clock error is at the ps level. The error formula is as follows:

[0181]

[0182] where k a and k bis the ratio of the actual frequency of the crystal to the nominal frequency, so k a and k b Very close to 1.

[0183] Although this implementation increases the response time compared to the first ranging implementation, it reduces the ranging error and improves the ranging accuracy by adding a round trip message.

[0184] It should be noted that the above description takes the device under test 200 as the initiating node and the electronic device 100 as the responding node. In other implementations, the device under test 200 may also be the responding node and the electronic device 100 may be the initiating node.

[0185] The distance measurement method of this embodiment is a three-message transmission method. In other embodiments, a four-message transmission method can also be performed. By increasing the number of message transmissions, the accuracy of the distance measurement can be further improved, thereby further improving the charging efficiency.

[0186] Any one of the first UWB antenna 11, the second UWB antenna 12, and the third UWB antenna 13 in the electronic device 100, or any two or three antenna units can be used to communicate with the fourth UWB antenna 22 of the device under test 200 to measure the distance between the electronic device 100 and the fourth UWB antenna 22 of the device under test 200.

[0187] like Fig.16 As shown, the embodiment of the present application further provides an arrival angle determination device 300, which may be the electronic device 100. Specifically, the arrival angle determination device 300 is used to execute the steps executed by the electronic device 100 in the above arrival angle determination method.

[0188] The arrival angle determination device 300 provided in the embodiment of the present application may include modules corresponding to the corresponding steps.

[0189] The embodiment of the present application can divide the functional modules of the arrival angle determination device 300 according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. The division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0190] In the case of dividing each functional module into corresponding functional modules, Fig.16 FIG. 2 is a schematic diagram showing a possible structure of the arrival angle determination device 300 involved in the above embodiment. Fig.16As shown, the arrival angle determination device 300 is applied to the electronic device 100; the device includes an acquisition module 310 and a determination module 320.

[0191] The acquisition module 310 is used to acquire a first phase difference of an antenna signal sent by the device under test 200 in a first direction.

[0192] The determination module 320 is configured to determine a first arrival angle of the antenna signal in a second direction, wherein the first direction intersects with the second direction.

[0193] The determination module 320 is further configured to determine a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival.

[0194] The determination module 320 is further configured to determine a target arrival angle at which the electronic device 100 receives the antenna signal according to the first arrival angle and the second arrival angle.

[0195] Optionally, before the determining module 320 “determines a first arrival angle of the antenna signal in the second direction”, the acquiring module 310 is further configured to acquire a second phase difference of the antenna signal in the second direction.

[0196] The process of "determining the first arrival angle of the antenna signal in the second direction" by the determination module 320 includes: determining the first arrival angle of the antenna signal in the second direction according to the second phase difference and the first mapping relationship.

[0197] Optional, such as Fig.16 As shown, the arrival angle determination device 300 further includes a division module 330 and a creation module.

[0198] Before the determining module 320 "determines the second arrival angle of the antenna signal in the first direction according to the first phase difference and the first arrival angle",

[0199] The division module 330 is used to divide the angle range to which the first arrival angle belongs into a plurality of preset angle intervals. The angle range to which the first arrival angle belongs is greater than or equal to -90° and less than or equal to 90°.

[0200] The establishment module is used to establish a correspondence table in which a plurality of the preset angle intervals correspond to a plurality of second mapping relationships in a one-to-one manner, wherein the second mapping relationship is a mapping relationship between the second arrival angle and the first phase difference within a preset angle interval, and different preset angle intervals correspond to different second mapping relationships.

[0201] like Fig.16As shown, the determination module 320 includes a first determination unit 321 and a search unit 322 .

[0202] In the process of the determination module 320 “determining the second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival”, it includes:

[0203] The first determining unit 321 is used to determine a target preset angle interval in which the first arrival angle is located among the plurality of preset angle intervals.

[0204] The searching unit 322 is configured to search, according to the target preset angle interval, a target second mapping relationship corresponding to the target preset angle interval among a plurality of the second mapping relationships.

[0205] The first determining unit 321 is further configured to determine a second angle of arrival of the antenna signal in the first direction according to the target second mapping relationship and the first phase difference.

[0206] like Fig.16 As shown, the division module 330 includes a division unit 331 and a second determination unit 332 .

[0207] In the process of "dividing the angle range to which the first angle of arrival belongs into a plurality of preset angle intervals" in the division module 330,

[0208] The division unit 331 is used to divide the angle range to which the first arrival angle belongs into a plurality of preset angle intervals in equal amounts.

[0209] Alternatively, the division unit 331 is used to divide the angle range to which the first arrival angle belongs into multiple unequal preset angle intervals, and the second determination unit 332 is used to determine the angle range of the preset angle interval based on the difference between the maximum and minimum values ​​of the first phase difference corresponding to the second arrival angle in multiple second mapping relationships.

[0210] Before the determination module 320 "determines the target arrival angle of the electronic device 100 receiving the antenna signal according to the first arrival angle and the second arrival angle", the acquisition module 310 is also used to obtain the second phase difference of the antenna signal sent by the device under test 200 in the second direction.

[0211] like Fig.16 As shown, the determination module 320 also includes a correction unit 323 .

[0212] In the process of the determination module 320 "determining the target arrival angle at which the electronic device 100 receives the antenna signal according to the first arrival angle and the second arrival angle",

[0213] The correction unit 323 corrects the first angle of arrival according to the second phase difference and the second angle of arrival, and determines the corrected first angle of arrival as a third angle of arrival.

[0214] The determining unit determines a target arrival angle at which the electronic device 100 receives the antenna signal according to the second arrival angle and the third arrival angle.

[0215] In the case of using an integrated unit, the structural diagram of another arrival angle determination device 300 provided in an embodiment of the present application is as follows: Fig.17 As shown. Fig.17 In the embodiment, the arrival angle determination device 300 includes: a processing module 341 and a communication module 342. The processing module 341 is used to control and manage the actions of the arrival angle determination device 300, for example, the steps performed by the acquisition module 310, the determination module 320, the division module 330 and the establishment module, and / or other processes for performing the technology described herein. The communication module 342 is used to support the interaction between the arrival angle determination device 300 and other devices. Fig.17 As shown, the arrival angle determination device 300 may further include a storage module 343 , and the storage module 343 is used to store program codes and data of the arrival angle determination device 300 .

[0216] Among them, the processing module 341 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 342 can be a transceiver, an RF circuit or a communication interface, and the like. The storage module 343 can be a memory.

[0217] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above-mentioned arrival angle determination device 300 and the arrival angle determination device 300 can both execute the above-mentioned Figure 2 The steps performed by the electronic device 100 in the method for determining the angle of arrival are shown.

[0218] like Fig.18 As shown, Fig.181 is a schematic diagram of another electronic device 100 provided in an embodiment of the present application. The electronic device 100 includes: one or more processors 351, one or more memories 352, a communication unit 353, and one or more programs 354, and the processor 351 is communicatively connected with the memories 352 and the communication unit 353 via an internal communication bus.

[0219] In a specific implementation, the one or more programs 354 are stored in the above-mentioned memory 352 and are configured to be executed by the above-mentioned processor 351. The one or more programs 354 include instructions for executing any step in the embodiments of the present application.

[0220] The communication unit 353 may include an antenna assembly, and the antenna assembly includes a first UWB communication module 10 , a first UWB antenna 11 , a second UWB antenna 12 , and a third UWB antenna 13 .

[0221] Among them, the processor 351 can be, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute various exemplary logic blocks, units and circuits described in conjunction with the disclosure of this application. The processor 351 can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication unit 353 can be a communication device, a transceiver, a transceiver circuit, and the like.

[0222] The memory 352 may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories. Among them, the nonvolatile memory may be a read only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0223] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0224] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method recorded in the above method embodiments, and the above computer includes an electronic device 100.

[0225] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product can be a software installation package, and the computer includes an electronic device 100.

[0226] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0227] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0228] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0229] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0230] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

[0231] Although the present application is disclosed as above, the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present application, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present application.

Claims

1. A method for determining an angle of arrival, characterized in that: The method comprises: Obtaining a first phase difference of an antenna signal sent by the device under test in a first direction; determining a first angle of arrival of the antenna signal in a second direction, wherein the first direction intersects the second direction; After acquiring the first arrival angle, correcting the first arrival angle, including dividing the angle range to which the first arrival angle belongs into a plurality of preset angle intervals, the angle range to which the first arrival angle belongs is greater than or equal to -90° and less than or equal to 90°; establishing a correspondence relationship table in which a plurality of the preset angle intervals correspond to a plurality of second mapping relationships in a one-to-one manner; Determining a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival; wherein the second mapping relationship is a mapping relationship between the second angle of arrival and the first phase difference within a preset angle interval, and different preset angle intervals correspond to different second mapping relationships; The target arrival angle for the electronic device to receive the antenna signal is determined according to the corrected first arrival angle and the second arrival angle.

2. The method according to claim 1, characterized in that Before “determining a first angle of arrival of the antenna signal in the second direction”, the method further includes: Acquire a second phase difference of the antenna signal in a second direction; “Determining a first angle of arrival of the antenna signal in a second direction” comprises: A first arrival angle of the antenna signal in the second direction is determined according to the second phase difference and the first mapping relationship.

3. The method according to claim 1, characterized in that “Determining a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival” comprises: Determine a target preset angle interval in which the first arrival angle is located among the plurality of preset angle intervals; Searching for a target second mapping relationship corresponding to the target preset angle interval among a plurality of the second mapping relationships according to the target preset angle interval; A second angle of arrival of the antenna signal in the first direction is determined according to the target second mapping relationship and the first phase difference.

4. The method according to claim 1, characterized in that "Dividing the angle range to which the first angle of arrival belongs into a plurality of preset angle intervals" includes: Divide the angle range to which the first angle of arrival belongs into a plurality of preset angle intervals in equal amounts; or, The angle range to which the first arrival angle belongs is divided into a plurality of unequal preset angle intervals, and the angle range of the preset angle interval is determined according to the difference between the maximum value and the minimum value of the first phase difference corresponding to the second arrival angle in a plurality of the second mapping relationships.

5. The method according to claim 1, characterized in that Before “determining a target arrival angle for receiving the antenna signal by the electronic device according to the first arrival angle and the second arrival angle”, the method further includes: Acquire a second phase difference of an antenna signal sent by the device under test in a second direction; "Determining a target arrival angle for receiving the antenna signal by the electronic device according to the first arrival angle and the second arrival angle", further comprising: correcting the first angle of arrival according to the second phase difference and the second angle of arrival, and determining the corrected first angle of arrival as a third angle of arrival; A target arrival angle at which the electronic device receives the antenna signal is determined according to the second arrival angle and the third arrival angle.

6. An arrival angle determination device, characterized in that: include: An acquisition module, used to acquire a first phase difference of an antenna signal sent by the device under test in a first direction; a determination module, configured to determine a first arrival angle of the antenna signal in a second direction, wherein the first direction intersects with the second direction; after acquiring the first arrival angle, correcting the first arrival angle, including dividing an angle range to which the first arrival angle belongs into a plurality of preset angle intervals, wherein the angle range to which the first arrival angle belongs is greater than or equal to -90° and less than or equal to 90°; and establishing a correspondence table in which a plurality of the preset angle intervals correspond to a plurality of second mapping relationships in a one-to-one manner; The determination module is further used to determine a second angle of arrival of the antenna signal in the first direction according to the first phase difference and the first angle of arrival; wherein the second mapping relationship is a mapping relationship between the second angle of arrival and the first phase difference within a preset angle interval, and different preset angle intervals correspond to different second mapping relationships; The determination module is further used to determine a target arrival angle at which the electronic device receives the antenna signal according to the corrected first arrival angle and the second arrival angle.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; One or more memories, used to store programs, the one or more memories and the programs are configured so that the one or more processors control the device to execute the steps in any one of the methods according to claims 1-5.

8. An electronic device, characterized in that: include: An antenna assembly, comprising a first antenna group and a second antenna group, wherein the first antenna group is used to receive an antenna signal sent from the device under test in a first direction, and the second antenna group is used to receive an antenna signal sent from the device under test in a second direction, wherein the first direction intersects with the second direction; A processor is electrically connected to the antenna assembly, and the processor is used to: obtain a first phase difference of the antenna signal sent by the device under test in the first direction; determine a first arrival angle of the antenna signal in the second direction; after obtaining the first arrival angle, correct the first arrival angle, including dividing the angle range to which the first arrival angle belongs into a plurality of preset angle intervals, the angle range to which the first arrival angle belongs is greater than or equal to -90° and less than or equal to 90°; establish a correspondence table in which a plurality of the preset angle intervals correspond to a plurality of second mapping relationships in a one-to-one correspondence; Determine a second angle of arrival of the antenna signal in the first direction based on the first phase difference and the first angle of arrival; wherein the second mapping relationship is a mapping relationship between the second angle of arrival and the first phase difference within a preset angle interval, and the second mapping relationships corresponding to different preset angle intervals are different; determine a target angle of arrival for the electronic device to receive the antenna signal based on the corrected first angle of arrival and the second angle of arrival.

9. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 5.

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