Method and device for optimizing angle of arrival measurement, and electronic equipment

Abstract

The embodiment of the present application discloses a method and device for optimizing the measurement of the angle of arrival, and an electronic device. The method includes: the sending device obtains the first angle of arrival measured by the receiving device; the sending device measures the second angle of arrival according to the signal sent by the receiving device; the sending device determines the third angle of arrival according to the error between the first angle of arrival and the second angle of arrival; when the third angle of arrival is not the first angle of arrival, the sending device sends the third angle of arrival to the receiving device. It can be seen that the embodiment of the present application is conducive to realizing the two-way measurement of the angle of arrival between devices, performing the measurement optimization of the angle of arrival, improving the measurement accuracy of the angle of arrival between devices, and ensuring that the wireless positioning between devices is more accurate.

Description

Technical Field

[0001] The present application relates to the field of wireless positioning technology, and specifically to a method and device for optimizing the measurement of an angle of arrival, and an electronic device. Background Art

[0002] As user demands increase, wireless positioning technology has received more and more attention, which has promoted the research of wireless positioning technology and the development of ranging technology. Among them, the use of angle of arrival (AOA) measurement schemes to achieve accurate positioning between devices has always been a research hotspot.

[0003] In the application of ultra wide band (UWB) technology, wireless fidelity (Wi-Fi) technology or Bluetooth technology as the arrival angle measurement scheme, the transmitting device usually uses a single antenna to send the signal, while the receiving device needs to use multiple receiving antennas, and the receiving device calculates the relative direction between the devices according to the phase difference of arrival (PDOA) of the signal arriving at the multiple receiving antennas.

[0004] However, in the actual measurement of the arrival angle, the measurement results of the arrival angle will be affected by many factors, such as signal interference, signal multipath effect, clock instability, insufficient arrival angle measurement capability, etc., which will lead to poor measurement accuracy of the arrival angle between devices and cause problems such as inaccurate wireless positioning between devices. Summary of the invention

[0005] The embodiments of the present application provide a method and device for optimizing the measurement of the angle of arrival, and an electronic device, in the hope of realizing bidirectional measurement of the angle of arrival between devices, and performing measurement optimization of the angle of arrival by determining the error size of the bidirectionally measured angle of arrival to improve the measurement accuracy of the angle of arrival between devices, and ensure that the wireless positioning between devices is more accurate.

[0006] In a first aspect, an embodiment of the present application provides a method for optimizing measurement of an angle of arrival, including:

[0007] The sending device obtains a first arrival angle measured by the receiving device;

[0008] The sending device measures and obtains a second arrival angle according to the signal sent by the receiving device;

[0009] The transmitting device determines a third arrival angle according to an error between the first arrival angle and the second arrival angle, wherein the third arrival angle includes one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle;

[0010] When the third arrival angle is not the first arrival angle, the transmitting device sends the third arrival angle to the receiving device.

[0011] In a second aspect, an embodiment of the present application provides an arrival angle measurement optimization device, which is applied to a sending device; the device includes a processing unit and a communication unit, and the processing unit is used to:

[0012] Acquire, by the communication unit, a first arrival angle measured from a receiving device;

[0013] Obtaining a second arrival angle by measuring the signal sent by the receiving device;

[0014] Determine a third arrival angle according to the error between the first arrival angle and the second arrival angle, wherein the third arrival angle includes one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle;

[0015] When the third arrival angle is not the first arrival angle, the third arrival angle is sent to the receiving device through the communication unit.

[0016] In a third aspect, an embodiment of the present application provides an electronic device, which is a sending device; the sending device includes a processor, a memory, and a communication interface, the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs are used to execute instructions for the steps in the first aspect of the embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to enable a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application.

[0018] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0019] It can be seen that in the embodiment of the present application, first, the sending device obtains the first arrival angle measured from the receiving device, and measures the second arrival angle according to the signal sent by the receiving device, so as to ensure that both the sending device and the receiving device measure the arrival angle, and realize the two-way measurement of the arrival angle between the devices. Secondly, the embodiment of the present application also considers that the sending device determines the third arrival angle by the error between the first arrival angle and the second arrival angle, and finally uses the third arrival angle as the final arrival angle between the devices, and performs wireless positioning between the devices, so that the measurement optimization of the arrival angle can be performed by judging the error size of the arrival angle measured in both directions to improve the measurement accuracy of the arrival angle between the devices, and the wireless positioning between the devices can be ensured to be more accurate. Finally, if the final arrival angle between the devices is not the first arrival angle, it means that there is an error in the arrival angle measured by the receiving device. At this time, the final arrival angle between the devices is sent to the receiving device by the sending device to update the arrival angle stored by the receiving device, so as to further realize the measurement optimization of the arrival angle between the devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0021] Figure 1 is a schematic diagram of the architecture of a wireless communication system provided in an embodiment of the present application;

[0022] Figure 2 It is a structural schematic diagram of an electronic device provided in an embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of a wireless positioning process provided by an embodiment of the present application;

[0024] Figure 4 It is a structural schematic diagram of a method for measuring an angle provided in an embodiment of the present application;

[0025] Figure 5 It is a flow chart of a method for optimizing the measurement of an angle of arrival provided in an embodiment of the present application;

[0026] Figure 6 This is a schematic diagram of the structure of a signal sent by a first antenna array sampling receiving device provided in an embodiment of the present application;

[0027] Figure 7 It is a structural schematic diagram of another method for measuring an angle provided in an embodiment of the present application;

[0028] Figure 8 It is a structural schematic diagram of another method for measuring an angle provided in an embodiment of the present application;

[0029] Fig. 9 This is a block diagram of the functional units of an arrival angle measurement optimization device provided in an embodiment of the present application;

[0030] Fig.10 It is a structural schematic diagram of another electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0031] 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 described clearly and completely 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, not 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.

[0032] The terms "first", "second", etc. in the specification, claims or the above-mentioned drawings of this application 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, software, 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.

[0033] Before describing the technical solutions of the embodiments of the present application, the wireless communication system and the hardware and software structure of the electronic device that may be involved in the present application are first introduced below.

[0034] The technical solution of the embodiment of the present application can be applied to Figure 1 The wireless communication system 10 includes a transmitting device 110 and a receiving device 120, and the transmitting device 110 and the receiving device 120 can exchange Bluetooth signals, wireless fidelity (Wi-Fi) signals, ultra wideband (UWB) signals, visible light signals, laser signals, Zigbee signals, near field communication (NFC) signals or a series of instructions. It should be noted that Figure 1This is only an example of the wireless communication system in the embodiment of the present application, and the wireless communication system 10 may also include other numbers of devices, which is not specifically limited.

[0035] In addition, the embodiments of the present application may collectively refer to the sending device and the receiving device as electronic devices. Among them, the electronic devices in the embodiments of the present application may be handheld devices, Internet of Things devices, tag devices, or wearable devices that support Bluetooth technology, Wi-Fi technology, or UWB technology. For example, user equipment (UE), terminal device (terminal device), mobile terminal (MT), intelligent terminal (IT), personal digital assistant (PDA), personal computer (PC), keys, wallets, cameras, household appliances, office equipment, watches, or smart bracelets, etc.

[0036] Combine the following Figure 2 The structure of the electronic device in the embodiment of the present application is described in detail, and it can be understood that: Figure 2 The illustrated structure does not constitute a specific limitation on the electronic device. In other embodiments of the present application, the electronic device may include more or fewer components than those shown in the figure, or combine some components, or separate some components, or arrange the components differently. Figure 2 The illustrated components may be implemented by hardware, software, or a combination of software and hardware.

[0037] See also Figure 2 , the electronic device may include a processor 201, a communication module 202, a storage module 203 and a power management module 204. The processor 201 is connected and controls the communication module 202, the storage module 203 and the power management module 204 in the form of a corresponding bus. The processor 201 is the control center of the electronic device and connects various parts of the electronic device through various interfaces and lines.

[0038] It should be noted that the processor 201 runs or executes the software programs and / or modules in the storage module 203, calls the stored data in the memory, performs various functions of the electronic device and processes data, and monitors the overall operation of the electronic device.

[0039] Specifically, the processor 201 may include one or more processing units. For example, the processor 201 may include a central processing unit (CPU), an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a field programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a baseband processor and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated in one or more processors.

[0040] Specifically, the communication unit 202 can implement UWB communication, Wi-Fi communication, Bluetooth communication, second-generation 2G mobile communication technology network, third-generation 3G mobile communication technology network, fourth-generation 4G mobile communication technology network, and fifth-generation 5G mobile communication technology network. In other words, the communication unit 202 may include one or more of a UWB module, a Bluetooth module, a Wi-Fi module, a Zigbee module, a visible light module, an NFC module, a laser module, and a 2G / 3G / 4G / 5G mobile communication module.

[0041] Specifically, the storage module 203 can be used to store software programs and / or modules, and can include a program storage area and a data storage area. Among them, the program storage area can be used to store the software program required for the operating system or at least one function, and the software program required for the at least one function can be used to perform the arrival angle optimization function in the embodiment of the present application. In addition, the storage module 203 may include a random access memory (RAM), a read-only memory (read-only memory), a non-transitory computer-readable storage medium, etc.

[0042] Specifically, the power management module 204 may include a power management chip, and may provide management functions such as power conversion, distribution, and detection for the electronic device.

[0043] Further, the electronic device in the embodiment of the present application may include a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. The application layer includes applications such as a browser, an address book, a word processing software, and an instant messaging software. In addition, the embodiment of the present application does not specifically limit the specific structure of the execution subject of the method provided in the embodiment of the present application, as long as it can communicate according to the method provided in the embodiment of the present application by running a program that records the code of the method provided in the embodiment of the present application, for example, the execution subject of the method provided in the embodiment of the present application can be an electronic device, or a functional module in an electronic device that can call a program and execute the program.

[0044] The following is an introduction to the wireless positioning process between devices and the angle of arrival (AOA) measurement method involved in the embodiments of the present application.

[0045] As user demands increase, wireless positioning technology has received more and more attention, which has promoted the research of wireless positioning technology and the development of ranging technology. Among them, the use of angle of arrival (AOA) measurement schemes to achieve accurate positioning between devices has also been a research focus.

[0046] In the application of UWB technology, Wi-Fi technology or Bluetooth technology as the angle of arrival measurement scheme, the transmitting device usually uses a single antenna to send signals, while the receiving device needs to use multiple receiving antennas, and the receiving device calculates the relative orientation between the devices based on the phase difference of arrival (PDOA) of the signal arriving at the multiple receiving antennas. The following is an example of the wireless positioning process between devices and the angle of arrival measurement method in the embodiment of the present application.

[0047] For example, in Figure 3In the present invention, a wireless positioning process needs to be performed between the sending device 310 and the receiving device 320, and the sending device 310 has a single transmitting antenna, while the receiving device 320 has multiple receiving antennas. First, the sending device 310 sends a polling signal (polling) to the receiving device 320 (executes the receiving device discovery process); secondly, the receiving device 320 receives the polling signal, wakes up from the sleep state, and then sends a response to the polling signal to the sending device 310; thirdly, the sending device 310 receives the response to the polling signal, thereby establishing a communication connection between the sending device 310 and the receiving device 320; then, the sending device 310 sends a reference signal to the receiving device 320, and instructs the receiving device 320 to perform an arrival angle measurement; then, the receiving device 320 uses multiple receiving antennas to receive the reference signal and measures the arrival angle of the reference signal, so that the receiving device 320 calculates the relative position between the receiving device 320 and the sending device 310 according to the arrival angle of the reference signal; finally, the receiving device 320 informs the sending device 310 of the relative position through a response to the reference signal, thereby realizing wireless positioning between the sending device 310 and the receiving device 320.

[0048] For example, in Figure 4 In the figure, the transmitting device 410 includes a baseband generator 4101, a modulator 4103, an antenna 4104, etc.; the receiving device 420 includes an antenna 4201, an antenna 4202 and a signal processor 4203, etc. It should be noted that the transmitting device 410 and the receiving device 420 also include other devices (such as a processor, a memory, a modem, etc.), which are not specifically limited. First, the transmitting device 410 generates a baseband signal through the baseband generator 4101, and modulates the baseband signal and the carrier signal 4102 through the modulator 4103 to generate a reference signal 4105, and then the reference signal 4105 is sent to the receiving device 420 by the antenna 4104. Then, the signal processor 4203 in the receiving device 420 calculates the phase difference Δφ of the reference signal sampled by the antenna 4201 and the antenna 4202 by the following formula:

[0049]

[0050] Wherein, D represents the optical path difference between the reference signal 4105 and the antenna 4201 and the antenna 4202 (ie, there is a delay between the antenna 4201 and the antenna 4202 receiving the reference signal 4105 ); λ represents the wavelength of the reference signal 4105 .

[0051] In addition, D can be approximately calculated by the following formula:

[0052] D ≈ d·cosθ;

[0053] Wherein, d represents a preset distance between antenna 4201 and antenna 4202 which are perpendicular to each other; θ represents an arrival angle of reference signal 4105 .

[0054] Therefore, the arrival angle θ of the reference signal 4105 can be estimated by the above formula as:

[0055]

[0056] Since the distance d is much smaller than the distance between the transmitting device 410 and the receiving device 420 , the arrival angle θ can be used as the angle of the receiving device 420 relative to the transmitting device 410 , thereby estimating the relative orientation between the transmitting device 410 and the receiving device 420 .

[0057] However, in the actual measurement of the arrival angle, the measurement results of the arrival angle will be affected by many factors, such as signal interference, signal multipath effect, clock instability, etc., which will lead to poor measurement accuracy of the arrival angle between devices and cause problems such as inaccurate wireless positioning between devices.

[0058] Combined with the above description, the following will introduce the execution steps of the arrival angle measurement optimization method from the perspective of method example, please refer to Figure 5 . Figure 5 : is a flow chart of a method for optimizing the measurement of an angle of arrival provided in an embodiment of the present application, the method comprising:

[0059] S510: The sending device obtains a first arrival angle measured by the receiving device.

[0060] In one possible example, before S510, the method also includes: the sending device sends a reference signal to the receiving device, the reference signal is used to instruct the receiving device to measure the arrival angle of the reference signal; the sending device receives a response signal from the receiving device, the response signal is used to instruct the receiving device to complete the measurement of the first arrival angle, the first arrival angle is used to represent the arrival angle of the reference signal; the sending device sends a request signal to the receiving device, the request signal is used to request the receiving device to send the first arrival angle to the sending device.

[0061] It should be noted that in order to realize the wireless positioning operation between the sending device and the receiving device in the embodiment of the present application, the sending device may first send a polling signal to the receiving device to execute the discovery process of the receiving device, thereby establishing a communication connection between the sending device and the receiving device, and then send a reference signal to the receiving device to instruct the receiving device to measure the arrival angle of the reference signal. In addition, the receiving device receives the reference signal and performs the measurement of the arrival angle (i.e., the first arrival angle) of the reference signal according to the instruction of the reference signal. When the receiving device completes the measurement of the first arrival angle, the receiving device sends a response to the reference signal (i.e., a response signal) to the sending device to inform the sending device that the measurement of the first arrival angle has been completed.

[0062] It should be further explained that, in order to ensure that both the sending device and the receiving device have the ability to measure the angle of arrival, the embodiments of the present application can achieve two-way measurement of the angle of arrival between devices, achieve optimization of the measurement of the angle of arrival, and improve the measurement accuracy of the angle of arrival between devices. Therefore, the present application considers that the sending device has an antenna array (i.e., a first antenna array), and the first antenna array includes at least two array elements. Similarly, the receiving device also has an antenna array (i.e., a second antenna array), and the second antenna array includes at least two array elements. In addition, the receiving device can collect a reference signal through each array element of the second antenna array to obtain a phase set, and determine the angle of arrival of the reference signal (i.e., the first angle of arrival) according to the preset distance information between the phase set and the array elements of the second antenna array. Since the method for measuring the first angle of arrival of the receiving device can be the same as the method for measuring the second angle of arrival of the sending device, please refer to the specific embodiment in which the subsequent sending device measures the second angle of arrival according to the signal sent by the receiving device, which will not be repeated here.

[0063] S520: The sending device measures and obtains a second arrival angle according to the signal sent by the receiving device.

[0064] Specifically, the sending device obtains the second arrival angle by measuring according to the signal sent by the receiving device, which may include the following steps: the sending device determines the arrival angle of the response signal according to the response signal to obtain the second arrival angle.

[0065] The signal sent by the receiving device is used to represent the response signal; and the second arrival angle is used to represent the arrival angle of the response signal.

[0066] It should be noted that the embodiments of the present application need to consider the sending device to measure the arrival angle of the response signal sent by the receiving device, ensure that both the sending device and the receiving device measure the arrival angle, and realize two-way measurement of the arrival angle between the devices, so as to optimize the measurement of the arrival angle for the subsequent sending device through the two-way measured arrival angle to improve the measurement accuracy of the arrival angle between the devices.

[0067] The following embodiments of the present application will specifically explain how the sending device measures and obtains the second arrival angle based on the signal sent by the receiving device.

[0068] In one possible example, the transmitting device obtains the second arrival angle based on the measurement of the signal sent by the receiving device, which may include the following steps: the transmitting device determines a phase set based on the signal sent by the receiving device, the phase in the phase set being used to represent the phase obtained by the transmitting device sampling the signal sent by the receiving device through each array element of the first antenna array; the transmitting device determines the second arrival angle based on the phase set and preset distance information between the array elements of the first antenna array.

[0069] It should be noted that the embodiment of the present application considers that the sending device receives the signal sent by the receiving device through the first antenna array, and samples the signal sent by the receiving device through each array element of the first antenna array to obtain a phase set, thereby realizing the determination of the second arrival angle through the phase set and the preset distance information between the array elements of the first antenna array.

[0070] It should be further explained that the preset distance information between the array elements of the first antenna array is determined by the distribution between the array elements in the first antenna array, and the distribution between the array elements is factory-set, so the distance between each array element in the first antenna array is a fixed value (i.e., the preset distance information). For example, the distribution between the array elements in the first antenna array is that all the array elements of the first antenna array are arranged in a straight line through the signal feeding point, and the distance between two adjacent array elements in the first antenna array is less than the wavelength of the signal sent by the receiving device (such as being equal to or less than half / a quarter / one eighth of the wavelength of the signal sent by the receiving device). The distribution between the array elements in the first antenna array is that all the array elements of the first antenna array are arranged in a square, rectangle, circle, ellipse or irregular shape through the signal feeding point, and the distance between two adjacent array elements in the first antenna array is less than the wavelength of the signal sent by the receiving device (such as being equal to or less than half / a quarter / one eighth of the wavelength of the signal sent by the receiving device).

[0071] The following embodiments of the present application will specifically explain how a transmitting device determines a phase set based on a signal sent by a receiving device.

[0072] Specifically, the sending device determines the phase set according to the signal sent by the receiving device, which may include the following steps: the sending device samples the signal sent by the receiving device at M preset sampling points through each array element of the first antenna array to obtain M first phases, M is a positive integer greater than 1, and adjacent sampling points in the preset M sampling points have an equidistant relationship; the sending device weighted averages the M first phases to obtain a phase sampled by each array element of the first antenna array; the sending device stores a phase sampled by each array element of the first antenna array to obtain a phase set.

[0073] The first sampling point among the preset M sampling points is a starting position where the array element of the first antenna array receives the signal sent by the receiving device.

[0074] It should be noted that, since the signal sent by the receiving device has a fluctuating characteristic during the propagation process, and there are different delays between the signals sent by the receiving device received by each array element of the first antenna array, the phase corresponding to the starting position of the signal sent by the receiving device received by each array element of the first antenna array is different (that is, there is a phase difference). In order to ensure that the obtained phase difference is more accurate, the embodiment of the present application considers pre-setting M sampling points (that is, presetting M sampling points), and each array element of the first antenna array performs phase sampling on the signals sent by the receiving device received by each array element according to the preset M sampling points starting from their respective starting positions in an equidistant manner (that is, there is an equidistant relationship between adjacent sampling points in the preset M sampling points) to obtain M first phases, and then weighted averages the M first phases to obtain a phase sampled by each array element of the first antenna array, thereby ensuring that the subsequently calculated phase difference is more accurate, and improving the measurement accuracy of the arrival angle between devices, so as to achieve the purpose of optimizing the measurement of the angle. The following is an example of a first antenna array including two array elements.

[0075] For example, in Figure 6 In , the first antenna array of the transmitting device includes array element 610 and array element 620, and array element 610 and array element 620 both receive signal 630. Figure 6 In (a), since the signal 630 has a wave characteristic during the propagation process, and there are different delays between the signals 630 received by the array element 610 and the array element 620, the transmitting device receives the signal 630 at the frequency point f1 through the array element 610, and uses the frequency point f1 as the first sampling point among the preset M sampling points. The preset M sampling points include 5 sampling points (i.e., M is set to 5), and there is an equidistant relationship between the adjacent sampling points in the 5 sampling points, and the 5 sampling points correspond to the frequency point f1, the frequency point f2, the frequency point f3, the frequency point f4 and the frequency point f5 in sequence, and the 5 sampling points constitute the sampling period of the array element 610. Then, the transmitting device collects the signal 630 in sequence according to the 5 sampling points to obtain 5 phases (i.e., and ). Finally, the transmitting device calculates the five phases according to the following formula to obtain a phase sampled by the array element 610:

[0076]

[0077] Among them, α i (i∈{1,2,3,4,5}) represents the weight corresponding to the phase. i When =1, it is equivalent to calculating the average value of the 5 phases.

[0078] Similarly, in Figure 6 In (b), since the signal 630 has a wave characteristic during the propagation process, and there are different delays between the signals 630 received by the array element 610 and the array element 620, the transmitting device receives the signal 630 at the frequency point f6 through the array element 620, and uses the frequency point f6 as the first sampling point of the preset M sampling points. The preset M sampling points include 5 sampling points, and the adjacent sampling points in the 5 sampling points have an equidistant relationship, and the 5 sampling points correspond to the frequency points f6, f7, f8, f9 and f10, respectively. 10 , and the five sampling points constitute the sampling period of the array element 620. Then, the transmitting device collects the signal 630 in sequence according to the five sampling points to obtain five phases (i.e. and ). Finally, the transmitting device calculates the five phases according to the following formula to obtain a phase sampled by the array element 620:

[0079] Among them, β j (j∈{1,2,3,4,5}) represents the weight corresponding to the phase. j When =1, it is equivalent to calculating the average value of the 5 phases.

[0080] The following embodiments of the present application will specifically explain how the transmitting device determines the second arrival angle based on the phase set and the preset distance information between the array elements of the first antenna array.

[0081] Specifically, the first antenna array includes N first array elements, the phase set includes N second phases, the N first array elements and the N second phases have a corresponding relationship, and N is a positive integer greater than 1.

[0082] Combined with the above Figure 6 It can be understood that the N first array elements include array element 610 and array element 620 (ie, N is 2), and the N second phases include phase and Phase At the same time, the phase is a phase (i.e., phase is the phase corresponding to the array element 610), the phase is a phase (i.e., phase is the phase corresponding to the array element 620). That is, the N first array elements have a corresponding relationship with the N second phases.

[0083] Specifically, the sending device determines the second arrival angle according to the phase set and the preset distance information between the array elements of the first antenna array, which may include the following steps: the sending device obtains a target array element from N first array elements, where the target array element is a first array element that first receives the signal sent by the receiving device among the N first array elements; the sending device calculates the difference between the second phase corresponding to the target array element and N-1 second phases corresponding to all the first array elements except the target array element among the N first array elements through the phase set to obtain N-1 first phase differences; the sending device obtains N-1 first distance information from the preset distance information between the array elements of the first antenna array, where the first distance information is used to indicate the distance between the target array element and a first array element except the target array element among the N first array elements, and the first distance information is less than the wavelength of the signal sent by the receiving device; the sending device determines N-1 fourth arrival angles according to the N-1 first phase differences, the N-1 first distance information and the wavelength of the signal sent by the receiving device; and the sending device weighted averages the N-1 fourth arrival angles to obtain the second arrival angle.

[0084] It should be noted that, due to the continuous change in the phase position between the transmitting device and the receiving device, the relative direction between the first antenna array and the second antenna array is constantly changing, or the propagation direction of the signal sent by the receiving device is different (such as signal reflection causing the propagation direction to change, etc.), so the array element in the first antenna array that first receives the signal sent by the receiving device is also different. In summary, the embodiment of the present application considers taking a first array element among the N first array elements that first receives the signal sent by the receiving device as the target array element, and then calculates the phase difference between the phase corresponding to the target array element and the phase corresponding to the remaining first array elements (i.e., N-1 first phase differences) through the phase set, and calculates the distance information between the target array element and the remaining first array elements (i.e., N-1 first distance information) through the preset distance information. Finally, the second arrival angle is determined by the phase difference, distance information and the wavelength of the signal sent by the receiving device. Compared with the prior art, the arrival angle measured by the embodiment of the present application has higher accuracy and higher measurement efficiency. The following is combined with Figure 4 The example described and the first antenna array include three array elements as an illustration.

[0085] For example, in Figure 7In the example, the transmitting device 720 includes a first antenna array, which includes an array element 7201, an array element 7202, and an array element 7203, and the receiving device 710 includes a second antenna array 7101. It should be noted that the transmitting device 720 and the receiving device 710 also include other devices (such as a processor, a memory, a modem, etc.), which are not specifically limited. First, the receiving device 710 sends a signal 730 to the transmitting device 720 through the second antenna array 7101. Secondly, the transmitting device 720 receives the corresponding signal 730 through the first antenna array. Among them, the array element 7201 first receives the signal 730 (that is, the array element 7201 is the target array element), and the array element 7201, the array element 7202, and the array element 7203 each collect a phase (that is, three second phases). Therefore, the signal processor 7204 in the transmitting device 720 calculates the phase difference Δφ1 (that is, the first phase difference) between the array element 7201 and the array element 7202 through the three second phases:

[0086]

[0087] Wherein, D1 represents the optical path difference between the signal 730 to the array element 7201 and the array element 7202; λ1 represents the wavelength of the signal 730.

[0088] Similarly, the signal processor 7204 in the transmitting device 720 obtains the phase difference Δφ2 (ie, the first phase difference) between the array element 7201 and the array element 7203 through the three second phase calculations:

[0089]

[0090] Wherein, D2 represents the optical path difference between the signal 730 to the array element 7201 and the array element 7203.

[0091] Again, the transmitting device 720 calculates the distance d1 between the array element 7201 and the array element 7202 (i.e., the first distance information) and the distance d2 between the array element 7201 and the array element 7203 (i.e., the first distance information) from the preset distance information between the array elements of the first antenna array. At the same time, the distance d1 is less than the wavelength λ1, and the distance d2 is less than the wavelength λ1. Next, the transmitting device 720 calculates the arrival angle θ1 (i.e., the fourth arrival angle) by using the phase difference Δφ1, the distance d1, and the wavelength λ1:

[0092]

[0093] Similarly, the transmitting device 720 calculates the arrival angle θ2 (ie, the fourth arrival angle) by using the phase difference Δφ2, the distance d2, and the wavelength λ1:

[0094]

[0095] Finally, the transmitting device 720 performs a weighted average of the arrival angle θ1 and the arrival angle θ2 to obtain an arrival angle θ′ (ie, a second arrival angle):

[0096]

[0097] Among them, γ k (k∈{1,2}) represents the weight corresponding to the arrival angle. When γ k =1, it is equivalent to calculating the average value of the two reaching angles.

[0098] S530: The sending device determines a third arrival angle according to a magnitude of an error between the first arrival angle and the second arrival angle.

[0099] The third arrival angle may include one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle.

[0100] It should be noted that, under ideal conditions (such as the signal is not interfered with, the signal is not affected by multipath effects, the sending device and the receiving device are the same device, etc.), the arrival angles measured by the sending device and the receiving device are the same. Figure 8 As shown. However, in the two-way measurement of the actual arrival angle, due to factors such as signal interference, signal multipath effect, and the sending device and the receiving device being different devices, there may be deviations between the two-way measurement results of the sending device and the receiving device. For example, the arrival angle measured by the sending device is 50°, while the arrival angle measured by the receiving device is 48°. In summary, the embodiment of the present application considers that the sending device determines the third arrival angle by the error between the first arrival angle and the second arrival angle, and finally uses the third arrival angle as the final arrival angle between the devices, and performs wireless positioning between the devices, thereby realizing the measurement optimization of the arrival angle by judging the error size of the arrival angle of the two-way measurement to improve the measurement accuracy of the arrival angle between the devices, and also ensuring that the wireless positioning between the devices is more accurate.

[0101] The following embodiments of the present application will specifically explain how the transmitting device determines the third arrival angle based on the error between the first arrival angle and the second arrival angle.

[0102] In one possible example, determining a third arrival angle based on the error between the first arrival angle and the second arrival angle may include the following steps: a sending device calculates the absolute difference between the first arrival angle and the second arrival angle to obtain a first measurement error value; the sending device compares the error between the first measurement error value and a preset threshold to obtain a comparison result, and the comparison result includes one of the following: the first measurement error value is less than the preset threshold, and the first measurement error value is greater than or equal to the preset threshold; the sending device determines the third arrival angle based on the comparison result.

[0103] It should be noted that the embodiment of the present application considers determining the third arrival angle by whether the measurement error between the first arrival angle and the second arrival angle exceeds a preset threshold, which is beneficial to improving the execution efficiency when performing measurement optimization of the arrival angle using the bidirectional measurement of the arrival angle, and ensures rapid judgment and calculation of the final arrival angle between devices.

[0104] Specifically, the sending device determines the third arrival angle based on the comparison result, which may include the following steps: if the comparison result is that the first measurement error value is less than a preset threshold, the sending device weightedly averages the first arrival angle and the second arrival angle to obtain the third arrival angle; or, if the comparison result is that the first measurement error value is greater than or equal to the preset threshold, the sending device determines the target device by broadcasting a first signaling, and determines the third arrival angle through a second measurement error value for the arrival angle between the sending device and the target device and a third measurement error value for the arrival angle between the receiving device and the target device, the first signaling being used to find a device that performs an arrival angle measurement process with the sending device and the receiving device.

[0105] It should be noted that if the comparison result is that the first measurement error value is less than the preset threshold, it means that the measurement error of the angle of arrival between the sending device and the receiving device is small. At this time, the sending device calculates the weighted average of the first angle of arrival and the second angle of arrival to obtain the final angle of arrival between the devices, which is conducive to improving the execution efficiency when performing measurement optimization of the angle of arrival using the bidirectionally measured angle of arrival, improving the measurement accuracy of the angle of arrival between devices, and ensuring that the wireless positioning between devices is more accurate.

[0106] It should be further explained that if the comparison result is that the first measurement error value is greater than or equal to the preset threshold, it means that there is a large measurement error in the angle of arrival between the sending device and the receiving device. At this time, since it is impossible to determine whether the measurement result of the angle of arrival of the sending device or the receiving device has a problem, the embodiment of the present application considers that the sending device broadcasts a first signaling to find a device that can perform the process of reaching the angle measurement with the sending device and the receiving device, so that the same technical solution introduced above is executed between the sending device and the target device to calculate the second measurement error value for the angle of arrival, and the same technical solution introduced above is executed between the receiving device and the target device to calculate the third measurement error value for the angle of arrival, and the third measurement error value is sent by the receiving device to the sending device. Finally, the sending device determines the third angle of arrival through the second measurement error value and the third measurement error value, so as to check whether the measurement result of the angle of arrival of the sending device or the receiving device has a problem through the target device, and promptly correct the device with abnormal angle of arrival measurement.

[0107] Furthermore, the sending device may determine the target device by broadcasting the first signaling, which may include the following steps: the sending device broadcasts the first signaling, and determines the candidate device set by responding to the first signaling; the sending device selects the target device from the candidate device set according to a preset selection strategy, and the preset selection strategy includes at least one of the following: the device corresponding to the strongest channel quality in the candidate device set, the device corresponding to the strongest communication capability (such as the most power, the closest distance, etc.) in the candidate device set, and the device corresponding to the strongest arrival angle measurement capability in the candidate device set. It can be seen that the first signaling and the preset selection strategy ensure that the sending device can quickly and effectively determine the target device.

[0108] Further, determining the third arrival angle by a second measurement error value for the arrival angle between the sending device and the target device and a third measurement error value for the arrival angle between the receiving device and the target device may include the following steps: the sending device obtains the second measurement error value and the third measurement error value; if the second measurement error value is less than a preset threshold and the third measurement error value is greater than or equal to the preset threshold, the second arrival angle is used as the third arrival angle; or, if the second measurement error value is greater than or equal to the preset threshold and the third measurement error value is less than the preset threshold, the first arrival angle is used as the third arrival angle; or, if the second measurement error value is less than the preset threshold and the third measurement error value is less than the preset threshold, one of the first arrival angle and the second arrival angle is selected as the third arrival angle.

[0109] Among them, the sending device obtains the second measurement error value and the third measurement error value, which can be understood as that the same technical scheme introduced above is executed between the sending device and the target device to calculate the second measurement error value for the arrival angle, and the same technical scheme introduced above is executed between the receiving device and the target device to calculate the third measurement error value for the arrival angle, and the third measurement error value is sent by the receiving device to the sending device.

[0110] It should be noted that, since the embodiments of the present application consider short-range communication technologies such as UWB, Wi-Fi, Bluetooth, NFC, and visible light, the communication distance between the sending device, the receiving device, and the target device is relatively short. At this time, compared with the measurement error of the angle of arrival between devices caused by channel factors (such as signal interference, multipath effect of signals, reflection of signals, etc.), device factors (device clock instability, poor angle of arrival measurement capability of devices, etc.) may account for a larger proportion and can better affect the measurement accuracy of the angle of arrival between devices.

[0111] To sum up, if the second measurement error value is less than the preset threshold, and the third measurement error value is greater than or equal to the preset threshold, it means that compared with the measurement result of the receiving device for the arrival angle (i.e., the first arrival angle), the sending device can measure a more accurate arrival angle (such as the sending device has a stronger angle measurement capability than the receiving device), and thus use the second arrival angle as the final arrival angle between the devices (i.e., the third arrival angle).

[0112] If the second measurement error value is greater than or equal to the preset threshold, and the third measurement error value is less than the preset threshold, it means that compared with the measurement result of the arrival angle of the sending device (i.e., the second arrival angle), the receiving device can measure a more accurate arrival angle, thereby using the first arrival angle as the final arrival angle between the devices.

[0113] If the second measurement error value is less than the preset threshold, and the third measurement error value is less than the preset threshold, it means that from the perspective of device factors, both the sending device and the receiving device have the ability to measure and obtain the precise arrival angle. Therefore, the large error of the arrival angle between the sending device and the receiving device may be caused by channel factors. At this time, the embodiment of the present application considers selecting one of the first arrival angle and the second arrival angle as the final arrival angle between the devices.

[0114] S540: When the third arrival angle is not the first arrival angle, the sending device sends the third arrival angle to the receiving device.

[0115] It should be noted that if the sending device determines that the final arrival angle between the devices is not the first arrival angle through the error between the first arrival angle and the second arrival angle, it means that the arrival angle measured by the receiving device has an error. At this time, the sending device sends the final arrival angle between the devices to the receiving device to update the arrival angle stored in the receiving device, thereby further optimizing the measurement of the arrival angle between the devices.

[0116] It can be seen that in the embodiment of the present application, first, the sending device receives the first arrival angle from the receiving device, and measures the second arrival angle according to the signal sent by the receiving device, thereby ensuring that both the sending device and the receiving device measure the arrival angle, and realizing the two-way measurement of the arrival angle between the devices. Secondly, the embodiment of the present application also considers that the sending device determines the third arrival angle by the error between the first arrival angle and the second arrival angle, and finally uses the third arrival angle as the final arrival angle between the devices, and performs wireless positioning between the devices, so that it can be realized by judging the error size of the arrival angle measured in both directions to perform the measurement optimization of the arrival angle to improve the measurement accuracy of the arrival angle between the devices, and it can also ensure that the wireless positioning between the devices is more accurate. Finally, if the final arrival angle between the devices is not the first arrival angle, it means that there is an error in the arrival angle measured by the receiving device. At this time, the final arrival angle between the devices is sent to the receiving device by the sending device to update the arrival angle stored by the receiving device, thereby further realizing the measurement optimization of the arrival angle between the devices.

[0117] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process of the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present application.

[0118] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical functional division, and there may be other division methods in actual implementation.

[0119] In the case of an integrated unit, Fig. 9 The functional unit composition block diagram of an arrival angle measurement optimization device is shown. The arrival angle measurement optimization device 900 is applied to an electronic device (or a transmitting device), and specifically includes: a processing unit 920 and a communication unit 930. The processing unit 920 is used to control and manage the actions of the electronic device. For example, the processing unit 920 is used to support the electronic device to perform Figure 5 The communication unit 930 is used to support the communication between the electronic device and other devices. The electronic device may also include a storage unit 910 for storing program codes and data of the electronic device.

[0120] Among them, the processing unit 920 can be a processor or a controller, for example, it can be a CPU, a general processor, a 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 boxes, modules and circuits described in combination with the contents disclosed in this application. The processing unit 920 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, etc. The communication unit 930 can be a communication interface, a transceiver, a transceiver circuit, etc.; the storage unit 910 can be a memory. When the processing unit 920 is a processor, the communication unit 930 is a communication interface, and the storage unit 910 is a memory, the arrival angle measurement optimization device 900 involved in the embodiment of the present application can be Fig.10 Electronic equipment shown.

[0121] In specific implementation, the processing unit 920 is used to execute any step executed by the electronic device in the above method embodiment, and when performing data transmission such as sending, the communication unit 930 can be selectively called to complete the corresponding operation.

[0122] Processing unit 920 is used to: obtain a first arrival angle measured from a receiving device; obtain a second arrival angle based on a signal measurement sent by the receiving device; determine a third arrival angle based on an error between the first arrival angle and the second arrival angle, the third arrival angle including one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle; when the third arrival angle is not the first arrival angle, send the third arrival angle to the receiving device.

[0123] It can be seen that in the embodiment of the present application, first, by obtaining the first arrival angle measured from the receiving device, and measuring the second arrival angle according to the signal sent by the receiving device, it is ensured that the arrival angle measurement optimization device and the receiving device both measure the arrival angle, and realize the two-way measurement of the arrival angle between the devices. Secondly, the embodiment of the present application also considers determining the third arrival angle by the error between the first arrival angle and the second arrival angle, and finally using the third arrival angle as the final arrival angle between the devices, and performing wireless positioning between the devices, so that it can be realized by judging the error size of the arrival angle measured in both directions to perform the measurement optimization of the arrival angle to improve the measurement accuracy of the arrival angle between the devices, and it can also ensure that the wireless positioning between the devices is more accurate. Finally, if the final arrival angle between the devices is not the first arrival angle, it means that there is an error in the arrival angle measured by the receiving device. At this time, the final arrival angle between the devices is sent to the receiving device by the arrival angle measurement optimization device to update the arrival angle stored by the receiving device, thereby further realizing the measurement optimization of the arrival angle between the devices.

[0124] In one possible example, in terms of determining the third arrival angle based on the error size between the first arrival angle and the second arrival angle, the processing unit 920 is specifically used to: calculate the absolute difference between the first arrival angle and the second arrival angle to obtain a first measurement error value; compare the error size between the first measurement error value and a preset threshold to obtain a comparison result, the comparison result including one of the following: the first measurement error value is less than the preset threshold, the first measurement error value is greater than or equal to the preset threshold; determine the third arrival angle based on the comparison result.

[0125] In one possible example, in terms of determining the third arrival angle based on the comparison result, the processing unit 920 is specifically used to: if the comparison result is that the first measurement error value is less than a preset threshold, then weighted average the first arrival angle and the second arrival angle to obtain the third arrival angle; or, if the comparison result is that the first measurement error value is greater than or equal to the preset threshold, then determine the target device by broadcasting a first signaling, and determine the third arrival angle by a second measurement error value for the arrival angle between the device and the target device and a third measurement error value for the arrival angle between the receiving device and the target device, the first signaling being used to find a device that performs an arrival angle measurement process with the device and the receiving device.

[0126] In one possible example, a third arrival angle is determined by a second measurement error value for the arrival angle between the device and the target device and a third measurement error value for the arrival angle between the receiving device and the target device, and the processing unit 920 is specifically used to: obtain the second measurement error value and the third measurement error value; if the second measurement error value is less than a preset threshold, and the third measurement error value is greater than or equal to the preset threshold, then the second arrival angle is used as the third arrival angle; or, if the second measurement error value is greater than or equal to the preset threshold, and the third measurement error value is less than the preset threshold, then the first arrival angle is used as the third arrival angle; or, if the second measurement error value is less than the preset threshold, and the third measurement error value is less than the preset threshold, then any one of the first arrival angle and the second arrival angle is selected as the third arrival angle.

[0127] In one possible example, in terms of obtaining a second angle of arrival by measuring a signal sent by a receiving device, the processing unit 920 is specifically used to: determine a phase set based on the signal sent by the receiving device, the phase in the phase set being used to represent the phase obtained by the device sampling the signal sent by the receiving device through each array element of the first antenna array; and determine the second angle of arrival based on the phase set and preset distance information between the array elements of the first antenna array.

[0128] In one possible example, in terms of determining a phase set based on a signal sent by a receiving device, the processing unit is specifically used to: sample the signal sent by the receiving device at each preset M sampling point by each array element of the first antenna array to obtain M first phases, where M is a positive integer greater than 1, and adjacent sampling points in the preset M sampling points are equidistant; weighted average the M first phases to obtain a phase sampled by each array element of the first antenna array; and store a phase sampled by each array element of the first antenna array to obtain a phase set.

[0129] In a possible example, the first antenna array includes N first array elements, the phase set includes N second phases, the N first array elements have a corresponding relationship with the N second phases, and N is a positive integer greater than 1; in terms of determining the second arrival angle according to the phase set and preset distance information between the array elements of the first antenna array, the processing unit is specifically used to: obtain a target array element from the N first array elements, the target array element is a first array element that first receives a signal sent by a receiving device among the N first array elements; calculate the second phase corresponding to the target array element and the second phase corresponding to the N first array elements other than the target array element through the phase set. The method comprises the steps of: calculating the difference between N-1 second phases corresponding to all the first array elements to obtain N-1 first phase differences; obtaining N-1 first distance information from preset distance information between array elements of the first antenna array, wherein the first distance information is used to represent the distance between a target array element and a first array element other than the target array element among the N first array elements, and the first distance information is less than the wavelength of a signal sent by a receiving device; determining N-1 fourth angles of arrival according to the N-1 first phase differences, the N-1 first distance information and the wavelength of a signal sent by the receiving device; and performing weighted averaging of the N-1 fourth angles of arrival to obtain a second angle of arrival.

[0130] The following is a schematic diagram of the structure of another electronic device provided in an embodiment of the present application. Fig.10 The electronic device 1000 includes a processor 1010 , a memory 1020 , a communication interface 1030 , and at least one communication bus for connecting the processor 1010 , the memory 1020 , and the communication interface 1030 .

[0131] The processor 1010 may be one or more central processing units (CPUs). In the case where the processor 1010 is a CPU, the CPU may be a single-core CPU or a multi-core CPU. The memory 1020 includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM) or a portable read-only memory (CD-ROM), and the memory 1020 is used for related instructions and data. The communication interface 1030 is used to receive and send data.

[0132] The processor 1010 in the electronic device 1000 is used to read one or more programs 1021 stored in the memory 1020 and perform the following operations: obtain a first arrival angle measured from a receiving device; obtain a second arrival angle based on a signal measurement sent by the receiving device; determine a third arrival angle based on an error between the first arrival angle and the second arrival angle, the third arrival angle including one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle; when the third arrival angle is not the first arrival angle, send the third arrival angle to the receiving device.

[0133] It should be noted that the specific implementation of each operation can be Figure 5 The corresponding description of the method embodiment shown, the electronic device 1000 can be used to execute the technical solution of the above method embodiment of the present application, which will not be repeated here.

[0134] An embodiment of the present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, and the computer program is operable to cause a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0135] The present application also provides a computer program product, wherein the computer program product includes a computer program, and the computer program is operable to enable a computer to execute some or all steps of any method described in the above method embodiment. The computer program product may be a software installation package.

[0136] It should be noted that, for the above-mentioned various method embodiments, for the sake of simple description, they are all expressed as a series of action combinations. Those skilled in the art should be aware that the present application is not limited by the described order of actions, because some steps in the embodiments of the present application can be performed in other orders or simultaneously. In addition, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the embodiments of the present application.

[0137] In the above embodiments, the present application has different focuses on the description of each embodiment. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0138] In several embodiments provided in the present application, those skilled in the art should be aware that the described device can be implemented in other ways. It is understandable that the device embodiments described above are merely schematic. For example, the division of the above units is only a logical function division, and there may be other division methods in practice. In other words, multiple units or components can be combined or integrated into another software, and some features can be ignored or not executed. In addition, the coupling, direct coupling or communication connection between each other shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, or can be electrical or other forms.

[0139] If the above-mentioned units are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. It is understandable that the technical solution of the present application (the part of the technical solution that contributes to the prior art or all or part of the technical solution) can be embodied in the form of a computer software product. The computer software product is stored in a memory, including several instructions for a computer device (a personal computer, a server or a network device, etc.) to perform all or part of the steps of the embodiment of the present application. In addition, the above-mentioned computer-readable storage medium can be stored in various memories such as a USB flash drive, a ROM, a RAM, a mobile hard disk, a magnetic disk or an optical disk.

[0140] The embodiments of the present application are specifically introduced above. Those skilled in the art should be aware that the embodiments of the present application are only used to help understand the core idea of ​​the technical solution of the present application, so the embodiments of the present application may be changed in the specific implementation and scope of application. So far, the contents recorded in this specification should not be understood as limiting the scope of protection of the present application. In addition, on the basis of the technical solution of the embodiments of the present application, any modification, equivalent replacement, improvement, etc. made shall be included in the scope of protection of the embodiments of the present application.

Claims

1. A method for optimizing the measurement of an angle of arrival, characterized in that: include: The sending device obtains a first arrival angle measured by the receiving device; The sending device measures and obtains a second arrival angle according to the signal sent by the receiving device; The transmitting device determines a third arrival angle according to an error between the first arrival angle and the second arrival angle, wherein the third arrival angle includes one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle; When the third arrival angle is not the first arrival angle, the sending device sends the third arrival angle to the receiving device; The transmitting device includes a first antenna array, the receiving device includes a second antenna array, the first antenna array and the second antenna array each include at least two array elements, the preset distance information between the array elements of the second antenna array is used to determine the first arrival angle, the preset distance information between the array elements of the first antenna array is used to determine the second arrival angle, and the preset distance information between the array elements of the first antenna array is determined by the distribution between the array elements in the first antenna array.

2. The method according to claim 1, characterized in that The determining the third arrival angle according to the error between the first arrival angle and the second arrival angle includes: The sending device calculates an absolute difference between the first arrival angle and the second arrival angle to obtain a first measurement error value; The sending device compares the error between the first measurement error value and a preset threshold to obtain a comparison result, wherein the comparison result includes one of the following: the first measurement error value is less than the preset threshold, and the first measurement error value is greater than or equal to the preset threshold; The transmitting device determines the third arrival angle according to the comparison result.

3. The method according to claim 2, characterized in that The sending device determines the third arrival angle according to the comparison result, including: If the comparison result is that the first measurement error value is less than the preset threshold, the sending device weighted averages the first arrival angle and the second arrival angle to obtain the third arrival angle; or, If the comparison result is that the first measurement error value is greater than or equal to the preset threshold, the sending device determines the target device by broadcasting a first signaling, and determines the third arrival angle by a second measurement error value for the arrival angle between the sending device and the target device and a third measurement error value for the arrival angle between the receiving device and the target device, and the first signaling is used to find a device that performs an arrival angle measurement process with the sending device and the receiving device.

4. The method according to claim 3, characterized in that The determining the third angle of arrival by using a second measurement error value for the angle of arrival between the sending device and the target device and a third measurement error value for the angle of arrival between the receiving device and the target device comprises: The sending device acquires the second measurement error value and the third measurement error value; If the second measurement error value is less than the preset threshold, and the third measurement error value is greater than or equal to the preset threshold, the sending device uses the second arrival angle as the third arrival angle; or, If the second measurement error value is greater than or equal to the preset threshold, and the third measurement error value is less than the preset threshold, the sending device uses the first arrival angle as the third arrival angle; or, If the second measurement error value is smaller than the preset threshold and the third measurement error value is smaller than the preset threshold, the sending device selects one of the first arrival angle and the second arrival angle as the third arrival angle.

5. The method according to any one of claims 1 to 4, characterized in that: The sending device measures and obtains a second arrival angle according to a signal sent by the receiving device, including: The transmitting device determines a phase set according to a signal sent by the receiving device, where the phases in the phase set are used to represent phases obtained by the transmitting device sampling the signal sent by the receiving device through each array element of the first antenna array; The transmitting device determines the second arrival angle according to the phase set and preset distance information between array elements of the first antenna array.

6. The method according to claim 5, characterized in that The sending device determines a phase set according to a signal sent by the receiving device, including: The transmitting device samples the signal sent by the receiving device at respective preset M sampling points through each array element of the first antenna array to obtain M first phases, where M is a positive integer greater than 1, and adjacent sampling points in the preset M sampling points have an equidistant relationship; The transmitting device weightedly averages the M first phases to obtain a phase sampled by each array element of the first antenna array; The transmitting device stores a phase sampled by each array element of the first antenna array to obtain the phase set.

7. The method according to claim 5, characterized in that The first antenna array includes N first array elements, the phase set includes N second phases, the N first array elements and the N second phases have a corresponding relationship, and N is a positive integer greater than 1; The transmitting device determines the second arrival angle according to the phase set and preset distance information between array elements of the first antenna array, including: The sending device acquires a target array element from the N first array elements, where the target array element is a first array element among the N first array elements that first receives a signal sent by the receiving device; The sending device calculates, by using the phase set, a difference between the second phase corresponding to the target array element and N-1 second phases corresponding to all first array elements among the N first array elements except the target array element to obtain N-1 first phase differences; The transmitting device acquires N-1 first distance information from preset distance information between array elements of the first antenna array, where the first distance information is used to indicate a distance between the target array element and a first array element other than the target array element among the N first array elements, and the first distance information is smaller than a wavelength of a signal sent by the receiving device; The sending device determines N-1 fourth arrival angles according to the N-1 first phase differences, the N-1 first distance information and the wavelength of the signal sent by the receiving device; The transmitting device weightedly averages the N-1 fourth arrival angles to obtain the second arrival angle.

8. A device for optimizing the measurement of an angle of arrival, characterized in that: Applied to a sending device; the device comprises a processing unit and a communication unit, and the processing unit is used to: Acquire, by the communication unit, a first arrival angle measured from a receiving device; Obtaining a second arrival angle by measuring the signal sent by the receiving device; Determine a third arrival angle according to the error between the first arrival angle and the second arrival angle, wherein the third arrival angle includes one of the following: a weighted average of the first arrival angle and the second arrival angle, the first arrival angle, and the second arrival angle; When the third arrival angle is not the first arrival angle, sending the third arrival angle to the receiving device through the communication unit; The transmitting device includes a first antenna array, the receiving device includes a second antenna array, the first antenna array and the second antenna array each include at least two array elements, the preset distance information between the array elements of the second antenna array is used to determine the first arrival angle, the preset distance information between the array elements of the first antenna array is used to determine the second arrival angle, and the preset distance information between the array elements of the first antenna array is determined by the distribution between the array elements in the first antenna array.

9. An electronic device, characterized in that: The electronic device is a sending device; the sending device includes a processor, a memory and a communication interface, the memory stores one or more programs, and the one or more programs are executed by the processor, and the one or more programs include instructions for executing the steps in the method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program is operable to cause a computer to execute the method according to any one of claims 1 to 7.

Images