Method for determining arrival angle and related device

Abstract

The present application provides a method for determining an arrival angle and a related device, including: obtaining a first signal strength, a second signal strength, and an original arrival angle of an ultra-wideband signal received by an electronic device, wherein the first signal strength is the received signal strength of the ultra-wideband signal received by the first ultra-wideband antenna of the electronic device, the second signal strength is the received signal strength of the ultra-wideband signal received by the second ultra-wideband antenna of the electronic device, the original arrival angle is the arrival angle calculated according to the phase difference algorithm of the arrival signal, calculating the first signal strength difference between the preset first signal strength and the second signal strength, and determining the target arrival angle according to the first radiation pattern, the second radiation pattern, and the first signal strength difference. The embodiments of the present application are conducive to improving the accuracy of the electronic device in measuring the arrival angle.

Description

Technical Field

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

[0002] Ultra Wide Band (UWB) technology is a wireless carrier communication technology that does not use a sinusoidal carrier but instead uses nanosecond non-sinusoidal narrow pulses to transmit data. Therefore, it occupies a wide spectrum range. UWB technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is especially suitable for high-speed wireless access in dense multipath locations such as indoors.

[0003] In existing equipment, multiple antennas are used to receive the carrier signal sent by the transmitting device, and then a baseband signal is generated according to the carrier signal, and then the phase information of the sampling points corresponding to the waveforms of the multiple antennas at different sampling times is sampled from the baseband signal, and the arrival angle is determined according to the acquired phase information. However, the mobile terminal has a limit on the number of antennas, and a small number of antennas reduces the accuracy of the measurement results, especially when the signal is poor, the accuracy of the measured arrival angle is low. Summary of the invention

[0004] The present application provides a method for determining an angle of arrival and a related device to improve the accuracy of angle of arrival measurement performed by an electronic device.

[0005] In a first aspect, the present application provides a method for determining an angle of arrival, comprising:

[0006] Obtaining a first signal strength, a second signal strength, and an original angle of arrival of an ultra-wideband signal received by an electronic device from a transmitting end device, wherein the first signal strength is a received signal strength when a first ultra-wideband antenna of the electronic device receives the ultra-wideband signal, the second signal strength is a received signal strength when a second ultra-wideband antenna of the electronic device receives the ultra-wideband signal, and the original angle of arrival is an angle of arrival between the electronic device and the transmitting end device calculated based on a phase difference of an arrival signal;

[0007] Calculate a first signal strength difference between the first signal strength and the second signal strength;

[0008] The target arrival angle is determined according to a preset first radiation pattern of the first ultra-wideband antenna, a second radiation pattern of the second ultra-wideband antenna, and a difference between the first signal strength.

[0009] In a second aspect, the present application provides a device for determining an angle of arrival, comprising:

[0010] an acquisition unit, configured to acquire a first signal strength, a second signal strength, and an original angle of arrival of an ultra-wideband signal received by an electronic device from a transmitting end device, wherein the first signal strength is a received signal strength when a first ultra-wideband antenna of the electronic device receives the ultra-wideband signal, the second signal strength is a received signal strength when a second ultra-wideband antenna of the electronic device receives the ultra-wideband signal, and the original angle of arrival is an angle of arrival between the electronic device and the transmitting end device calculated based on a phase difference of an arrival signal;

[0011] a calculation unit, configured to calculate a first signal strength difference between the first signal strength and the second signal strength;

[0012] A determination unit is used to determine a target arrival angle according to a preset first radiation pattern of the first ultra-wideband antenna, a second radiation pattern of the second ultra-wideband antenna, and a difference between the first signal strength.

[0013] In a third aspect, the present application provides an electronic device, including:

[0014] one or more processors;

[0015] One or more memories for storing programs,

[0016] The one or more memories and the program are configured so that the one or more processors control the electronic device to execute instructions such as the steps in any method of the first aspect of the embodiments of the present application.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable 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 described in any method of the first aspect of the embodiment of the present application.

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

[0019] It can be seen that in the embodiment of the present application, the electronic device first receives the first signal strength, the second signal strength and the original arrival angle of the ultra-wideband signal, and then calculates the first signal strength difference between the first signal strength and the second signal strength, and finally determines the target arrival angle according to the preset first radiation pattern, the second radiation pattern and the obtained first signal strength difference. Among them, the first signal strength is the received signal strength of the ultra-wideband signal received by the first ultra-wideband antenna of the electronic device, the second signal strength is the received signal strength of the ultra-wideband signal received by the second ultra-wideband antenna of the electronic device, and the original arrival angle is the arrival angle between the electronic device and the transmitting end device calculated according to the phase difference of the arrival signal. Since the first radiation pattern and the second radiation pattern can characterize the signal strength corresponding to different angles, the accuracy of the first signal strength difference can be detected according to the signal strength difference between the two antennas, and a more accurate target arrival angle can be obtained, thereby improving the accuracy of the electronic device in determining the arrival angle measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] 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.

[0021] Figure 1a This is a system architecture diagram for determining an angle of arrival provided in an embodiment of the present application;

[0022] Figure 1b It is a schematic diagram of the orientation of the main beam of the first ultra-wideband antenna and the main beam of the second ultra-wideband antenna provided in an embodiment of the present application;

[0023] Figure 1c It is a schematic diagram of an electronic device provided in an embodiment of the present application;

[0024] Figure 2 is a flowchart of a method for determining an angle of arrival provided by an embodiment of the present application;

[0025] Figure 3 is a schematic diagram of measuring an original angle of arrival provided in an embodiment of the present application;

[0026] Figure 4 It is a schematic diagram of the sending and receiving time of an electronic device sending a ranging message to a receiving device provided in an embodiment of the present application;

[0027] Figure 5 This is a block diagram of the functional units of a device for determining an angle of arrival provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution 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, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] 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.

[0030] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations 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 may be combined with other embodiments.

[0031] The key concepts involved in the embodiments of the present application are first explained below.

[0032] Gain is defined as the logarithm of the ratio of the intensity of the antenna radiation pattern in the direction of the strongest radiation to the intensity of the reference antenna.

[0033] The radiation pattern refers to a graph showing how the relative field strength of the radiation field varies with direction at a certain distance from the antenna. It is usually represented by two mutually perpendicular plane patterns passing through the direction of maximum radiation of the antenna.

[0034] Angle of Arrival (AOA), also known as azimuth.

[0035] See also Figure 1a , Figure 1aThe embodiment of the present application provides a system architecture diagram for determining an angle of arrival provided by an embodiment of the present application. It includes an electronic device and a transmitting end device, and the electronic device and the transmitting end device implement angle measurement and / or distance measurement through UWB technology. Among them, the electronic device can be various electronic devices such as mobile phones, tablet computers or smart watches, and the transmitting end device can be any electronic product that integrates a UWB communication module and an antenna, such as a UWB positioning base station, a mobile phone or a computer, etc., which is not limited here.

[0036] The electronic device includes a UWB communication module, a first ultra-wideband antenna (UWB ANT1 in the figure) and a second ultra-wideband antenna (UWB ANT2 in the figure). In the present application, the first ultra-wideband antenna and the second ultra-wideband antenna are ultra-wideband antennas. It can be understood that in actual use, other types of antennas can also be replaced according to actual needs, and there is no specific limitation here. Please refer to Figure 1b , Figure 1b It is a schematic diagram of the orientation of the main beam of the first ultra-wideband antenna and the main beam of the second ultra-wideband antenna provided in an embodiment of the present application. The orientation of the main beam in the radiation pattern of the first ultra-wideband antenna is different from that of the main beam in the radiation pattern of the second ultra-wideband antenna. The antenna using adaptive beamforming technology can adjust the weighting value through the adaptive beamforming algorithm, arbitrarily change the directional pattern, form a main beam in the direction of useful signals, and have a low gain or form a null in other user directions. Among them, the adaptive beamforming algorithm is also called the spatial domain adaptive filtering algorithm, which combines the antenna with the digital signal processing technology and uses the spatial characteristics to improve the output signal-to-noise ratio of the receiving system. It is implemented on the adaptive signal processor through software programming. The system can be easily updated by simply modifying the software to meet the requirements of different environments and different application scenarios. Among them, the UWB communication module supports multiple protocols, for example: supporting the UWB protocol of IEEE802.15.4. The UWB communication module can be a radio frequency transceiver (Transceiver), including Decawave's DW3000 chip or DW1000 chip, and NXP's SR100T chip or SR040 chip, which is not limited here.

[0037] See also Figure 1c , Figure 1c 1 is a schematic diagram of an electronic device provided in an embodiment of the present application. The electronic device may be an electronic device 101, or any electronic device in a transmitting end device 102. As shown in the figure, the electronic device is applied to a positioning system, and the electronic device includes an application processor 120, a memory 130, a UWB communication module 140, and one or more programs 131. The application processor 120 is connected to the memory 130 and the UWB communication module 140 through an internal communication bus.

[0038] The one or more programs 131 are stored in the memory 130 and are configured to be executed by the application processor 120 . The one or more programs 131 include instructions for executing any step in the method embodiment.

[0039] Among them, the application processor 120 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 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 can be a UWB communication module 140, a transceiver, a transceiver circuit, etc., and the storage unit can be a memory 130.

[0040] The memory 130 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 PROM (EPROM), an electrically erasable programmable read-only memory (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 dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0041] In a specific implementation, the application processor 120 is used to execute any step executed by the mobile terminal in the above method embodiment.

[0042] See also Figure 2 , Figure 2 The present application provides a flow chart of a method for determining an angle of arrival, which is applied to Figure 1c The electronic device shown, as shown in the figure, includes the following operations:

[0043] A method for determining an angle of arrival, comprising:

[0044] Step 210, obtaining a first signal strength, a second signal strength, and an original angle of arrival of an ultra-wideband signal received by an electronic device from a transmitting device, wherein the first signal strength is the received signal strength of the ultra-wideband signal received by a first ultra-wideband antenna of the electronic device, the second signal strength is the received signal strength of the ultra-wideband signal received by a second ultra-wideband antenna of the electronic device, and the original angle of arrival is the angle of arrival between the electronic device and the transmitting device calculated based on a phase difference of an arrival signal.

[0045] The electronic device includes a first ultra-wideband antenna and a second ultra-wideband antenna, and the electronic device receives a first signal strength of an ultra-wideband signal through the first ultra-wideband antenna and obtains a second signal strength of the ultra-wideband signal through the second ultra-wideband antenna. In the present application, the original arrival angle is the arrival angle calculated according to the phase difference algorithm of the arrival signal.

[0046] In a possible example, obtaining the first signal strength, the second signal strength, and the original angle of arrival of an ultra-wideband signal received by the electronic device from a transmitting device includes: obtaining the first signal strength, the second signal strength of the ultra-wideband signal received by the electronic device, the first phase information of the ultra-wideband signal received by the first ultra-wideband antenna, the distance between the first ultra-wideband antenna and the second ultra-wideband antenna, and the second phase information of the ultra-wideband signal received by the second ultra-wideband antenna; determining the phase difference based on the first phase information and the second phase information; substituting the phase difference and the distance into a function calculation formula to obtain the original angle of arrival, wherein the function calculation formula is a preset calculation formula.

[0047] Step 220: Calculate a first signal strength difference between the first signal strength and the second signal strength.

[0048] Specifically, a first signal strength difference is calculated based on the acquired first signal strength and the second signal strength, and the difference is used for determining the target arrival angle.

[0049] Step 230: determine a target arrival angle according to a preset first radiation pattern of the first ultra-wideband antenna, a second radiation pattern of the second ultra-wideband antenna, and a difference between the first signal strength.

[0050] The antenna radiation pattern refers to a graph showing the relative field strength of the radiation field changing with direction at a certain distance from the antenna, which is a graphical description method of the antenna radiation characteristics. In the present application, the electronic device includes a pre-set first radiation pattern and a second radiation pattern, the first radiation pattern is the radiation pattern corresponding to the first ultra-wideband antenna, and the second radiation pattern is the radiation pattern corresponding to the second ultra-wideband antenna. The target arrival angle is determined by the difference between the first radiation pattern, the second radiation pattern and the first signal strength.

[0051] It can be seen that in this example, the target arrival angle is determined according to the first radiation pattern, the second radiation pattern and the difference between the first signal strength. In the case of weak signals, the target arrival angle can also be measured to improve the positioning accuracy.

[0052] See also Figure 3 , Figure 3 is a schematic diagram of measuring the original arrival angle provided in an embodiment of the present application. Figure 3As shown, it includes: an electronic device and a transmitting end device, and the electronic device includes a first ultra-wideband antenna and a second ultra-wideband antenna. 1 Indicates the azimuth angle between the electronic device and the transmitting device. D indicates the distance between the transmitting device and the first ultra-wideband antenna, B indicates the distance between the transmitting device and the second ultra-wideband antenna, P indicates the path difference between the distance D between the transmitting device and the first ultra-wideband antenna and the distance B between the transmitting device and the second ultra-wideband antenna, and d indicates the distance between the first ultra-wideband antenna and the second ultra-wideband antenna.

[0053] In a specific implementation, the electronic device is provided with a spacing of d, and the value of d can be determined according to actual needs, for example: 2 mm or 3 mm, etc. The electronic device can measure the first phase information of the ultra-wideband signal sent from the transmitting end device and received by the first ultra-wideband antenna, and measure the second phase information of the ultra-wideband signal sent from the transmitting end device and received by the second ultra-wideband antenna, and calculate the phase difference of the arrival signal based on the first phase information and the second phase information, and calculate the path difference p between the antenna of the receiving end device and the first ultra-wideband antenna and the second ultra-wideband antenna through the phase difference of the arrival signal. According to the path difference p and the distance d between the first ultra-wideband antenna and the second ultra-wideband antenna, the original arrival angle is calculated through a function calculation formula.

[0054] See also Figure 4 , Figure 4 It is a schematic diagram of the receiving and sending time of a ranging message provided in an embodiment of the present application. Among them, the distance between the receiving device and the first ultra-wideband antenna, and the distance between the receiving device and the second ultra-wideband antenna are calculated by the time of flight (TOF) / (time of arrival, TOA). The flight time is calculated by recording the sending and receiving timestamp of the ranging message to calculate the propagation time of the wireless signal. The propagation time is multiplied by the speed of light to obtain the propagation distance. Among them, the ranging method includes one-way ranging and two-way ranging (two-way ranging, TWR). In one-way ranging, the message is only propagated in one direction. In order to obtain the flight time between devices, both devices need to maintain accurate clock synchronization, while two-way ranging does not require clock synchronization of both devices, and the system implementation complexity and cost are very low. During ranging, the electronic device and the transmitting device need to support two-way communication. The round-trip time of the ultra-wideband signal is calculated by the ultra-wideband signal sending and receiving timestamp and then multiplied by the speed of light to obtain the actual distance information between the two devices. The specific calculation formula is:

[0055] ;

[0056] Where d is the distance between the first ultra-wideband antenna and the second ultra-wideband antenna, C is the speed of light, is the difference between the time when the electronic device or the transmitting device receives the ultra-wideband signal and the time when the ultra-wideband signal is sent, It is the difference between the time point when the electronic device or the transmitting end device receives the ultra-wideband signal and the time when the ultra-wideband signal is sent.

[0057] The method of determining the target arrival angle according to the preset first radiation pattern of the first ultra-wideband antenna, the second radiation pattern of the second ultra-wideband antenna and the first signal strength difference includes: determining at least one parameter group for strength difference comparison, the parameter group including the correspondence between the reference angle and the second signal strength difference, the second signal strength difference in a single parameter group being the difference between the first reference signal strength and the second reference signal strength corresponding to the reference angle in the current parameter group, the first reference signal strength being the first reference signal strength corresponding to the reference angle in the first radiation pattern of the first ultra-wideband antenna, and the second reference signal strength being the second reference signal strength corresponding to the reference angle in the second radiation pattern of the second ultra-wideband antenna; comparing the first signal strength difference with the second signal strength difference in the at least one parameter group to obtain at least one target reference angle that meets a preset condition, the target reference angle being the reference angle in the at least one parameter group; and determining the target arrival angle according to the original arrival angle and the target reference angle.

[0058] In a specific implementation, different reference angles correspond to different data in the first radiation pattern and the second radiation pattern. At least one parameter group for intensity difference comparison is determined based on the first radiation pattern and the second radiation pattern, each parameter group includes a correspondence between a reference angle and a second signal intensity difference, and different parameter groups correspond to different reference angles. The second signal intensity difference in a single parameter group is obtained according to the following steps: obtaining a first reference signal intensity in the first radiation pattern according to the current reference angle in the current parameter group, obtaining a second reference signal intensity in the second radiation pattern according to the current reference angle in the current parameter group, and calculating the difference between the first reference signal intensity and the second reference signal intensity, which is the second signal intensity difference corresponding to the reference angle in the current parameter group. The first signal intensity difference is compared with the second signal intensity difference in each parameter group to obtain at least one target reference angle that meets the preset conditions.

[0059] It can be seen that in this example, different parameter groups are obtained based on the first radiation pattern and the second radiation pattern, and the target reference angle is determined by comparing the second signal strength difference with the first signal strength difference in the parameter group, and the target reference angle is used to determine the target arrival angle, thereby improving the accuracy of the acquired target arrival angle.

[0060] Among them, the determination of at least one parameter group for strength difference comparison includes: obtaining at least one reference angle in the first radiation pattern; performing the following operations for each reference angle of the at least one reference angle to obtain the at least one parameter group for strength difference comparison: obtaining the first antenna gain corresponding to the current reference angle in the first radiation pattern, and obtaining the second antenna gain corresponding to the current reference angle in the second radiation pattern; determining the first reference signal strength according to the first antenna gain, and determining the second reference signal strength according to the second antenna gain; calculating the difference between the first reference signal strength and the second reference signal strength to obtain the second signal strength difference corresponding to the current reference angle; creating a corresponding parameter group according to the difference between the current reference angle and the second signal strength corresponding to the current reference angle.

[0061] In a specific implementation, antenna gain refers to: under the condition of equal input power, the ratio of the power density of the signal generated by the actual antenna and the ideal radiating unit at the same point in space. Each parameter group includes a second signal strength difference, which is obtained according to the first reference signal strength and the second reference signal strength, obtaining the first antenna gain corresponding to the current reference angle in the first radiation pattern, obtaining the second antenna gain corresponding to the current reference angle in the second radiation pattern, determining the first reference signal strength according to the first antenna gain, determining the second reference signal strength according to the second antenna gain, calculating the difference between the first reference signal strength and the second reference signal strength, and obtaining the second signal strength difference, thereby creating a parameter group containing the difference between the current reference angle and the second signal strength.

[0062] Among them, determining the target arrival angle according to the original arrival angle and the target reference angle includes: obtaining a first weight coefficient and a second weight coefficient, the sum of the first weight and the second weight is 1, the first weight coefficient and the second weight coefficient are pre-set values, and the first weight coefficient and the second weight coefficient are positive numbers; obtaining a first angle value according to the first weight coefficient and the original arrival angle, and obtaining a second angle value according to the second weight coefficient and the target reference angle; determining the target arrival angle according to the first angle value and the second angle value.

[0063] Specifically, the first weight coefficient and the second weight coefficient are positive numbers, and the sum of the first weight and the second weight is 1. The first weight coefficient is multiplied by the original arrival angle to obtain the first angle value, the second weight coefficient is multiplied by the target reference angle to obtain the second angle value, and the first angle value is added to the second angle value to obtain the target arrival angle. The specific calculation formula is:

[0064]

[0065] Among them, AoA output is the target arrival angle, AoA UWB is the original angle of arrival, AoA RSSI is the target reference angle, W 1 is the first weight coefficient and W 2 is the second weight coefficient.

[0066] It can be seen that in this example, since the target arrival angle is obtained based on the original arrival angle and the target reference angle, the obtained target arrival angle is more accurate.

[0067] In one possible example, the first weight coefficient is positively correlated with a target received signal strength indication, the second weight coefficient is negatively correlated with the target received signal strength indication, and the target received signal strength indication includes any one of the following: the first signal strength, the second signal strength, and a weighted value of the first signal strength and the second signal strength.

[0068] In a specific implementation, the second weight coefficient is negatively correlated with the target received signal strength indication. When the first weight coefficient is greater than or equal to the first preset value, the first weight coefficient is 1; when the first weight coefficient is less than the second preset value, the first weight coefficient is 0; when the first weight coefficient is between the first preset value and the second preset value, the first weight coefficient is calculated according to the first function formula, the first preset value and the second preset value are values ​​set according to actual needs, and the first function formula is a preset function formula. For example: the first preset value is -88dBm, and the second preset value is -93dBm;

[0069] When R 1 <-93dBm, the W 1 is 0;

[0070] When R 1 ≥-88dBm, the W 1 is 1;

[0071] When -93dBm≤R 1 <-88dBm, the W 1 =RSSI 1 / 5+18.6, wherein R 1 It is understandable that the first function, the first preset value and the second preset value can be set according to actual needs, for example, the first preset value can be -87dBm, and the second preset value can be -92dBm, which is not limited here.

[0072] It can be seen that in this example, the weight is determined according to the received signal strength. The stronger the signal strength, the greater the proportion of the original arrival angle to the obtained target arrival angle, and the lower the signal strength, the smaller the proportion of the original arrival angle to the obtained target arrival angle. When the signal strength is low, the accuracy of the determined target arrival angle is improved.

[0073] In a possible example, the first weight coefficient is positively correlated with a ranging value, and the second weight coefficient is negatively correlated with the ranging value, the ranging value is the distance from the electronic device to a transmitting device, and the transmitting device is a device that sends the ultra-wideband signal.

[0074] In a specific implementation, the transmitting device is a device that sends ultra-wideband signals, and obtains a ranging value from the electronic device to the transmitting device. The larger the ranging value, the larger the first weight coefficient and the smaller the second weight coefficient; the smaller the ranging value, the smaller the first weight coefficient and the larger the second weight coefficient.

[0075] It can be seen that in this example, the farther the distance between the electronic device and the transmitting device is, the larger the first weight coefficient is, the larger the proportion of the original arrival angle is, and the accuracy value of the target arrival angle measured at a longer distance is improved.

[0076] Among them, comparing the first signal strength difference with the second signal strength difference in the at least one parameter group to obtain at least one target reference angle that meets the preset conditions includes: performing the following operations for each of the at least one parameter group to obtain the at least one target reference angle: determining the difference between the first signal strength difference and the second signal strength difference in the current parameter group; if the difference is within a preset numerical range, determining the target reference angle corresponding to the current parameter group based on the reference angle of the current parameter group.

[0077] In a specific implementation, the difference between the second signal strength difference and the first signal strength difference in each parameter group is compared to determine whether the difference is within a preset numerical range. If the difference is within the preset numerical range, the current reference angle corresponding to the parameter group is the target reference angle. If it is not within the preset range, the reference angle of the current parameter group is different from each target reference angle in the at least one target reference angle. The preset range can be preset according to actual needs. For example, if the preset numerical range is 0, the preset numerical range is satisfied when the second signal strength difference and the first signal strength difference are 0; if the preset numerical range is 1, the preset numerical range is satisfied when the second signal strength difference and the first signal strength difference are less than or equal to 1.

[0078] It can be seen that in this example, the reference angle corresponding to the current second signal strength difference is screened within a preset numerical range to see whether it is the target reference angle, so that the acquired target reference angle is closer to the actual arrival angle, and the target arrival angle is determined by the target reference angle, thereby improving the accuracy of the obtained target arrival angle.

[0079] In a possible example, when the difference between the first signal strength difference and each second signal strength difference does not satisfy a preset value range, the target arrival angle is the same as the original arrival angle.

[0080] In a possible example, differences between multiple second signal strength difference values ​​and the first signal strength difference value are obtained respectively, and when multiple differences all meet a preset numerical range, a reference angle corresponding to a difference value with the smallest absolute value is preferentially selected as the target reference angle.

[0081] For example, a difference of 5 between the second signal strength difference and the first signal strength difference is obtained, and a difference of 4 between another second signal strength difference and the first signal strength difference is obtained, then the reference angle of the second signal strength difference corresponding to the difference of 4 is the target reference angle.

[0082] It can be seen that in this example, the reference angle corresponding to the minimum difference is determined as the target reference angle, which reduces the gap between the target reference angle and the actual arrival angle, thereby improving the accuracy of the acquired target arrival angle.

[0083] The embodiment of the present application provides a device for determining an angle of arrival, which may be an electronic device. Specifically, the device for determining an angle of arrival is used to execute the steps executed by the electronic device in the above method for determining an angle of arrival. The device for determining an angle of arrival provided in the embodiment of the present application may include modules corresponding to the corresponding steps.

[0084] The embodiment of the present application can divide the functional modules of the positioning display control device 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 function division. There may be other division methods in actual implementation.

[0085] In the case of dividing each functional module into corresponding functional modules, please refer to Figure 5 , Figure 5 This is a block diagram of the functional units of a device for determining an angle of arrival provided in an embodiment of the present application.

[0086] The device comprises:

[0087] An acquisition unit 510 is configured to acquire a first signal strength, a second signal strength, and an original angle of arrival of an ultra-wideband signal received by an electronic device from a transmitting end device, wherein the first signal strength is a received signal strength when a first ultra-wideband antenna of the electronic device receives the ultra-wideband signal, the second signal strength is a received signal strength when a second ultra-wideband antenna of the electronic device receives the ultra-wideband signal, and the original angle of arrival is an angle of arrival between the electronic device and the transmitting end device calculated based on a phase difference of an arrival signal;

[0088] A calculation unit 520, configured to calculate a first signal strength difference between the first signal strength and the second signal strength;

[0089] The determination unit 530 is configured to determine a target arrival angle according to a preset first radiation pattern of the first ultra-wideband antenna, a second radiation pattern of the second ultra-wideband antenna, and a difference between the first signal strength.

[0090] In one possible example, the determination unit 530 shown is also used to determine at least one parameter group for strength difference comparison, the parameter group including a correspondence between a reference angle and a second signal strength difference, the second signal strength difference in a single parameter group being the difference between a first reference signal strength and a second reference signal strength corresponding to the reference angle in the current parameter group, the first reference signal strength being the first reference signal strength corresponding to the reference angle in the first radiation pattern, and the second reference signal strength being the second reference signal strength corresponding to the reference angle in the second radiation pattern; and comparing the first signal strength difference with the second signal strength difference in the at least one parameter group to obtain at least one target reference angle that meets a preset condition, the target reference angle being a reference angle in the at least one parameter group; and determining the target arrival angle based on the original arrival angle and the target reference angle.

[0091] In one possible example, the determination unit 530 shown obtains a first weight coefficient and a second weight coefficient, the sum of the first weight and the second weight is 1, the first weight coefficient and the second weight coefficient are pre-set values, and the first weight coefficient and the second weight coefficient are positive numbers; it is used to obtain a first angle value based on the first weight coefficient and the original arrival angle, and to obtain a second angle value based on the second weight coefficient and the target reference angle; it is also used to determine the target arrival angle based on the first angle value and the second angle value.

[0092] In one possible example, the first weight coefficient is positively correlated with a target received signal strength indication, and the second weight coefficient is negatively correlated with the target received signal strength indication; and the target received signal strength indication includes any one of the following: the first signal strength, the second signal strength, and a weighted value of the first signal strength and the second signal strength.

[0093] In a possible example, the first weight coefficient is positively correlated with a ranging value, and the second weight coefficient is negatively correlated with the ranging value, the ranging value is the distance from the electronic device to a transmitting device, and the transmitting device is a device that sends the ultra-wideband signal.

[0094] In one possible example, the determination unit 530 is also used to obtain at least one reference angle in the first radiation pattern; perform the following operations for each reference angle in the at least one reference angle to obtain the at least one parameter group for strength difference comparison; and obtain the first antenna gain corresponding to the current reference angle in the first radiation pattern, and obtain the second antenna gain corresponding to the current reference angle in the second radiation pattern; and determine the first reference signal strength based on the first antenna gain, and determine the second reference signal strength based on the second antenna gain; and calculate the difference between the first reference signal strength and the second reference signal strength to obtain the second signal strength difference corresponding to the current reference angle; and create a corresponding parameter group based on the difference between the current reference angle and the second signal strength corresponding to the current reference angle.

[0095] In one possible example, the determination unit 530 shown is also used to perform the following operations for each of the at least one parameter group to obtain the at least one target reference angle: and determine the difference between the first signal strength difference and the second signal strength difference in the current parameter group; and if the difference is within a preset numerical range, determine the target reference angle corresponding to the current parameter group based on the reference angle of the current parameter group.

[0096] In a possible example, the determination unit 530 is further used to obtain the first signal strength and the second signal strength of the ultra-wideband signal received by the electronic device from the transmitting device, the first phase information of the ultra-wideband signal received by the first antenna, the distance between the first antenna and the second ultra-wideband antenna, and the second phase information of the ultra-wideband signal received by the second ultra-wideband antenna; and determine the phase difference based on the first phase information and the second phase information; and substitute the phase difference and the distance into a function calculation formula to obtain the original arrival angle, wherein the function calculation formula is a preset calculation formula.

[0097] The above embodiments may be implemented in whole or in part by software, hardware, firmware or any other combination thereof. When implemented using software, the above embodiments may 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 may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may 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 may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium may 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 may 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 may be a solid-state hard disk.

[0098] 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 described in the above method embodiments, and the above computer includes an electronic device.

[0099] An embodiment of the present application further provides a computer program product, which includes a computer program. The computer program can be operated to enable a computer to execute part or all of the steps of any method recorded in the above method embodiments.

[0100] The computer program product may be a software installation package, and the computer includes an electronic device.

[0101] 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.

[0102] 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.

[0103] 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.

[0104] In addition, each functional unit in each embodiment of the present invention 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.

[0105] 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 invention. 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.

[0106] Although the present invention is disclosed as above, the present invention 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 invention, 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 invention.

Claims

1. A method for determining an angle of arrival, characterized in that: include: Obtaining a first signal strength, a second signal strength, and an original angle of arrival of an ultra-wideband signal received by an electronic device from a transmitting end device, wherein the first signal strength is a received signal strength when a first ultra-wideband antenna of the electronic device receives the ultra-wideband signal, the second signal strength is a received signal strength when a second ultra-wideband antenna of the electronic device receives the ultra-wideband signal, and the original angle of arrival is an angle of arrival between the electronic device and the transmitting end device calculated based on a phase difference of an arrival signal; Calculate a first signal strength difference between the first signal strength and the second signal strength; Determine at least one parameter group for strength difference comparison according to a preset first radiation pattern of the first ultra-wideband antenna and a second radiation pattern of the second ultra-wideband antenna, the parameter group including a correspondence between a reference angle and a second signal strength difference, the second signal strength difference in a single parameter group is a difference between a first reference signal strength and a second reference signal strength corresponding to a reference angle in a current parameter group, the first reference signal strength is a first reference signal strength corresponding to a reference angle in the first radiation pattern of the first ultra-wideband antenna, and the second reference signal strength is a second reference signal strength corresponding to a reference angle in the second radiation pattern of the second ultra-wideband antenna; as well as, determining a difference between the first signal strength difference value and a second signal strength difference value in each parameter group of the at least one parameter group; as well as, If it is determined that the difference is within a preset value range, determining a target reference angle corresponding to the current parameter group according to the reference angle of the current parameter group to obtain at least one target reference angle; Obtaining a first weight coefficient and a second weight coefficient, wherein the sum of the first weight and the second weight is 1, the first weight coefficient and the second weight coefficient are preset values, and the first weight coefficient and the second weight coefficient are positive numbers; Acquire a first angle value according to the first weight coefficient and the original arrival angle, and acquire a second angle value according to the second weight coefficient and the target reference angle; A target arrival angle is determined according to the first angle value and the second angle value.

2. The method for determining the angle of arrival according to claim 1, characterized in that: The first weight coefficient is positively correlated with the target received signal strength indicator, and the second weight coefficient is negatively correlated with the target received signal strength indicator; The target received signal strength indication includes any one of the following: the first signal strength, the second signal strength, and a weighted value of the first signal strength and the second signal strength.

3. The method for determining the angle of arrival according to claim 2, characterized in that: The first weight coefficient is positively correlated with the ranging value, and the second weight coefficient is negatively correlated with the ranging value. The ranging value is the distance from the electronic device to the transmitting device, and the transmitting device is the device that sends the ultra-wideband signal.

4. The method for determining the angle of arrival according to any one of claims 1 to 3, characterized in that: The determining of at least one parameter group for intensity difference comparison according to the preset first radiation pattern of the first ultra-wideband antenna and the second radiation pattern of the second ultra-wideband antenna includes: Acquire at least one reference angle in the first radiation pattern; The following operation is performed for each reference angle of the at least one reference angle to obtain the at least one parameter group for intensity difference comparison: Obtain a first antenna gain corresponding to a current reference angle in the first radiation pattern, and obtain a second antenna gain corresponding to the current reference angle in the second radiation pattern; determining the first reference signal strength according to the first antenna gain, and determining the second reference signal strength according to the second antenna gain; Calculate the difference between the first reference signal strength and the second reference signal strength to obtain a second signal strength difference corresponding to the current reference angle; A corresponding parameter group is created according to the current reference angle and a second signal strength difference corresponding to the current reference angle.

5. The method for determining the angle of arrival according to claim 4, characterized in that: The step of obtaining the first signal strength, the second signal strength and the original arrival angle of the ultra-wideband signal received by the electronic device from the transmitting end device comprises: Acquire a first signal strength and a second signal strength of an ultra-wideband signal received by an electronic device from a transmitting device, first phase information of the ultra-wideband signal received by the first ultra-wideband antenna, a distance between the first ultra-wideband antenna and the second ultra-wideband antenna, and second phase information of the ultra-wideband signal received by the second ultra-wideband antenna; Determine the phase difference according to the first phase information and the second phase information; Substitute the phase difference and the distance into a function calculation formula to obtain the original arrival angle, where the function calculation formula is a preset calculation formula.

6. A device for determining an angle of arrival, characterized in that: include: an acquisition unit, configured to acquire a first signal strength, a second signal strength, and an original angle of arrival of an ultra-wideband signal received by an electronic device from a transmitting end device, wherein the first signal strength is a received signal strength when a first ultra-wideband antenna of the electronic device receives the ultra-wideband signal, the second signal strength is a received signal strength when a second ultra-wideband antenna of the electronic device receives the ultra-wideband signal, and the original angle of arrival is an angle of arrival between the electronic device and the transmitting end device calculated based on a phase difference of an arrival signal; a calculation unit, configured to calculate a first signal strength difference between the first signal strength and the second signal strength; A determination unit, configured to determine at least one parameter group for strength difference comparison according to a preset first radiation pattern of the first ultra-wideband antenna and a second radiation pattern of the second ultra-wideband antenna, wherein the parameter group includes a correspondence between a reference angle and a second signal strength difference, the second signal strength difference in a single parameter group is a difference between a first reference signal strength and a second reference signal strength corresponding to the reference angle in a current parameter group, the first reference signal strength is a first reference signal strength corresponding to the reference angle in the first radiation pattern of the first ultra-wideband antenna, and the second reference signal strength is a second reference signal strength corresponding to the reference angle in the second radiation pattern of the second ultra-wideband antenna; and determining a difference between the first signal strength difference and the second signal strength difference in each parameter group in the at least one parameter group; and, if it is determined that the difference is within a preset value range, determining a target reference angle corresponding to the current parameter group according to the reference angle of the current parameter group to obtain at least one target reference angle; Obtaining a first weight coefficient and a second weight coefficient, wherein the sum of the first weight and the second weight is 1, the first weight coefficient and the second weight coefficient are preset values, and the first weight coefficient and the second weight coefficient are positive numbers; A first angle value is obtained according to the first weight coefficient and the original arrival angle, and a second angle value is obtained according to the second weight coefficient and the target reference angle; and a target arrival angle is determined according to the first angle value and the second angle value.

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

8. 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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