Method, apparatus, storage medium, and electronic device for determining angle of arrival

Abstract

Embodiments of the present application provide a method, apparatus, storage medium, and electronic device for determining the angle of arrival. In the embodiments of the present application, an ultra-wideband antenna of an electronic device receives an ultra-wideband signal sent by an external device; the phase information to be processed of the ultra-wideband signal is obtained; the phase information to be processed is subjected to a first filtering process to obtain target phase information; the angle of arrival to be processed of the ultra-wideband signal is determined through the target phase information; the angle of arrival to be processed is subjected to a second filtering process to obtain a target angle of arrival. When the ultra-wideband signal is received, the present application improves the accuracy of the obtained angle of arrival by filtering the phase information to be processed and the angle of arrival to be processed.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular, to a method and device for determining the angle of arrival, a computer-readable storage medium, and an electronic device. Background Art

[0002] Currently, positioning technology has a wide range of application scenarios and great commercial value. Common positioning technologies include those based on the angle of arrival for positioning. The technology based on the angle of arrival for positioning means that the transmitting end sends a signal to the receiving end, and the receiving end determines the position of the transmitting end by calculating the angle of arrival of the received signal. However, in the related art, affected by problems such as antenna design, there is a situation where the obtained angle of arrival is different from the actual angle of arrival, and the accuracy of the obtained angle of arrival is relatively low. Summary of the Invention

[0003] Embodiments of this application provide a method and device for determining the angle of arrival, a computer-readable storage medium, and an electronic device, which improve the accuracy of the obtained angle of arrival.

[0004] In a first aspect, embodiments of this application provide a method for determining the angle of arrival, including:

[0005] Receiving, by a UWB antenna of an electronic device, a UWB signal sent by an external device;

[0006] Obtaining the phase information to be processed of the UWB signal;

[0007] Performing a first filtering process on the phase information to be processed to obtain target phase information;

[0008] Determining, based on the target phase information, the angle of arrival to be processed of the UWB signal;

[0009] Performing a second filtering process on the angle of arrival to be processed to obtain a target angle of arrival.

[0010] In a second aspect, embodiments of this application provide a device for determining the angle of arrival, including:

[0011] A receiving module, configured to receive, by a UWB antenna of an electronic device, a UWB signal sent by an external device;

[0012] An obtaining module, configured to obtain the phase information to be processed of the UWB signal;

[0013] A first filtering module, configured to perform a first filtering process on the phase information to be processed to obtain target phase information;

[0014] A determining module, configured to determine, based on the target phase information, the angle of arrival to be processed of the UWB signal;

[0015] A second filtering module, configured to perform second filtering processing on the to-be-processed angle of arrival to obtain a target angle of arrival.

[0016] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program runs on a computer, the computer is caused to execute the method for determining an angle of arrival provided in any embodiment of the present application.

[0017] In a fourth aspect, an embodiment of the present application provides an electronic device, including a processor and a memory. The memory has a computer program, and the processor is configured to execute the method for determining an angle of arrival provided in any embodiment of the present application by calling the computer program.

[0018] In a fifth aspect, an embodiment of the present application further provides an electronic device, including:

[0019] A first ultra-wideband antenna and a second ultra-wideband antenna, where the first ultra-wideband antenna and the second ultra-wideband antenna are respectively configured to receive ultra-wideband signals sent by an external device;

[0020] A filter, configured to perform first filtering processing on the to-be-processed phase information to obtain target phase information, and perform second filtering processing on the to-be-processed angle of arrival to obtain a target angle of arrival;

[0021] A processor, configured to obtain the to-be-processed phase information of the ultra-wideband signal, and determine the to-be-processed angle of arrival of the ultra-wideband signal through the target phase information.

[0022] In the embodiment of the present application, an ultra-wideband signal sent by an external device is received through the ultra-wideband antenna of the electronic device; the to-be-processed phase information of the ultra-wideband signal is obtained; first filtering processing is performed on the to-be-processed phase information to obtain target phase information; the to-be-processed angle of arrival of the ultra-wideband signal is determined through the target phase information; and second filtering processing is performed on the to-be-processed angle of arrival to obtain a target angle of arrival. When the ultra-wideband signal is received in the present application, by performing filtering processing on the to-be-processed phase information and the to-be-processed angle of arrival, a target angle of arrival is obtained, avoiding the situations of deviation of phase information and slow response speed for determining the angle of arrival, and improving the accuracy of the obtained angle of arrival and the response speed for determining the angle of arrival. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 It is a schematic diagram of the first scenario of the method for determining the angle of arrival provided by an embodiment of the present application.

[0025] Figure 2 It is a schematic diagram of the first process of the method for determining the angle of arrival provided by an embodiment of the present application.

[0026] Figure 3 It is a function curve between the arrival phase difference and the angle of arrival provided by an embodiment of the present application.

[0027] Figure 4 It is a schematic diagram for calculating the angle of arrival of an ultra-wideband signal provided by an embodiment of the present application.

[0028] Figure 5 It is a schematic diagram of the second process of the method for determining the angle of arrival provided by an embodiment of the present application.

[0029] Figure 6 It is a schematic diagram of the second scenario of the method for determining the angle of arrival provided by an embodiment of the present application.

[0030] Figure 7 It is a schematic diagram of the structure of the device for determining the angle of arrival provided by an embodiment of the present application.

[0031] Figure 8 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application.

[0032] Figure 9 It is another schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0033] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0034] An embodiment of the present application provides a method for determining the angle of arrival. The execution subject of the method for determining the angle of arrival may be the device for determining the angle of arrival provided by an embodiment of the present application, or an electronic device integrated with the device for determining the angle of arrival, where the device for determining the angle of arrival may be implemented in a hardware or software manner. Among them, the electronic device may be a smart phone, a tablet computer, a personal digital assistant (PDA), etc. The following is a specific analysis and description.

[0035] With the rapid development of wireless communication technology, people have put forward higher requirements for wireless communication. As an emerging short-range wireless communication technology, UWB (Ultra Wide Band) wireless communication technology has gradually become a trend in the development of current wireless communication technology due to its high transmission rate, low power, good security, strong anti-multipath ability, and low cost.

[0036] UWB wireless communication is a communication method that does not use a carrier but uses pulses with extremely short time intervals (less than 1 ns). It is a carrierless communication technology that transmits data using non-sinusoidal narrow pulses from nanoseconds to micro-nanoseconds. Therefore, the occupied spectrum range is very wide, suitable for high-speed, short-range wireless personal communication. By transmitting extremely low-power signals over a relatively wide spectrum, UWB can achieve data transmission rates from several hundred Mbit / s to several Gbit / s within a range of about 10 meters. It has strong anti-interference performance, high transmission rate, large system capacity, and low transmission power. The transmitting power of the UWB antenna is very small, and the communication device can achieve communication with a transmitting power of less than 1 mW. The low transmitting power greatly extends the working time of the system power supply. Moreover, with low transmitting power, the electromagnetic wave radiation has little impact on the human body. The Federal Communications Commission of the United States stipulates that the operating frequency range of the UWB antenna is from 3.1 GHz to 10.6 GHz, and the minimum operating bandwidth is 500 MHz. The center frequencies of the currently commonly used UWB antenna frequency bands are 6.5 GHz and 8 GHz, and the bandwidth requirement is above 500 GHz.

[0037] Among them, the UWB antenna is suitable for using pulse signals to transmit information. If the length of the pulse is reduced, the increase in the bandwidth will be inversely proportional to the time. When using pulse signals, the smaller the pulse length, the more signals can be transmitted per unit time. Conversely, the wider the bandwidth, the more pulse signals can be transmitted. Not only can the transmission speed be increased, but also the power consumption can be effectively reduced. Since the power supply time is short, the average power consumption can be reduced.

[0038] As Figure 1 shown, Figure 1It is a schematic diagram of the first scenario of the method for determining the angle of arrival provided by the embodiments of the present application. An electronic device equipped with a UWB antenna can identify other external devices with UWB tag antennas nearby through the UWB antenna, and thus determine the location of the external device based on the UWB tag antenna of the external device. For example, the electronic device can receive the UWB signal sent by the external device through its ultra-wideband antenna. Then, the electronic device can process the UWB signal to obtain the phase information to be processed of the UWB signal. Subsequently, the electronic device performs a first filtering process on the phase information to be processed to obtain the target phase information. Since there is a mapping relationship between the phase information and the angle of arrival, the angle of arrival to be processed of the UWB signal can be obtained through the target phase information. Finally, the electronic device performs a second filtering process on the angle of arrival to be processed to finally obtain the target angle of arrival, that is Figure 1 the angle of arrival θ in

[0039] The embodiments of the present application provide a method for determining the angle of arrival, as Figure 2 shown Figure 2 is the first flowchart of the method for determining the angle of arrival provided by the embodiments of the present application. The steps of the method for determining the angle of arrival may include:

[0040] 101. Receive the UWB signal sent by the external device through the ultra-wideband antenna of the electronic device.

[0041] Ultra-wideband technology has extremely strong penetration ability. It has the advantages of being insensitive to channel fading, low transmit signal power spectral density, low intercept ability, low system complexity, and providing positioning accuracy of several centimeters, and can perform precise positioning indoors and underground. In some embodiments, the ultra-wideband technology may refer to the ultra-wideband technology in the 802.15.4 protocol.

[0042] When using ultra-wideband technology to achieve positioning, it generally includes the following several methods. One is based on Time of Flight (ToF), that is, the distance is measured by directly calculating the time interval between the transmitted signal and the received signal between two points for positioning; one is based on Time Difference of Arrival (TDoA), that is, the position is measured by the difference in arrival time for positioning; and there is also one based on Angle of Arrival (AoA), that is, the positioning is achieved by calculating the angle of arrival of the received signal.

[0043] In some embodiments, the position of an external device relative to an electronic device can be measured based on the angle of arrival. When measuring the phase difference of arrival of an ultra-wideband signal, the electronic device may include an ultra-wideband chip (UWB chip), and the ultra-wideband chip includes at least two ultra-wideband antennas, with each antenna spaced apart. The ultra-wideband signal transmitted by the external device is received through at least two ultra-wideband antennas of the electronic device, and then, the phase of the received ultra-wideband signal is calculated to obtain the phase difference of arrival (PDoA). Subsequently, the angle of arrival of the received ultra-wideband signal is calculated based on the phase difference of arrival, and the positioning of the external device is achieved according to the angle of arrival.

[0044] It can be understood that the electronic device may include multiple antennas. For example, the electronic device may include an antenna array composed of multiple antennas, and the phase difference between multiple signals is calculated after receiving multiple signals through the antenna array matrix.

[0045] In some embodiments, the electronic device may include a first ultra-wideband antenna and a second ultra-wideband antenna. The phase difference is obtained based on the phase values of the signals received by each antenna and used as the phase information of the ultra-wideband signal. Then, the method of "receiving the ultra-wideband signal transmitted by the external device through the ultra-wideband antenna of the electronic device" may include:

[0046] Receiving the ultra-wideband signal through the first ultra-wideband antenna and the second ultra-wideband antenna respectively.

[0047] For example, as Figure 1 shown, the electronic device in the figure includes antenna A and antenna B, and the ultra-wideband signal transmitted by the external device can be received through antenna A and antenna B.

[0048] 102. Obtain the phase information of the ultra-wideband signal to be processed.

[0049] Wherein, when the electronic device includes a first ultra-wideband antenna and a second ultra-wideband antenna, the phase difference is obtained based on the phase values of the signals received by each antenna and used as the phase information of the ultra-wideband signal. Then, the method of "obtaining the phase information of the ultra-wideband signal to be processed" may include:

[0050] Obtain the first phase value of the ultra-wideband signal received by the first ultra-wideband antenna and the second phase value of the ultra-wideband signal received by the second ultra-wideband antenna;

[0051] Take the phase difference between the first phase value and the second phase value as the phase information of the ultra-wideband signal to be processed.

[0052] Continue to refer to Figure 1, the phase values of the ultra-wideband signals received by antenna A and antenna B from an external device are measured, and the phase difference between the two phase values (i.e., the arrival phase difference of the ultra-wideband signal) is used as the phase information to be processed for the ultra-wideband signal.

[0053] 103. Perform a first filtering process on the phase information to be processed to obtain the target phase information.

[0054] It should be noted that when the electronic device obtains the phase information to be processed, due to the existence of Gaussian noise, even if the actual arrival angle remains unchanged, the phase information to be processed will show obvious fluctuations. Generally, the standard deviation is between 5 and 12. However, when the channel environment for the propagation of the ultra-wideband signal deteriorates, the standard deviation of the phase information to be processed may also be greater than 15.

[0055] When the arrival phase difference of the ultra-wideband signal is obtained, it is necessary to find the arrival angle corresponding to the arrival phase difference through a preset mapping curve or function. Therefore, in the preset mapping curve or function, there needs to be a unique mapping relationship between the arrival phase difference and the arrival angle. Due to the above reasons of Gaussian noise and deteriorated channel environment, the fluctuations in the obtained phase information to be processed will affect the fluctuations in the measured arrival angle values. For example, when the arrival angle between the external device and the electronic device is AoA = 10°, the obtained phase information to be processed fluctuates between 0 and 40°.

[0056] To solve the problem of fluctuations in the phase information to be processed, a method of performing a first filtering process on the phase information to be processed can be adopted. Among them, the electronic device may include a filter, and the filter is a filtering circuit composed of a capacitor, an inductor, and a resistor. The filter can effectively filter out specific frequency points in the power line or frequencies outside that frequency point, obtaining a power signal with a specific frequency or a power signal after eliminating a specific frequency. The phase information to be processed is subjected to a first filtering process through the filter to obtain the processed phase information, that is, the target phase information.

[0057] Among them, the filter can be an N-order average filter. For example, if the phase information to be processed is PDoA, the nearest N obtained PDoA values are taken, and then the average value is taken to obtain the target phase information PDoA_1. It can be understood that the function of increasing the filter is to reduce noise so that the obtained arrival angle is more accurate.

[0058] 104. Determine the arrival angle to be processed of the ultra-wideband signal through the target phase information.

[0059] As Figure 3 shown, Figure 3 is the function curve between the arrival phase difference and the arrival angle provided by the embodiment of the present application. After obtaining the target phase information, the arrival angle to be processed of the ultra-wideband signal can be determined through a preset mapping curve.

[0060] In addition, the arrival angle of the ultra-wideband signal to be processed can be determined by a preset mapping table. Please refer to Table 1 and Table 2 below. In Table 1 and Table 2, it is shown that there is a one-to-one correspondence between the target phase information PDoA and the arrival angle of the signal to be processed AoA. Based on the correspondence between the target phase information and the arrival angle of the signal to be processed, the arrival angle of the ultra-wideband signal to be processed can be obtained through the target phase information.

[0061] Table 1

[0062]

[0063] Table 2

[0064]

[0065] In some embodiments, the path difference between the external device and different antennas of the electronic device can also be calculated according to the arrival phase difference, and then the arrival angle can be obtained according to the path difference. Please refer to Figure 4 , Figure 4 which is a schematic diagram for calculating the arrival angle of the ultra-wideband signal provided by the embodiments of the present application. For example, the path difference p between the antenna of the external device and the antennas A and B of the electronic device can be calculated through the arrival phase difference after the first filtering process. Since the antennas A and B are arranged at intervals with a spacing of d, the arrival angle θ of the ultra-wideband signal can be calculated according to the path difference p and the spacing d.

[0066] 105. Perform a second filtering process on the arrival angle to be processed to obtain the target arrival angle.

[0067] It should be noted that through the first filtering process on the phase information to be processed, the problem of phase fluctuation caused by Gaussian noise and deteriorated channel environment can be solved, so that the data of the output arrival angle is relatively accurate. However, in order to improve the measurement accuracy of the arrival angle, the arrival angle can be further filtered through a filter to obtain a more accurate arrival angle, that is, the target arrival angle.

[0068] It can be understood that during the second filtering process of the arrival angle, if the filter order of the filter is large, the time delay of the filter will be large. Although the measurement accuracy and stability of the arrival angle can be improved, the response speed of measuring the arrival angle will become slow. For example, when the electronic device or the external device moves, the arrival angle measured by the electronic device will change slowly. When the filter order of the filter is small, the response speed of the filtered arrival angle will be improved, but the stability and accuracy of the filtered arrival angle will be correspondingly reduced.

[0069] To simultaneously solve the problems of the response speed and stability of the angle of arrival, in the embodiment of the present application, after performing a first filtering process on the phase information to be processed, a second filtering process is performed on the obtained angle of arrival to be processed to obtain a more accurate target angle of arrival.

[0070] In this embodiment, an ultra-wideband signal sent by an external device is received through an ultra-wideband antenna of an electronic device; the phase information to be processed of the ultra-wideband signal is obtained; a first filtering process is performed on the phase information to be processed to obtain target phase information; the angle of arrival to be processed of the ultra-wideband signal is obtained through the target phase information; and a second filtering process is performed on the angle of arrival to be processed to obtain a target angle of arrival.

[0071] Among them, when receiving the ultra-wideband signal, by performing a filtering process on the phase information to be processed and the angle of arrival to be processed, a target angle of arrival is obtained, avoiding the occurrence of situations where the phase information is deviated and the response speed of determining the angle of arrival is slow, and improving the accuracy of the obtained angle of arrival and the response speed of determining the angle of arrival.

[0072] According to the method described in the above embodiment, the following will be further described in detail by way of examples.

[0073] Please refer to Figure 5 , Figure 5 which is the second schematic flowchart of the method for determining the angle of arrival provided by the embodiment of the present application. Among them, the method for determining the angle of arrival may specifically include:

[0074] 201. Receive ultra-wideband signals through the first ultra-wideband antenna and the second ultra-wideband antenna of the electronic device respectively.

[0075] When measuring the arrival phase difference of the ultra-wideband signal, the electronic device may include an ultra-wideband chip (UWB chip), and at least two ultra-wideband antennas are included in the ultra-wideband chip, and the antennas are arranged at intervals. For example, the electronic device includes antenna A and antenna B, and the ultra-wideband signals sent by the external device can be received through antenna A and antenna B.

[0076] 202. Obtain the phase information to be processed of the ultra-wideband signal.

[0077] Obtain the first phase value of the ultra-wideband signal received by the first ultra-wideband antenna, and obtain the second phase value of the ultra-wideband signal received by the second ultra-wideband antenna, and use the phase difference between the first phase value and the second phase value as the phase information of the ultra-wideband signal.

[0078] For example, measure the phase values of the ultra-wideband signals sent by the external device received by antenna A and antenna B, and use the phase difference between the two phase values (that is, the arrival phase difference of the ultra-wideband signal) as the phase information to be processed of the ultra-wideband signal.

[0079] 203. Perform a first filtering process on the phase information to be processed to obtain the target phase information.

[0080] It should be noted that when the electronic device obtains the phase information to be processed, due to the existence of Gaussian noise, even if the actual angle of arrival remains unchanged, the phase information to be processed will show obvious fluctuations. Generally, the standard deviation is between 5 and 12. However, when the channel environment for the propagation of ultra-wideband signals deteriorates, the standard deviation of the phase information to be processed may also be greater than 15.

[0081] When the arrival phase difference of the ultra-wideband signal is obtained, it is necessary to find the angle of arrival corresponding to the arrival phase difference through a preset mapping curve or function. Therefore, in the preset mapping curve or function, there needs to be a unique mapping relationship between the arrival phase difference and the angle of arrival. Due to the above reasons of Gaussian noise and deteriorated channel environment, the fluctuations in the phase information to be processed obtained will affect the fluctuations in the measured values of the angle of arrival. For example, when the angle of arrival between the external device and the electronic device is AoA = 10°, the phase information to be processed obtained fluctuates between 0° and 40°.

[0082] To solve the problem of fluctuations in the phase information to be processed, a method of performing a first filtering process on the phase information to be processed can be adopted. Among them, the electronic device can include a filter, and the filter performs a first filtering process on the phase information to be processed to obtain the processed phase information, that is, the target phase information.

[0083] Among them, the filter can be an N-order average filter. For example, if the phase information to be processed is PDoA, take the nearest N obtained PDoA values, and then take the average to obtain the target phase information PDoA_1. It can be understood that the role of increasing the filter is to reduce noise so that the obtained angle of arrival is more accurate.

[0084] 204. Determine the angle of arrival to be processed of the ultra-wideband signal through the target phase information.

[0085] As Figure 3 shown, Figure 3 is the function curve between the arrival phase difference and the angle of arrival provided by the embodiment of the present application. After obtaining the target phase information, the angle of arrival to be processed of the ultra-wideband signal can be determined through the preset mapping curve.

[0086] In addition, the angle of arrival to be processed of the ultra-wideband signal can also be determined through a preset mapping table. Please refer to Table 1 and Table 2 below. Table 1 and Table 2 show that there is a one-to-one correspondence between the target phase information PDoA and the angle of arrival to be processed AoA. Based on the correspondence between the target phase information and the angle of arrival to be processed, the angle of arrival to be processed of the ultra-wideband signal can be obtained through the target phase information.

[0087] Table 1

[0088]

[0089] Table 2

[0090]

[0091] 205. Obtain the motion state information of the electronic device, and perform a second filtering process on the angle of arrival to be processed according to the motion state information to obtain the target angle of arrival.

[0092] It should be noted that through the first filtering process on the phase information to be processed, the problem of phase fluctuation caused by Gaussian noise and deteriorated channel environment can be solved, so that the data of the output angle of arrival is relatively accurate. However, in order to improve the measurement accuracy of the angle of arrival, a second filtering process can be performed on the angle of arrival through a filter to obtain a more accurate angle of arrival, that is, the target angle of arrival.

[0093] It can be understood that during the process of performing the second filtering process on the angle of arrival, if the filtering order of the filter is large, the time delay of the filter will be large. Although the measurement accuracy and stability of the angle of arrival can be improved, the response speed of measuring the angle of arrival will become slow. For example, when the electronic device or an external device moves, the angle of arrival measured by the electronic device will change slowly. When the filtering order of the filter is small, the response speed of the filtered angle of arrival will be improved, but the stability and accuracy of the filtered angle of arrival will be correspondingly reduced.

[0094] To solve the problems of the response speed and stability of the angle of arrival simultaneously, in the embodiment of the present application, after performing the first filtering process on the phase information to be processed, a second filtering process is performed on the angle of arrival to be processed to obtain a more accurate target angle of arrival.

[0095] Before performing the second filtering process on the angle of arrival to be processed to obtain the target angle of arrival, the current motion data of the electronic device can be obtained first; the current motion state of the electronic device can be judged according to the current motion data, that is, the current motion state of the electronic device is obtained, where the current motion state includes a motion state and a stationary state.

[0096] Among them, the electronic device may include an inertial measurement unit, and the inertial measurement unit is a device for measuring the three-axis angular velocity and three-axis acceleration of an object. Usually, an inertial measurement unit (IMU) includes three single-axis accelerometers and three single-axis gyroscopes. The accelerometer can detect the acceleration signals of the three independent axes of the electronic device in the carrier coordinate system, and the gyroscope can detect the angular velocity signals of the carrier relative to the coordinate system. According to the acceleration signals and angular velocity signals, it can be judged whether the electronic device is in a motion state or a stationary state.

[0097] Based on the determined current motion state of the electronic device, the filter order adjustment module in the electronic device can dynamically adjust the filtering order of the filter.

[0098] If the current motion state of the electronic device is a motion state, the angle of arrival to be processed is secondarily filtered with the minimum filtering order to obtain the target angle of arrival; if the current motion state of the electronic device is a stationary state, the angle of arrival to be processed is secondarily filtered with the maximum filtering order to obtain the target angle of arrival.

[0099] For example, the maximum filtering order of the filter is N1, and the minimum filtering order is N2. If the motion judgment module of the electronic device detects the motion data of the electronic device through the input inertial measurement unit and obtains that the current state of the electronic device is a motion state, the angle of arrival to be processed is secondarily filtered with N2 as the filtering order; if it is obtained that the current state of the electronic device is a stationary state, the angle of arrival to be processed is secondarily filtered with N1 as the filtering order.

[0100] It can be understood that when the electronic device is in a motion state, the angle of arrival between the electronic device and the external device is in a changing state. Therefore, to improve the response speed of the measured target angle of arrival, it is necessary to perform filtering processing with the minimum filtering order with the fewest number of filterings; when the electronic device is in a stationary state, the angle of arrival between the electronic device and the external device is in a fixed state. Therefore, to improve the accuracy of the measured target angle of arrival, it is necessary to perform filtering processing with the maximum filtering order with the most number of filterings. By judging the motion state of the electronic device, the filtering order of the filter can be dynamically adjusted to perform the most optimized filtering processing on the angle of arrival to be processed, thereby improving the response speed and accuracy of the measured target angle of arrival.

[0101] In some embodiments, the judgment of the current motion state of the electronic device needs to be combined with the historical motion state of the electronic device to obtain the motion trajectory of the electronic device, and the best filtering order is selected based on the motion trajectory to implement the second filtering processing, thereby obtaining the target angle of arrival.

[0102] Among them, before secondarily filtering the angle of arrival to be processed to obtain the angle of arrival, the historical motion data of the electronic device can be obtained first; the historical motion state of the electronic device is judged according to the historical motion data, that is, the historical motion state of the electronic device is obtained, where the historical motion state includes a motion state and a stationary state; according to the historical motion state and the current motion state, the motion trajectory of the electronic device is obtained.

[0103] If the historical motion state is a motion state and the current motion state is a stationary state, the motion trajectory is the first motion trajectory, that is, the electronic device changes from a motion state to a stationary state; if the historical motion state is a stationary state and the current motion state is a motion state, the motion trajectory is the second motion trajectory, that is, the electronic device changes from a stationary state to a motion state; if the historical motion state is a motion state and the current motion state is a motion state, the motion trajectory is the third motion trajectory, that is, the electronic device is always in a motion state; if the historical motion state is a stationary state and the current motion state is a stationary state, the motion trajectory is the fourth motion trajectory, that is, the electronic device is always in a stationary state.

[0104] Based on the obtained motion trajectory, different filtering methods can be used for the angle of arrival to be processed. For example, if the motion trajectory is the first motion trajectory, the angle of arrival to be processed is secondarily filtered by a preset filtering method to obtain the target angle of arrival; if the motion trajectory is the second motion trajectory, the angle of arrival to be processed is secondarily filtered with the minimum filtering order to obtain the target angle of arrival; if the motion trajectory is the third motion trajectory, the angle of arrival to be processed is secondarily filtered with the minimum filtering order to obtain the target angle of arrival; if the motion trajectory is the fourth motion trajectory, the angle of arrival to be processed is secondarily filtered with the maximum filtering order to obtain the target angle of arrival.

[0105] Among them, the above preset filtering method may include obtaining the maximum filtering order, the minimum filtering order, and the number of times of obtaining the phase information to be processed; if the motion trajectory is the first motion trajectory, the angle of arrival to be processed is primarily filtered by the minimum filtering order, where the number of times of the first filtering sub - processing is the same as the number of times of obtaining the phase information to be processed; by gradually increasing the minimum filtering order to the maximum filtering order, the angle of arrival to be processed is secondarily filtered; through the first filtering sub - processing and the second filtering sub - processing, the angle of arrival to be processed is secondarily filtered by the preset filtering method.

[0106] For example, the maximum filtering order N1 of the filter in the electronic device is 30, the minimum filtering order N2 is 10, and the number of times T to obtain the information PDoA to be processed is 20. If the current motion state of the electronic device is the motion state, the angle of arrival to be processed is filtered with N2 = 10 as the filtering order; if the motion trajectory of the electronic device switches from the motion state to the stationary state, it means that its historical motion state is the motion state and the current motion state is the stationary state, then the angle of arrival to be processed is filtered T = 20 times with N2 = 10 as the filtering order, that is, the number of times to obtain the phase information to be processed. Then, the filtering order of the filter gradually increases from N2 = 10 to N1 = 30. That is, during the process of the electronic device changing from the motion state to the stationary state, the change of the filtering order of the filter is from N2 = 10 to N = [10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30].

[0107] It can be understood that when the electronic device changes from the motion state to the stationary state, since its filtering order is the minimum filtering order in the motion state to ensure the response speed of measuring the angle of arrival, and after switching to the stationary state, the maximum filtering order is required to improve the measurement accuracy of the angle of arrival. However, in order to avoid generating additional signal interference or the phase difference PDoA as the measurement sample jumps, therefore, it is necessary to filter the phase information to be processed obtained in the most recent T times to obtain relatively stable phase information to be processed. Subsequently, gradually increase from the minimum filtering order to the maximum filtering order to maximize the filtering of the angle of arrival to be processed to ensure the accuracy of the measured angle of arrival.

[0108] In some embodiments, if the motion trajectory of the electronic device is the second motion trajectory, that is, switching from the stationary state to the motion state, then the angle of arrival between the electronic device and the external device will definitely change. Therefore, to ensure the response speed and accuracy of the measured angle of arrival, the angle of arrival to be processed is directly filtered with the minimum filtering order for the second time. If the motion trajectory of the electronic device is the third motion trajectory or the fourth motion trajectory, the motion state of the electronic device does not change. Therefore, when the electronic device is in the third motion trajectory, that is, in the motion state, it is filtered with the minimum filtering order; when the electronic device is in the fourth motion trajectory, that is, in the stationary state, it is filtered with the maximum filtering order.

[0109] It can be understood that if the electronic device is always in a stationary state, the maximum filtering order with the best filtering effect can be used to filter the angle of arrival to be processed; if the electronic device is always in a moving state, the minimum filtering order with the best response speed can be used to filter the angle of arrival to be processed. The same applies when the electronic device switches from a stationary state to a moving state, that is, as long as the electronic device is in a moving state, the minimum filtering order can be used to implement the filtering process.

[0110] In the embodiment of the present application, the first ultra-wideband antenna and the second ultra-wideband antenna of the electronic device respectively receive ultra-wideband signals, obtain the phase information to be processed of the ultra-wideband signals, then perform a first filtering process on the phase information to be processed to obtain target phase information, and then obtain the angle of arrival to be processed of the ultra-wideband signals through the target phase information. Finally, the motion state information of the electronic device is obtained, and the angle of arrival to be processed is secondarily filtered according to the motion state information to obtain the target angle of arrival.

[0111] When receiving the ultra-wideband signal, the embodiment of the present application performs a filtering process on the phase information to be processed to obtain the target phase information after noise reduction, so as to obtain the angle of arrival to be processed. By judging the motion state of the electronic device, the filtering order of the filter can be dynamically adjusted to perform the most optimized filtering process on the angle of arrival to be processed, thereby improving the response speed and accuracy of the measured target angle of arrival.

[0112] Please refer to Figure 6 , Figure 6 which is the second scenario schematic diagram of the method for determining the angle of arrival provided by the embodiment of the present application. Among them, the method for determining the angle of arrival can be implemented by being integrated on a device or a system. The electronic device may include a PDoA measurement module, a PDoA filtering module, an AoA calculation module, an AoA filtering module, an IMU module, a device motion judgment module, a filter order control module, and an output module.

[0113] After the electronic device receives the ultra-wideband signal from an external device, it can control the PDoA measurement module through the UWB chip, measure the PDoA through the PDoA measurement module; through the PDoA filtering module, input the PDoA output by the PDoA measurement module, and output PDoA_1 after the first filtering process; through the AoA calculation module, input PDoA_1 output by the PDoA filtering module, and output the AoA based on the preset mapping curve or mapping table between the AoA and the PDoA; obtain the output parameters of the IMU sensor through the IMU module, including the three-axis acceleration and the three-axis angular velocity; through the device motion judgment module, input the three-axis acceleration and the three-axis angular velocity output by the IMU module to judge the motion state of the electronic device; through the filter order control module, input the motion state output by the device motion judgment module to control the filter order of the AoA filtering module, input the AoA output by the AoA calculation module, and output AoA_1 after filtering; finally, through the output module, input AoA_1 output by the AoA filtering module, and display it on the display screen of the electronic device or act on the input of other modules.

[0114] To facilitate better implementation of the method for determining the angle of arrival provided in the embodiments of the present application, the embodiments of the present application also provide a device based on the above method for determining the angle of arrival. The meanings of the terms are the same as those in the above method for determining the angle of arrival, and the specific implementation details can refer to the descriptions in the method embodiments.

[0115] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of the device for determining the angle of arrival provided in the embodiments of the present application. Specifically, the device 300 for determining the angle of arrival may include: a receiving module 301, an obtaining module 302, a first filtering module 303, a determining module 304, and a second filtering module 305.

[0116] The receiving module 301 is configured to receive the ultra-wideband signal sent by the external device through the ultra-wideband antenna of the electronic device;

[0117] The obtaining module 302 is configured to obtain the phase information to be processed of the ultra-wideband signal;

[0118] The first filtering module 303 is configured to perform a first filtering process on the phase information to be processed to obtain the target phase information;

[0119] The determining module 304 is configured to determine the angle of arrival to be processed of the ultra-wideband signal through the target phase information;

[0120] The second filtering module 305 is configured to perform a second filtering process on the angle of arrival to be processed to obtain the target angle of arrival.

[0121] In some embodiments, the electronic device includes a first ultra-wideband antenna and a second ultra-wideband antenna, and the receiving module 301 is configured to:

[0122] Receive ultra-wideband signals through the first ultra-wideband antenna and the second ultra-wideband antenna respectively;

[0123] The obtaining module 302 is configured to:

[0124] Obtain a first phase value of the ultra-wideband signal received by the first ultra-wideband antenna, and obtain a second phase value of the ultra-wideband signal received by the second ultra-wideband antenna; use the phase difference between the first phase value and the second phase value as the phase information to be processed of the ultra-wideband signal.

[0125] In some embodiments, the second filtering module 305 may be configured to:

[0126] Obtain the current motion state of the electronic device, where the current motion state includes a motion state and a stationary state;

[0127] If the current motion state of the electronic device is the motion state, perform the second filtering process on the angle of arrival to be processed with the minimum filtering order to obtain the target angle of arrival;

[0128] If the current motion state of the electronic device is the stationary state, perform the second filtering process on the angle of arrival to be processed with the maximum filtering order to obtain the target angle of arrival.

[0129] In some embodiments, before performing the second filtering process on the angle of arrival to be processed to obtain the target angle of arrival, the angle of arrival determination device 300 may also be configured to:

[0130] Obtain the historical motion state of the electronic device, where the historical motion state includes a motion state and a stationary state;

[0131] Obtain the motion trajectory of the electronic device according to the historical motion state and the current motion state.

[0132] In some embodiments, after obtaining the motion trajectory of the electronic device according to the historical motion state and the current motion state, the angle of arrival determination device 300 may also be configured to:

[0133] If the historical motion state is the motion state and the current motion state is the stationary state, the motion trajectory is the first motion trajectory;

[0134] If the historical motion state is the stationary state and the current motion state is the motion state, the motion trajectory is the second motion trajectory;

[0135] If the historical motion state is the motion state and the current motion state is the motion state, the motion trajectory is the third motion trajectory;

[0136] If the historical motion state is a stationary state and the current motion state is a stationary state, the motion trajectory is the fourth motion trajectory.

[0137] In some embodiments, the second filtering module 305 may be configured to:

[0138] If the motion trajectory is the first motion trajectory, the angle of arrival to be processed is subjected to a second filtering process in a preset filtering manner to obtain the target angle of arrival;

[0139] If the motion trajectory is the second motion trajectory, the angle of arrival to be processed is subjected to a second filtering process with the minimum filtering order to obtain the target angle of arrival;

[0140] If the motion trajectory is the third motion trajectory, the angle of arrival to be processed is subjected to a second filtering process with the minimum filtering order to obtain the target angle of arrival;

[0141] If the motion trajectory is the fourth motion trajectory, the angle of arrival to be processed is subjected to a second filtering process with the maximum filtering order to obtain the target angle of arrival.

[0142] In some embodiments, the second filtering module 305 may further be configured to:

[0143] Obtain the maximum filtering order, the minimum filtering order, and the number of times of obtaining the phase information to be processed;

[0144] If the motion trajectory is the first motion trajectory, the angle of arrival to be processed is subjected to a first filtering sub-process with the minimum filtering order, where the number of times of the first filtering sub-process is the same as the number of times of obtaining the phase information to be processed;

[0145] The angle of arrival to be processed is subjected to a second filtering sub-process by gradually increasing the minimum filtering order to the maximum filtering order;

[0146] Through the first filtering sub-process and the second filtering sub-process, the angle of arrival to be processed is subjected to a second filtering process in a preset filtering manner.

[0147] The embodiment of the present application further provides an electronic device 400. Please refer to Figure 8 , Figure 8 which is a schematic structural diagram of the electronic device provided by the embodiment of the present application. The electronic device 400 includes a processor 401 and a memory 402. Among them, the processor 401 is electrically connected to the memory 402.

[0148] The processor 401 is the control center of the electronic device 400, connecting various parts of the entire electronic device through various interfaces and circuits. By running or loading computer programs stored in the memory 402 and calling the data stored in the memory 402, it executes various functions of the electronic device 400 and processes data, thereby monitoring the entire electronic device 400.

[0149] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the computer programs and modules stored in the memory 402. The memory 402 mainly includes a program storage area and a data storage area. Among them, the program storage area can store an operating system, computer programs required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the electronic device, etc. In addition, the memory 402 can include high-speed random access memory and can also include non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. Correspondingly, the memory 402 can also include a memory controller to provide the processor 401 with access to the memory 402.

[0150] In the embodiment of the present application, the processor 401 in the electronic device 400 will load the instructions corresponding to the processes of one or more computer programs into the memory 402 according to the following steps, and the processor 401 runs the computer programs stored in the memory 402 to implement various functions as follows:

[0151] Receive an ultra-wideband signal sent by an external device through the ultra-wideband antenna of the electronic device;

[0152] Obtain the phase information to be processed of the ultra-wideband signal;

[0153] Perform a first filtering process on the phase information to be processed to obtain target phase information;

[0154] Determine the angle of arrival to be processed of the ultra-wideband signal through the target phase information;

[0155] Perform a second filtering process on the angle of arrival to be processed to obtain the target angle of arrival.

[0156] Please refer to Figure 9 , Figure 9 which is another structural schematic diagram of the electronic device provided by the embodiment of the present application. Among them, the electronic device 400 can also include: a display 403, an ultra-wideband antenna 404, a filter 405, and a power supply 406. Among them, the display 403, the ultra-wideband antenna 404, the filter 405, and the power supply 406 are respectively electrically connected to the processor 401.

[0157] The display 403 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces, which can be composed of graphics, text, icons, videos, and any combination thereof. The display 403 may include a display panel. In some embodiments, the display panel may be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), or the like.

[0158] The ultra-wideband antenna 404 can be used to receive ultra-wideband signals sent by external devices. The ultra-wideband antenna includes a first ultra-wideband antenna and a second ultra-wideband antenna, and the first ultra-wideband antenna and the second ultra-wideband antenna are used to receive ultra-wideband signals sent by external devices respectively.

[0159] The filter 405 can be used to perform a first filtering process on the phase information to be processed to obtain target phase information, and perform a second filtering process on the angle of arrival to be processed to obtain the target angle of arrival.

[0160] The power supply 406 can be used to supply power to each component of the electronic device 400. In some embodiments, the power supply 406 can be logically connected to the processor 401 through a power management system, so as to implement functions such as management of charging, discharging, and power consumption management through the power management system.

[0161] Although not shown in the figure, the electronic device 400 may further include a camera, a Bluetooth module, etc., which will not be elaborated here.

[0162] The term "module" used herein can be regarded as a software object executed on the computing system. Different components, modules, engines, and services herein can be regarded as implementation objects on the computing system. The devices and methods herein are preferably implemented in software, and of course, they can also be implemented in hardware, all within the protection scope of this application.

[0163] The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program runs on a computer, it causes the computer to execute the method for determining the angle of arrival in any of the above embodiments.

[0164] For the specific implementation of each of the above operations, reference can be made to the previous embodiments, which will not be elaborated here.

[0165] Among them, the computer-readable storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), or the like.

[0166] In the above embodiments, the descriptions of the respective embodiments have their own focuses. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0167] It should be noted that for the method for determining the angle of arrival of the embodiments of the present application, those of ordinary skill in the art can understand that all or part of the process of implementing the method for determining the angle of arrival of the embodiments of the present application can be completed by controlling relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, such as stored in the memory of an electronic device and executed by at least one processor in the electronic device. During the execution process, it can include the processes of the embodiments of the method for determining the angle of arrival. Among them, the computer-readable storage medium can be a magnetic disk, an optical disc, a read-only memory, a random access memory, etc.

[0168] For the device for determining the angle of arrival of the embodiments of the present application, its various functional modules can be integrated in a processing chip, or each module can exist physically alone, or two or more modules can be integrated in one module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0169] The above has introduced in detail a method, a device, a computer-readable storage medium and an electronic device for determining the angle of arrival provided by the embodiments of the present application. Specific examples are used in this article to elaborate on the principle and implementation manner of the present application. The descriptions of the above embodiments are only used to help understand the method and its core idea of the present application; at the same time, for those skilled in the art, according to the idea of the present application, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present application.

Claims

1. A method for determining the angle of arrival, characterized in that, Including: Receiving an ultra-wideband signal sent by an external device through an ultra-wideband antenna of an electronic device; Obtaining phase information to be processed of the ultra-wideband signal; Performing a first filtering process on the phase information to be processed to obtain target phase information; Determining an angle of arrival to be processed of the ultra-wideband signal based on the target phase information; Obtaining a historical motion state and a current motion state of the electronic device, and obtaining a motion trajectory of the electronic device according to the historical motion state and the current motion state; if the historical motion state is a motion state and the current motion state is a stationary state, then the motion trajectory is a first motion trajectory; if the historical motion state is the stationary state and the current motion state is the motion state, then the motion trajectory is a second motion trajectory; if the historical motion state is the motion state and the current motion state is the motion state, then the motion trajectory is a third motion trajectory; if the historical motion state is the stationary state and the current motion state is the stationary state, then the motion trajectory is a fourth motion trajectory; Performing a second filtering process on the angle of arrival to be processed to obtain a target angle of arrival, including: if the motion trajectory is the first motion trajectory, performing the second filtering process on the angle of arrival to be processed in a preset filtering manner to obtain the target angle of arrival; if the motion trajectory is the second motion trajectory, performing the second filtering process on the angle of arrival to be processed with a minimum filtering order to obtain the target angle of arrival; if the motion trajectory is the third motion trajectory, performing the second filtering process on the angle of arrival to be processed with a minimum filtering order to obtain the target angle of arrival; if the motion trajectory is the fourth motion trajectory, performing the second filtering process on the angle of arrival to be processed with a maximum filtering order to obtain the target angle of arrival.

2. The method for determining the angle of arrival according to claim 1, wherein The electronic device includes a first ultra-wideband antenna and a second ultra-wideband antenna, and the receiving an ultra-wideband signal sent by an external device through an ultra-wideband antenna of the electronic device includes: Receiving the ultra-wideband signal through the first ultra-wideband antenna and the second ultra-wideband antenna respectively; The obtaining phase information to be processed of the ultra-wideband signal includes: Obtaining a first phase value of the ultra-wideband signal received by the first ultra-wideband antenna, and obtaining a second phase value of the ultra-wideband signal received by the second ultra-wideband antenna; Taking the phase difference between the first phase value and the second phase value as the phase information to be processed of the ultra-wideband signal.

3. The method for determining the angle of arrival according to claim 1, characterized in that, The if the motion trajectory is the first motion trajectory, then performing the second filtering process on the angle of arrival to be processed in a preset filtering manner includes: Obtaining the maximum filtering order, the minimum filtering order, and the number of times of obtaining phase information to be processed; If the motion trajectory is the first motion trajectory, performing a first filtering sub-process on the angle of arrival to be processed with the minimum filtering order, where the number of times of the first filtering sub-process is the same as the number of times of obtaining phase information to be processed; By gradually increasing the minimum filtering order to the maximum filtering order, a second filtering sub - process is performed on the arrival angle to be processed; Through the first filtering sub - process and the second filtering sub - process, the second filtering process of the arrival angle to be processed in the preset filtering manner is realized.

4. An arrival angle determination device, characterized in that, Comprising: A receiving module, configured to receive an ultra - wideband signal sent by an external device through an ultra - wideband antenna of an electronic device; An obtaining module, configured to obtain the phase information to be processed of the ultra - wideband signal; A first filtering module, configured to perform a first filtering process on the phase information to be processed to obtain target phase information; A determining module, configured to determine the arrival angle to be processed of the ultra - wideband signal through the target phase information; A second filtering module, configured to obtain the historical motion state and the current motion state of the electronic device, and obtain the motion trajectory of the electronic device according to the historical motion state and the current motion state; if the historical motion state is a motion state and the current motion state is a stationary state, then the motion trajectory is a first motion trajectory; if the historical motion state is the stationary state and the current motion state is the motion state, then the motion trajectory is a second motion trajectory; if the historical motion state is the motion state and the current motion state is the motion state, then the motion trajectory is a third motion trajectory; if the historical motion state is the stationary state and the current motion state is the stationary state, then the motion trajectory is a fourth motion trajectory; The second filtering module is further configured to perform a second filtering process on the arrival angle to be processed to obtain a target arrival angle, including: if the motion trajectory is the first motion trajectory, performing the second filtering process on the arrival angle to be processed in a preset filtering manner to obtain the target arrival angle; if the motion trajectory is the second motion trajectory, performing the second filtering process on the arrival angle to be processed with a minimum filtering order to obtain the target arrival angle; if the motion trajectory is the third motion trajectory, performing the second filtering process on the arrival angle to be processed with a minimum filtering order to obtain the target arrival angle; if the motion trajectory is the fourth motion trajectory, performing the second filtering process on the arrival angle to be processed with a maximum filtering order to obtain the target arrival angle.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program runs on a computer, the computer is caused to execute the arrival angle determination method according to any one of claims 1 to 3.

6. An electronic device, comprising a processor and a memory, the memory having a computer program, characterized in that, The processor is configured to execute the arrival angle determination method according to any one of claims 1 to 3 by calling the computer program.

7. An electronic device, characterized in that, Comprising: An ultra - wideband antenna, which is configured to receive an ultra - wideband signal sent by an external device; A filter, which is configured to perform a first filtering process on the phase information to be processed to obtain target phase information, and perform a second filtering process on the arrival angle to be processed to obtain a target arrival angle; A processor, which is configured to obtain the phase information to be processed of the ultra-wideband signal, determine the angle of arrival to be processed of the ultra-wideband signal through the target phase information, and obtain the historical motion state and the current motion state of the electronic device, and obtain the motion trajectory of the electronic device according to the historical motion state and the current motion state; if the historical motion state is a motion state and the current motion state is a stationary state, then the motion trajectory is a first motion trajectory; if the historical motion state is the stationary state and the current motion state is the motion state, then the motion trajectory is a second motion trajectory; if the historical motion state is the motion state and the current motion state is the motion state, then the motion trajectory is a third motion trajectory; if the historical motion state is the stationary state and the current motion state is the stationary state, then the motion trajectory is a fourth motion trajectory. Wherein, performing a second filtering process on the angle of arrival to be processed to obtain a target angle of arrival includes: if the motion trajectory is the first motion trajectory, performing the second filtering process on the angle of arrival to be processed in a preset filtering manner to obtain the target angle of arrival; if the motion trajectory is the second motion trajectory, performing the second filtering process on the angle of arrival to be processed with the minimum filtering order to obtain the target angle of arrival; if the motion trajectory is the third motion trajectory, performing the second filtering process on the angle of arrival to be processed with the minimum filtering order to obtain the target angle of arrival; if the motion trajectory is the fourth motion trajectory, performing the second filtering process on the angle of arrival to be processed with the maximum filtering order to obtain the target angle of arrival.

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