UWB signal incident angle processing and positioning method, system, electronic device, and medium

Abstract

The present application provides a UWB signal incident angle processing and positioning method, system, electronic device, and medium, which are applied to the field of information processing technology, wherein the UWB signal incident angle processing method includes: switching the target antenna to a working state within a preset time through a switch so that the target antenna is used to receive the UWB signal; extracting the channel information corresponding to the target antenna in the working state according to the UWB signal; determining the time difference of the UWB signal incident on the target antenna in the working state according to the channel information, and determining the incident angle according to the time difference. By adding an antenna switching switch and completing the incident angle calculation based on the multipath channel information in the UWB signal before and after the antenna switching, not only the processing accuracy meets the application needs, but also the system structure is simple, low cost, low power consumption, and can flexibly adapt to various positioning scenarios.

Description

Technical Field

[0001] The present application relates to the field of information processing technology, and in particular to a UWB signal incident angle processing and positioning method, system, electronic device, and medium. Background Art

[0002] In recent years, Impulse Radio Ultra Wide Band (IR-UWB, also known as impulse radio) technology has been used for positioning objects (such as people and animals) and has been accepted by industry, government, etc., and with the reduction of manufacturing costs, equipment size and energy consumption, IR-UWB has been widely used in positioning scenarios, and its application range includes container positioning, inventory management, mining safety and health care. Due to the fine time resolution characteristics of IR-UWB signals, very accurate source positioning can be achieved in this way.

[0003] The existing positioning technologies mainly include distance-based TOA (time of arrival), TDOA (Time Difference of Arrival), angle-based AOA (Angle of Arrival), and phase difference-based PDOA (Phase Difference of Arrival). In particular, AOA technology requires fewer base stations.

[0004] However, when calculating the angle of incidence (i.e., the angle of arrival), the existing solutions require multiple antennas and corresponding multiple sets of receiving equipment. Even if the same baseband processing unit can be shared in a set of receiving equipment in some application solutions, each antenna still needs a corresponding receiver path (also called RF front end, RF path, etc.). The baseband processing unit only calculates the arrival angle of the signal received by the antenna according to indicators such as the arrival time difference or angle difference of the signals received by different antennas and their receiver paths, resulting in a more complicated AOA positioning solution, complex processing logic of the baseband processing unit, and high cost and power consumption. On the other hand, the performance requirements for the antenna system are very high, resulting in a very complicated antenna system, high cost and power consumption, and in indoor environments, the multipath effect seriously affects the direction judgment, and the positioning accuracy is not high.

[0005] Therefore, a new technical solution is needed in AOA applications to accurately process the arrival angle (i.e., the incident angle) with a simple structure, low cost, and low power consumption. Summary of the invention

[0006] In view of this, the embodiments of this specification provide a UWB signal incident angle processing and positioning method, system, electronic device, and medium, which can simplify the structure, reduce costs and power consumption, and have high positioning accuracy.

[0007] The embodiments of this specification provide the following technical solutions:

[0008] The embodiment of this specification provides a UWB signal incident angle processing method, including:

[0009] Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive UWB signals;

[0010] Extracting channel information corresponding to the target antenna in working state according to the UWB signal;

[0011] The time difference of the UWB signal incident on the target antenna in the working state is determined according to the transmission delay, and the incident angle is determined according to the time difference.

[0012] The embodiment of this specification also provides a UWB signal incident angle processing system, including a target antenna, a switch and a receiver, wherein the receiver includes a radio frequency unit and a baseband processing unit, and the radio frequency unit is configured with a plurality of the target antennas through the switch;

[0013] The baseband processing unit is configured to perform the following operations:

[0014] Switching the target antenna to a working state within a preset time by means of the switch so that the target antenna is used to receive UWB signals;

[0015] Extracting channel information corresponding to the target antenna in working state according to the demodulated UWB signal;

[0016] The time difference of the UWB signal incident on the target antenna in the working state is determined according to the transmission delay, and the incident angle is determined according to the time difference.

[0017] The embodiment of this specification also provides a UWB signal positioning method, including:

[0018] Acquire at least one incident angle, wherein the incident angle is an incident angle determined based on a UWB signal transmitted by at least one positioning device according to the UWB signal incident angle processing method described in any one embodiment of this specification;

[0019] The target position is located based on the first incident angle.

[0020] An embodiment of the present specification also provides a UWB signal positioning system, comprising a receiving and processing unit and at least one positioning device; wherein the positioning device is used to transmit a UWB signal; the receiving and processing unit is used to obtain an incident angle corresponding to the positioning device, and to perform positioning processing on a target based on the incident angle, wherein the incident angle is an incident angle determined based on the UWB signal incident angle processing method described in any one of the embodiments in the present specification.

[0021] Compared with the prior art, the at least one technical solution adopted in the embodiments of this specification can achieve the following beneficial effects:

[0022] Compared with the traditional AOA calculation scheme of dual antennas and dual receiving devices, the present application only requires one set of receiving devices with multiple antennas for AOA calculation, that is, in the receiving device, an antenna switching switch is added between the antenna and the receiving front end. During the processing, the receiving antenna is switched in time, and the channel information corresponding to each antenna is obtained according to the channel reception conditions before and after the antenna switching. Finally, the AOA positioning calculation is completed based on the channel information. Not only can high-precision AOA positioning be achieved based on one set of receiving devices and multiple antennas are configured, but also the circuit structure in the device can be simplified, and repeated circuits in the AOA positioning device can be saved. For example, only one RF, demodulation, channel, baseband and other circuit units are required in the device, which can significantly reduce circuit power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments 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.

[0024] Figure 1 It is a schematic diagram of the structure for incident angle calculation and positioning application based on multiple receivers;

[0025] Figure 2 It is a structural diagram of a receiver configured with multiple antennas for incident angle calculation and positioning applications;

[0026] Figure 3 is a schematic diagram of the incident angle when the UWB signal is incident on the antenna array in parallel in this application;

[0027] Figure 4 It is a structural diagram of a UWB signal incident angle processing solution in this application;

[0028] Figure 5 is a flow chart of a UWB signal incident angle processing method in the present application;

[0029] Figure 6 It is a schematic diagram of the structure of the UWB signal format in this application;

[0030] Figure 7 It is a schematic diagram of antenna switching and channel information extraction based on the SYNC field in the UWB signal in this application;

[0031] Figure 8 It is a schematic diagram of antenna switching and channel information extraction based on the SYNC field and other fields in the UWB signal in this application;

[0032] Fig. 9 It is a schematic diagram of the structure of the STS field in the UWB signal in this application;

[0033] Fig.10 It is a schematic diagram of antenna switching and channel information extraction based on the STS field in the UWB signal in this application;

[0034] Fig.11 is a schematic diagram of the RMARKER mark in the UWB signal in this application;

[0035] Fig.12 is a schematic diagram of a UWB signal incident angle processing system in the present application;

[0036] Fig.13 is a flow chart of a UWB signal positioning method in this application;

[0037] Fig.14 It is a schematic diagram of a UWB signal positioning method based on a single AOA base station in this application;

[0038] Fig.15 It is a schematic diagram of a UWB signal positioning method based on dual positioning devices in this application;

[0039] Fig.16 It is a structural diagram of a UWB signal positioning system in this application. DETAILED DESCRIPTION

[0040] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0041] The following describes the implementation methods of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. The present application can also be implemented or applied through other different specific implementation methods, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that, in the absence of conflict, the following embodiments and the features in the embodiments can be combined with each other. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work belong to the scope of protection of the present application.

[0042] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present application, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number and aspect described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0043] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application. The drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0044] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the examples can be practiced without these specific details.

[0045] At present, AOA positioning generally calculates the arrival angle based on the phase difference. Moreover, since the angle error has a much greater impact on positioning accuracy than the ranging error, it is generally not used alone for UWB positioning, but is usually used as an auxiliary means for primary coarse positioning.

[0046] The existing AOA positioning solutions mainly include the following:

[0047] First, in traditional AOA positioning systems, multiple antennas and multiple receivers are usually used, such as Figure 1As shown in the figure, each set of receivers is equipped with an antenna as a test station to obtain the arrival angle. For example, at least two sets of receivers and two antennas are required for two-dimensional measurement, and at least three sets of receivers and three antennas are required for three-dimensional measurement. Therefore, the system structure is complex, the positioning logic calculation is complex, the implementation cost is high, the system power consumption is large, and the positioning accuracy is easily affected by the processing performance of the receiver and the deployment accuracy between the antennas.

[0048] Second, in the AOA positioning system, a set of receiver equipment is equipped with multiple antennas, and a receiving channel (i.e., RF signal channel) corresponding to each antenna is set inside the receiver equipment, and the same baseband processing unit is shared in baseband processing. Figure 2 As shown, the baseband processing unit of the receiver device can extract channel parameters for the first receiving channel (the first RF front end shown in the figure) and the second receiving channel (the second RF front end shown in the figure) respectively and then calculate the incident angle. In addition to the shared baseband processing unit, the receiver still needs to be configured with receiving channels corresponding to different antennas, such as the first antenna corresponding to the first receiving channel, the second antenna corresponding to the second receiving channel, etc. Therefore, each antenna needs a corresponding receiving channel, and each receiving channel still needs an RF front end, a demodulation unit, etc. The device structure is still relatively complex, the power consumption is also high, and the positioning accuracy is easily affected by the antenna and baseband processing.

[0049] Therefore, the incident angle calculation scheme based on AOA positioning is not only complex in structure and calculation logic, but also has high implementation cost and high power consumption, and the positioning accuracy needs to be improved.

[0050] In view of this, the inventors conducted research and analysis on common AOA positioning algorithms and receivers, and conducted in-depth research and improvement exploration on the calculation scheme of the incident angle. For an antenna array with equal intervals and linear arrangement, such as Figure 3 As shown in the figure, since the distance between the signal source and the antenna array is much larger than the spacing between the elements of the antenna array, the beam of each multipath signal emitted by the signal source can be considered to be parallel when it is incident on each antenna element. That is, for a multipath signal, its incident angle to each antenna element is θ i angle.

[0051] Assume that the signal sent by the signal source is s(t), and the receiver's antenna array consists of several antenna elements arranged linearly at equal intervals, for example, there are m antenna elements in total. When considering the multipath effect, the received signal on the mth antenna element can be expressed as

[0052]

[0053] Among them, L p is the number of multipaths, α iis the complex gain coefficient of the i-th multipath, τ i,m is the transmission delay (or arrival time TOA) of the ith multipath on the m antenna elements, n m (t) is the AWGN noise (Additive White Gaussian Noise) on the mth antenna element.

[0054] When the distance between the signal source and the antenna array is far enough (i.e. much greater than the spacing d between antenna elements), the transmission delay τ i,m The following relationship can be satisfied: i,m =τ i,0 +mdsinθ i / c, where θ i is the incident arrival angle (i.e., incident angle) of the ith multipath when it is incident on the antenna array, c is the speed of light, m ​​is the number of array elements, and d is the spacing between adjacent array elements.

[0055] According to trigonometric functions, the incident arrival angle θ i The relationship between the arrival time at the antenna can be expressed as:

[0056]

[0057] Since the speed of light c, the number of array elements m and the spacing between array elements d are all known parameters, the calculation of the incident angle can be converted into the calculation of the time difference of different multipath signals reaching different antennas.

[0058] Based on this, the embodiment of this specification proposes a processing solution for obtaining the signal incident angle: Figure 4 As shown, an antenna switching switch is added between the receiving channel (the RF path unit shown in the figure) and multiple antennas, and the antenna is connected to the receiving channel through the switch for switching control, so that different antennas work in time sharing, so that the corresponding channel information can be obtained before and after the switching, so as to process the channel information of the signal received by the antenna in the working state based on the same receiving channel and baseband processing unit, and finally obtain the corresponding incident angle based on the time difference of the UWB signal reaching different antennas in the channel information. Compared with the traditional scheme, some repeated circuit units can be saved. For example, only one RF, demodulation, and channel extraction are required, so that multiple antennas can share a set of receiver equipment, and effectively reduce the power consumption and cost of the equipment.

[0059] Since the distance from the signal source to the antenna is much greater than the distance between the antennas, the following relationship is satisfied between the incident angle and the time difference between different multipaths reaching different antennas: Where θ is the incident angle, △τ is the time difference of multipath reaching different antennas, c is the speed of light, and D is the distance between antennas.

[0060] The time it takes for the multipath to reach each antenna can be calculated using the aforementioned transmission delay τ i,m , so the time difference △τ can be the difference between the corresponding transmission delays of the multipath reaching the two antennas, and the transmission delay corresponding to each antenna can be obtained based on the channel information when the antenna receives the UWB signal.

[0061] Therefore, by adopting the antenna switching scheme and channel information estimation, multiple antennas share a set of receiver equipment, for example, only two antennas and a set of receiving devices are used to realize the angle of incidence calculation and positioning in AOA positioning. Compared with the existing scheme, not only is the device structure simple, which greatly reduces the cost of the device, but also significantly reduces the power consumption of the device. In addition, the calculation logic is simple, and the impact of multipath on positioning accuracy is small, which can improve the accuracy.

[0062] In this specification, the same receiver device can be equipped with multiple antennas, such as the first antenna to the Kth antenna, where K is an integer greater than 1, and high-precision UWB signal positioning applications are performed through multiple antennas and a matching receiver. Although the following description is illustrated by taking the same receiver device configured with two antennas as an example, it should be understood by those skilled in the art that the number of antennas configured with the same receiver device can be greater than or equal to two, and the data processing method can be similar to that of the two antennas.

[0063] The technical solutions provided by various embodiments of the present application are described below in conjunction with the accompanying drawings.

[0064] like Figure 5 As shown, the embodiment of this specification provides a UWB signal incident angle processing method, which may include:

[0065] Step S202: Switch the target antenna to a working state within a preset time by using a switch so that the target antenna is used to receive UWB signals.

[0066] During implementation, multiple target antennas can share a set of receiver equipment. At this time, the target antenna can be switched to a working state within a specified preset time through an antenna switching switch, so that the antenna in the working state can receive the UWB signal, so that channel information can be extracted from the UWB signal later.

[0067] It should be noted that the preset time can be a predetermined time (or moment) for switching antennas. For example, the first antenna is first put into working state, and after the UWB signal is received by the first antenna, the characteristic moment in the UWB signal can be used as the switching moment of the second antenna.

[0068] Step S204: extract channel information corresponding to the target antenna in working state according to the UWB signal.

[0069] In practice, UWB signals are single-cycle pulses with extremely short duration and extremely small duty cycle, so multipath signals are separable in time. At this time, when processing UWB signals, not only can each multipath signal be extracted from the UWB signal, but also the transmission time of each multipath signal can be obtained (that is, the total time from the signal being transmitted to the signal being demodulated), so as to obtain the corresponding time difference after each multipath signal is incident on and received by the target antenna in the working state.

[0070] In implementation, extracting the channel information corresponding to the target antenna in working state according to the UWB signal may be extracting the transmission delay corresponding to different multipaths in the UWB signal, so as to reflect the channel information corresponding to the antenna. Therefore, the transmission delay may be extracted using a channel estimation method, such as performing channel estimation based on a time series, such as performing channel estimation based on a reference signal, and so on.

[0071] Although the channel information corresponding to each multipath can be determined from the UWB signal, the most forward path can be understood as the direct path, and the channel information corresponding to the direct path can best reflect the channel characteristics, so the channel information can be extracted based on the direct path.

[0072] In implementation, when the UWB signal is received, a direct path signal may be determined from the received UWB signal, thereby extracting channel information corresponding to the target antenna in a working state according to the direct path signal.

[0073] By extracting channel information based on the direct path, not only can the accuracy of channel information extraction be guaranteed to meet the application precision requirements, but data processing is also greatly simplified, which is conducive to simplifying the hardware structure and the performance requirements required for data processing, reducing costs and power consumption, and also conducive to improving the flexibility and environmental adaptability of UWB positioning solutions.

[0074] Step S206: Determine a time difference for the UWB signal to be incident on the target antenna in the working state according to the transmission delay, and determine an incident angle according to the time difference.

[0075] When the transmission delay is regarded as the time difference, the incident angle and the transmission delay satisfy the following relationship: (τ i,m -τ i,1 )c=(m-1)dsinθ i , where τ i,m is the transmission delay of the i-th multipath on the m antenna array elements, θ i is the incident angle of the i-th multipath of the UWB signal when it is incident on the target antenna in the working state, c is the speed of light, m ​​is the number of antenna elements in the target antenna in the working state, and d is the spacing between adjacent antenna elements in the target antenna in the working state.

[0076] After obtaining the transmission delay of each multipath in the UWB signal processing, the corresponding incident angle of each multipath when incident on the target antenna can be obtained based on the transmission delay. In the calculation, since the distance d between antenna array elements is much smaller than the distance L between the signal source transmitting the UWB signal and the antenna, a multipath signal can be regarded as incident on each antenna array element of the target antenna in parallel. At this time, the incident angle of the same multipath signal is the same, so based on the geometric relationship between the antenna array elements (see Appendix Figure 3 The incident angle θ is calculated by trigonometric functions, where the incident angle and transmission delay of the i-th multipath received by the antenna satisfy the following relationship: (τ i,m -τ i,1 )c=(m-1)dsinθ i .

[0077] Through steps S202 to S206, after adopting the antenna switching method and switching the working antenna at the appropriate time, multiple antennas can be configured based on the same receiving device to perform AOA (angle of arrival, i.e. angle of incidence) calculation, and after extracting the channel information corresponding to each multipath based on the UWB signal, the incident angle of each multipath when incident on the antenna can be accurately calculated based on the time difference and the geometric parameters of the antenna array (such as the spacing between array elements). Therefore, compared with the existing AOA-based positioning solution, the present application can not only simplify the system structure of the receiver device, but also greatly reduce the cost and power consumption of the receiver device, and also ensure that the incident angle of each multipath has good accuracy, which can avoid the influence of multipath on the accuracy of AOA positioning, improve the AOA positioning accuracy and availability in various positioning scenarios, and is conducive to low-cost and low-power positioning applications based on AOA in various application scenarios.

[0078] In some implementations, the UWB signal may be a signal in a PPDU (Presentation Protocol Data Unit) format as specified in the 802.15.4 standard.

[0079] like Figure 6As shown, the UWB signal can be any one of the four PPDU formats. In the first format, the data fields are the SYNC field, the SFD field, the PHR field, and the PHY Payload field (also referred to as the Payload field); in the second format, the data fields are the SYNC field, the SFD field, the STS field, the PHR field, and the PHY Payload field; in the third format, the data fields are the SYNC field, the SFD field, the PHR field, the PHY Payload field, and the STS field; in the fourth format, the data fields are the SYNC field, the SFD field, and the STS field.

[0080] It should be noted that the data fields and their specific data contents in various formats can be found in the 802.15.4 standard and will not be described in detail here.

[0081] Therefore, when extracting the channel information corresponding to the target antenna in the working state according to the UWB signal, the extraction can be performed according to the corresponding data format received by the antenna in actual application and according to the scheme for extracting channel information from the UWB signal.

[0082] In some implementations, since each PPDU structure format includes a SYNC field, channel information can be extracted based on the SYNC field. Therefore, antenna switching and channel information extraction can be performed according to the situation of receiving the SYNC field by the antenna.

[0083] like Figure 7 As shown, when switching the working state of the target antenna and extracting channel information based on the SYNC field, after the channel estimation of the first target antenna is completed using the first first length (such as the first N) symbols, the second target antenna is switched to the working state in time, and the second target antenna can receive the second length (such as M) symbols, so that the second target antenna can perform channel estimation from the starting symbol of the symbol sequence of the second length. It should be noted that after the second target antenna receives the second symbol sequence, other antennas can be switched to the working state in time, which will not be expanded here.

[0084] In an implementation, switching the target antenna to an operating state within a preset time through a switch so that the target antenna is used to receive the UWB signal may include: after switching the first target antenna to an operating state, when a first symbol sequence of a first length in the SYNC field is received through the first target antenna, switching the second target antenna to an operating state through the switch so that the second target antenna is used to receive a second symbol sequence of a second length in the SYNC field;

[0085] Furthermore, extracting the channel information corresponding to the target antenna in a working state according to the UWB signal may include: using a first local sequence to perform a correlation operation with the first symbol sequence to obtain a first correlation coefficient, wherein the first correlation coefficient is used as the first channel information corresponding to when the first target antenna receives the UWB signal.

[0086] In implementation, correlation operation is performed on a preset local sequence and a symbol sequence received by an antenna, so that the correlation between the two sequences can be obtained after the correlation operation.

[0087] It should be noted that the aforementioned first length, second length, local sequence, etc. can be predetermined according to application requirements, such as channel accuracy requirements (such as accumulating a certain number of symbols). These parameters can be used to switch antennas in a timely manner and obtain channel information from the received symbol sequence.

[0088] By receiving the first symbol sequence in the SYNC field at the first antenna, the second antenna is immediately switched to the working state, so that not only the channel information of the first antenna can be extracted based on the first symbol sequence, but also the channel information of the second antenna can be extracted based on the second symbol sequence, so that the channel information can be extracted based on the SYNC field in the UWB signal.

[0089] In some implementations, a cyclic correlation operation may be performed with a symbol length as a period length to obtain a first correlation coefficient, wherein the relationship between the first correlation coefficient, the first local sequence, and the first symbol sequence is as follows:

[0090]

[0091] Among them, x i (n) is the correlation coefficient, s 0 i (n) is the i-th symbol sequence, s 1 i (n) is a first local sequence used to perform correlation operation on each i-th symbol sequence, where n=0, 1, ..., L-1, and L is the symbol length.

[0092] By performing cyclic correlation coefficient extraction operations with the symbol length as the period length, the operation is simple, the performance overhead is small, the equipment hardware cost is low, and the power consumption is low, which further improves the flexibility of the UWB positioning solution in different scenarios and makes it more adaptable.

[0093] In some implementations, after the correlation coefficient is extracted based on the local sequence and the first symbol sequence, data smoothing processing may be performed on the correlation coefficient.

[0094] In implementation, the correlation coefficients of N symbol sequences may be averaged and smoothed to obtain a first correlation coefficient as the first channel information. The averaging operation is as follows:

[0095]

[0096] The first channel information is recorded as h1(n), N is an integer greater than 1, and x i (n) is the correlation coefficient. In addition, the value of N can be set according to application requirements and is not limited here.

[0097] In some implementations, the channel information of other antennas may also be processed accordingly with reference to the channel information of the first target antenna, which will not be described in detail here.

[0098] By adopting the same or similar processing solutions, the overall design can be simplified, processing efficiency can be improved, hardware costs and power consumption can be reduced, and the flexibility of the UWB positioning solution and its adaptability to different scenarios can be further improved.

[0099] In some implementations, since the distance from the same signal source to the same receiver device (or multiple target antennas) is usually much greater than the distance between the multiple target antennas, the same signal (or the same multipath) can be regarded as incident on the multiple target antennas in parallel, that is, the incident angles corresponding to the signal incident on the multiple target antennas are basically the same. Therefore, the incident angle can be jointly determined based on the channel information corresponding to the multiple target antennas.

[0100] In one example, after using the second local sequence to perform a correlation operation with the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as the second channel information corresponding to when the second target antenna receives the UWB signal, the incident angle of the UWB signal to the first target antenna and the second target antenna can be jointly determined based on the first channel information corresponding to the first target antenna and the second channel information corresponding to the second target antenna.

[0101] In practice, the relationship between the incident angle and the channel information is as follows:

[0102]

[0103] Wherein, θ is the incident angle of the UWB signal incident on the first target antenna and the second target antenna, c is the speed of light, D is the distance between the first target antenna and the second target antenna, and Δτ is the time difference of the UWB signal incident on the first target antenna and the second target antenna determined according to the first channel information and the second channel information. It should be noted that Δτ is the time difference of the same signal (or the same multipath) incident on the first target antenna and the second target antenna.

[0104] Therefore, since each multipath has a corresponding transmission delay, the incident angle corresponding to the same multipath can be accurately obtained based on the channel information of the two target antennas.

[0105] Considering that the direct path can reflect the incident condition of the signal, the direct paths corresponding to the two target antennas can be used to extract channel information, and the incident angle processing can be performed based on the extracted channel information.

[0106] Assume that the channel information corresponding to the first target antenna and the second target antenna are and Where Lp1 is the first length, Lp2 is the second length, and h 1，i (t-τ′ 1，k ) is the channel information corresponding to the kth symbol when the i-th multipath is incident on the first target antenna, h 2，i (t-τ′ 2，k ) is the channel information corresponding to the kth symbol when the i-th multipath is incident on the second target antenna.

[0107] Therefore, when taking the direct path as the channel information to be extracted, the most forward path is taken as the direct path, and the channel information corresponding to the first target antenna and the second target antenna is recorded as h 1，0 (t-τ 1，0 ) and h 2，0 (t-τ 2，0 The time difference dτ between the direct path reaching the two antennas can be calculated using the channel information.

[0108] In practice, the time difference dτ (which can also be expressed as △τ, without distinction) can be calculated in the following two ways:

[0109] (1) Direct calculation: dτ = τ′ 2，0 -τ′ 1，0 ;

[0110] (2) Calculated by angle: dτ = (angle (h 2，0 )-angle(h 1，0 )) / (2πf c ).

[0111] It should be noted that the corresponding calculation method of dτ can be selected according to application requirements (such as accuracy, processing performance, etc.), and the calculation method is not limited here.

[0112] After obtaining the multipath arrival time difference dτ, we can use the above Calculate the angle of incidence θ.

[0113] In some embodiments, Figure 8As shown, when the length of the SYNC field is not sufficient for the second target antenna to receive the second symbol sequence of the second length in the SYNC field, data from other fields in the UWB signal (such as SFD, Payload, etc.) can be combined with the SYNC field to extract channel information.

[0114] In one example, when the length of the SYNC field is insufficient to enable the second target antenna to receive the second symbol sequence of the second length in the SYNC field, and the UWB signal also includes an SFD field, the second target antenna can be used to receive the SFD field as at least a portion of sequence data in the second symbol sequence of the second length.

[0115] In one example, when the length of the SYNC field is insufficient for the second target antenna to receive a second symbol sequence of a second length in the SYNC field, and the UWB signal also includes a Payload field, the second target antenna is used to receive the Payload field as a second symbol sequence of a second length.

[0116] In some implementations, since the PPDU format of the UWB signal also includes other field contents, such as SFD, Payload, STS, etc., antenna switching and channel information extraction can be performed based on these data fields.

[0117] It should be noted that, for extracting channel information based on fields such as SFD, Payload, and STS, reference may be made to the relevant schematic description of the SYNC field, which will not be expanded here.

[0118] In some implementations, the STS field configured for the UWB signal in the PPDU format has its own format, that is, one to four gaps can usually be configured in the STS field, such as Fig. 9 The single STS field configuration shown has two gaps, and the double STS field configuration has three gaps. Therefore, antenna switching and channel information extraction can be performed based on the inherent characteristics of the STS field format.

[0119] like Fig.10 As shown, when the STS field is configured in the PPDU format of the UWB signal, switching the target antenna to a working state within a preset time by a switch so that the target antenna is used to receive the UWB signal may include:

[0120] During the first Gap, the first target antenna is switched to a working state by the switch, so that the first target antenna receives the first STS sequence of the STS field during the STS active block (such as the STS active block in the figure) immediately following the first Gap;

[0121] And, during the second Gap period, the second target antenna is switched to an operating state through the switch, so that the second target antenna receives the second STS sequence of the STS field during the STS activity block immediately following the second Gap.

[0122] It should be noted that the corresponding receiving antenna can be switched to a working state during each Gap period, so that the antenna in the working state can receive the STS sequence following the Gap.

[0123] In some implementations, in addition to the Gap feature, the STS field configured for the UWB signal in the PPDU format also has a SRMARKER identifier (which can be recorded as an additional RMarker), such as Fig.11 The STS field is correspondingly configured with 4 SRMARKER identifiers, SRMARKER0 to SRMARKER4, which are used to define the start and end of a single STS field. Therefore, antenna switching can be performed based on these SRMARKER identifiers.

[0124] Specifically, the UWB signal includes an additional RMarker and an STS field, wherein the additional RMarker mark is used to define the start and end of a single STS field; at this time, switching the target antenna to a working state within a preset time through a switch so that the target antenna is used to receive the UWB signal may include: when the first additional RMarker mark is detected, the first target antenna is switched to a working state through the switch during a Gap period immediately following the first additional RMarker mark so that the first target antenna is used to receive the first UWB signal, and when the next additional RMarker mark is detected, the second target antenna is switched to a working state through the switch during a Gap period immediately following the next additional RMarker mark so that the second target antenna is used to receive the second UWB signal.

[0125] Based on the same inventive concept, an embodiment of the present specification provides a UWB signal incident angle processing system to obtain a higher-precision incident angle based on the aforementioned UWB signal incident angle processing method.

[0126] like Fig.12 As shown, a UWB signal incident angle processing system may include a target antenna, a switch and a receiver, wherein the receiver includes a radio frequency unit and a baseband processing unit, and the radio frequency unit is configured with a plurality of the target antennas through the switch;

[0127] Wherein, the target antenna includes at least a first antenna and a second antenna, so that the receiver can receive UWB signals based on multiple antennas;

[0128] The radio frequency unit may include a radio frequency front end unit such as an amplifier and a filter for processing radio frequency signals;

[0129] The baseband processing unit is configured to perform the following operations:

[0130] Switching the target antenna to a working state within a preset time by means of the switch so that the target antenna is used to receive UWB signals;

[0131] Extracting channel information corresponding to the target antenna in working state according to the demodulated UWB signal;

[0132] The time difference of the UWB signal incident on the target antenna in the working state is determined according to the channel information, and the incident angle is determined according to the time difference.

[0133] Optionally, when the UWB signal includes a SYNC field, the baseband processing unit is further used to:

[0134] After the first target antenna is switched to a working state, when a first symbol sequence of a first length in the SYNC field is received through the first target antenna, the second target antenna is switched to a working state through the switch so that the second target antenna is used to receive a second symbol sequence of a second length in the SYNC field;

[0135] A first correlation coefficient is obtained by performing a correlation operation on the first local sequence and the first symbol sequence, wherein the first correlation coefficient is used as first channel information corresponding to when the first target antenna receives the UWB signal.

[0136] Optionally, the baseband processing unit is further used for:

[0137] Performing a correlation operation on the second local sequence and the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as second channel information corresponding to when the second target antenna receives the UWB signal;

[0138] The incident angle of the UWB signal incident on the first target antenna and the second target antenna is determined according to the first channel information and the second channel information, and the relationship between the incident angle and the channel information is as follows:

[0139]

[0140] Wherein, θ is the incident angle of the UWB signal incident on the first target antenna and the second target antenna, c is the speed of light, D is the distance between the first target antenna and the second target antenna, and Δτ is the time difference between the UWB signal incident on the first target antenna and the second target antenna determined based on the first channel information and the second channel information.

[0141] Optionally, a cyclic correlation operation is performed with the symbol length as the period length to obtain a first correlation coefficient, wherein the relationship between the first correlation coefficient, the first local sequence and the first symbol sequence is as follows:

[0142]

[0143] Among them, x i (n) is the correlation coefficient, s 0 i (n) is the i-th symbol sequence, s 1 i (n) is a first local sequence used to perform correlation operation on each i-th symbol sequence, where n=0, 1, ..., L-1, and L is the symbol length.

[0144] Optionally, the correlation coefficients of N symbol sequences are averaged and smoothed to obtain a first correlation coefficient as the first channel information:

[0145]

[0146] The first channel information is recorded as h1(n), and N is an integer greater than 1.

[0147] Optionally, when the UWB signal also includes an SFD field, the baseband processing unit is also used for: when the length of the SYNC field is insufficient for the second target antenna to receive a second symbol sequence of a second length in the SYNC field, the second target antenna is used to receive the SFD field as at least a portion of sequence data in a second symbol sequence of a second length.

[0148] Optionally, when the UWB signal also includes a Payload field, the baseband processing unit is also used for: when the length of the SYNC field is insufficient for the second target antenna to receive a second symbol sequence of a second length in the SYNC field, the second target antenna is used to receive the Payload field as at least a portion of sequence data in a second symbol sequence of a second length.

[0149] Optionally, when the UWB signal includes an STS field, the baseband processing unit is further used to:

[0150] During the first Gap, the first target antenna is switched to a working state by the switch, so that the first target antenna receives the first STS sequence of the STS field during the STS activity block immediately following the first Gap;

[0151] And, during the second Gap period, the second target antenna is switched to an operating state through the switch, so that the second target antenna receives the second STS sequence of the STS field during the STS activity block immediately following the second Gap.

[0152] Optionally, when the UWB signal includes an additional RMarker and an STS field, wherein the additional RMarker mark is used to define the start and end of a single STS field, the baseband processing unit is further used to:

[0153] When the first additional RMarker mark is detected, the first target antenna is switched to the working state through the switch during the gap immediately following the first additional RMarker mark so that the first target antenna is used to receive the first UWB signal, and when the next additional RMarker mark is detected, the second target antenna is switched to the working state through the switch during the gap immediately following the next additional RMarker mark so that the second target antenna is used to receive the second UWB signal.

[0154] Based on the same inventive concept, an embodiment of the present specification provides an electronic device for UWB signal incident angle processing corresponding to the UWB signal incident angle processing method described in any of the aforementioned embodiments, the electronic device comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute: the UWB signal incident angle processing method as described in any of the embodiments in the present specification.

[0155] Based on the same inventive concept, an embodiment of this specification provides a computer storage medium for UWB signal incident angle processing, wherein the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by a processor, the steps of the UWB signal incident angle processing provided in any embodiment of this specification are performed.

[0156] It should be noted that the computer storage medium may include but is not limited to: a portable disk, a hard disk, a random access memory, a read-only memory, an erasable programmable read-only memory, an optical storage device, a magnetic storage device or any suitable combination thereof.

[0157] In a possible implementation, the present application may also provide a form of a program product that implements data processing, which includes program code. When the program product runs on a terminal device, the program code is used to enable the terminal device to execute several steps of the method described in any of the aforementioned embodiments.

[0158] Among them, the program code for executing the present application can be written in any combination of one or more programming languages, and the program code can be executed completely on the user device, partially on the user device, as an independent software package, partially on the user device and partially on a remote device, or completely on the remote device.

[0159] Based on the same inventive concept, an embodiment of this specification provides a UWB signal positioning method. After receiving the UWB signal sent by the positioning device through the same receiver device, a high-precision incident angle can be obtained based on the aforementioned UWB signal incident angle processing method to perform precise positioning.

[0160] like Fig.13 As shown, a UWB signal positioning method includes:

[0161] Step S402: acquiring at least one incident angle, wherein the incident angle is an incident angle determined based on the UWB signal incident angle processing method described in any one of the aforementioned embodiments for a UWB signal transmitted by at least one positioning device;

[0162] Step S406: locate the target based on the incident angle.

[0163] It should be noted that the specific processing method of positioning can be determined according to the application needs, such as orientation, ranging, determining coordinate information, etc., which is not limited here. Accordingly, in the positioning application, the positioning calculation can be performed based on the UWB signal and then combined with the incident angle according to the positioning calculation needs.

[0164] In one example, positioning applications can be performed based on a single AOA base station. Fig.14As shown, for a certain target position in the target plane, a receiver (such as a receiver in the form of a tag) can be placed at the target position, and then the UWB signal transmitted by a single AOA base station can be used, so that the incident angle of the UWB signal transmitted by the AOA base station can be obtained based on the UWB signal incident angle processing method described in any embodiment provided in this specification. Based on the positioning method of an AOA base station, not only can directional measurement be performed through the incident angle, but also ranging can be achieved based on the UWB signal, so as to combine the distance and angle, and realize the positioning measurement of the target position (such as the location of the receiver) according to parameters such as the pitch angle, azimuth, and height (such as the height of the target plane, the height of the reference plane, and the difference between the two heights). It should be noted that based on the positioning method provided in this specification, not only the signal direction (i.e., orientation) can be measured, but also high-precision (such as centimeter-level) ranging can be obtained, the positioning is more accurate, and the height between the target plane and the reference plane does not affect the positioning accuracy.

[0165] In one example, positioning applications can be performed based on at least two AOA base stations. Fig.15 As shown, by determining the incident angles θ1 and θ2 corresponding to the first positioning device and the second positioning device, and based on the known distance S between the two positioning devices, the target position of the receiver can be determined, such as the distance r1 from the first positioning device, the distance r2 from the second positioning device, etc., and specific coordinate information can be determined based on these parameters.

[0166] It should be noted that, although two positioning devices are used for schematic illustration of positioning, those skilled in the art should understand that the number of positioning devices can be configured according to the needs of the application scenario. For example, for a one-dimensional positioning scenario, only one positioning device can be configured; for a two-dimensional positioning scenario, more than two positioning devices can be configured; for a three-dimensional positioning scenario, more than three positioning devices can be configured, and so on.

[0167] Based on the same inventive concept, the embodiments of this specification provide a UWB signal positioning system, which can perform precise positioning based on the aforementioned UWB signal positioning method.

[0168] like Fig.16 As shown, a UWB signal positioning system may include a receiving and processing unit 101 and at least one positioning device (referred to as a first positioning device 103). The first positioning device 103 transmits a UWB signal, and the receiving and processing unit 101 is used to obtain an incident angle corresponding to the positioning device, and perform positioning processing on the target according to the incident angle, wherein the incident angle is an incident angle corresponding to the positioning device determined based on the UWB signal incident angle processing method described in any of the aforementioned embodiments.

[0169] It should be noted that the receiving and processing unit 101 can be an internal unit of the receiver located at the target location, or a unit located outside the receiver, such as a back-end computer, a server, etc. Therefore, the form of the receiving and processing unit is not specifically limited. In addition, the positioning device can be an AOA base station, which is not limited here.

[0170] Based on the same inventive concept, an embodiment of the present specification provides an electronic device for UWB signal positioning, the electronic device comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute: the UWB signal positioning method as described in any one embodiment of the present specification.

[0171] It should be noted that the description of the electronic device can be specifically referred to the description of the aforementioned embodiment, which will not be elaborated here.

[0172] Based on the same inventive concept, an embodiment of this specification provides a computer storage medium for UWB signal positioning, wherein the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by a processor, they execute: any UWB signal positioning method provided in the embodiment of this specification.

[0173] It should be noted that the description of the computer storage medium can be specifically referred to the description of the aforementioned embodiment, and will not be elaborated here.

[0174] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the product embodiment described later, since it corresponds to the method, the description is relatively simple, and the relevant parts can be referred to the partial description of the system embodiment.

[0175] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A method for processing the incident angle of a UWB signal, characterized in that: include: Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive UWB signals; Extracting channel information corresponding to the target antenna in working state according to the UWB signal; Determine a time difference of the UWB signal incident on the target antenna in the working state according to the channel information, and determine an incident angle according to the time difference; Among them, the incident angle θ of the multipath i The relationship between the arrival time of the multipath at the target antenna satisfies: (τ i,m -τ i,1 )c=(m-1)dsinθ i , where θ i is the incident arrival angle of the i-th UWB signal when its multipath is incident on the antenna array, τ i,m -τ i,1 is the transmission delay estimation of the i-th multipath at the target antenna, τ i,m is the transmission delay of the ith multipath on the mth antenna unit, τ i,1 is the transmission delay of the ith multipath on the first antenna unit, c is the speed of light, m ​​is the number of array elements of the target antenna, and d is the spacing between adjacent array elements in the target antenna; The UWB signal includes a SYNC field; Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive the UWB signal includes: after switching the first target antenna to a working state, when a first symbol sequence of a first length in the SYNC field is received by means of the first target antenna, switching the second target antenna to a working state by means of the switch so that the second target antenna is used to receive a second symbol sequence of a second length in the SYNC field; Extracting channel information corresponding to the target antenna in working state according to the UWB signal includes: using a first local sequence to perform a correlation operation with the first symbol sequence to obtain a first correlation coefficient, wherein the first correlation coefficient is used as the first channel information corresponding to when the first target antenna receives the UWB signal.

2. The method according to claim 1, characterized in that: The method further comprises: Performing a correlation operation on the second local sequence and the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as second channel information corresponding to when the second target antenna receives the UWB signal; The incident angle of the UWB signal incident on the first target antenna and the second target antenna is determined according to the first channel information and the second channel information, and the relationship between the incident angle and the channel information is as follows: Wherein, θ is the incident angle of the UWB signal incident on the first target antenna and the second target antenna, c is the speed of light, D is the distance between the first target antenna and the second target antenna, and Δτ is the time difference between the UWB signal incident on the first target antenna and the second target antenna determined based on the first channel information and the second channel information.

3. The method according to claim 1, characterized in that A first correlation coefficient is obtained by performing a cyclic correlation operation with the symbol length as the period length, wherein the relationship between the first correlation coefficient, the first local sequence and the first symbol sequence is as follows: Among them, x i (n) is the correlation coefficient, is the i-th symbol sequence, is the first local sequence used to perform a correlation operation on the i-th symbol sequence, where n=0, 1, ..., L-1, and L is the symbol length.

4. The method according to claim 3, characterized in that: The first correlation coefficient is obtained by averaging the correlation coefficients of N symbol sequences and smoothing the data to serve as the first channel information: The first channel information is recorded as h1(n), and N is an integer greater than 1.

5. The method according to claim 1, characterized in that The UWB signal also includes an SFD field. When the length of the SYNC field is insufficient for the second target antenna to receive a second symbol sequence of a second length in the SYNC field, the second target antenna is used to receive the SFD field as at least a portion of sequence data in a second symbol sequence of a second length.

6. The method according to claim 1, characterized in that The UWB signal also includes a Payload field. When the length of the SYNC field is insufficient for the second target antenna to receive a second symbol sequence of a second length in the SYNC field, the second target antenna is used to receive the Payload field as at least a portion of sequence data in a second symbol sequence of a second length.

7. The method according to claim 1, characterized in that The UWB signal includes an STS field; Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive the UWB signal includes: During the first Gap, the first target antenna is switched to a working state by the switch, so that the first target antenna receives the first STS sequence of the STS field during the STS activity block immediately following the first Gap; And, during the second Gap period, the second target antenna is switched to an operating state through the switch, so that the second target antenna receives the second STS sequence of the STS field during the STS activity block immediately following the second Gap.

8. The method according to claim 1, characterized in that: The UWB signal includes an additional RMarker and an STS field, wherein the additional RMarker mark is used to define the start and end of a single STS field; Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive the UWB signal includes: When the first additional RMarker mark is detected, the first target antenna is switched to the working state through the switch during the gap immediately following the first additional RMarker mark so that the first target antenna is used to receive the first UWB signal, and when the next additional RMarker mark is detected, the second target antenna is switched to the working state through the switch during the gap immediately following the next additional RMarker mark so that the second target antenna is used to receive the second UWB signal.

9. A UWB signal incident angle processing system, characterized in that: It comprises a target antenna, a switch and a receiver, wherein the receiver comprises a radio frequency unit and a baseband processing unit, and the radio frequency unit is configured with a plurality of the target antennas through the switch; The baseband processing unit is configured to perform the following operations: Switching the target antenna to a working state within a preset time by means of the switch so that the target antenna is used to receive UWB signals; Extracting channel information corresponding to the target antenna in working state according to the demodulated UWB signal; Determine, according to the channel information, a time difference of the UWB signal incident on the target antenna in a working state, and determine an incident angle according to the time difference; Among them, the incident angle θ of the multipath i The relationship between the arrival time of the multipath at the target antenna satisfies: (τ i,m -τ i,1 )c=(m-1)dsinθ i , where θ i is the incident arrival angle of the i-th UWB signal when its multipath is incident on the antenna array, τ i,m -τ i,1 is the transmission delay estimation of the i-th multipath at the target antenna, τ i,m is the transmission delay of the ith multipath on the mth antenna unit, τ i,1 is the transmission delay of the ith multipath on the first antenna unit, c is the speed of light, m ​​is the number of array elements of the target antenna, and d is the spacing between adjacent array elements in the target antenna; When the UWB signal includes a SYNC field, the baseband processing unit is further used for: After the first target antenna is switched to a working state, when a first symbol sequence of a first length in the SYNC field is received through the first target antenna, the second target antenna is switched to a working state through the switch so that the second target antenna is used to receive a second symbol sequence of a second length in the SYNC field; A first correlation coefficient is obtained by performing a correlation operation on the first local sequence and the first symbol sequence, wherein the first correlation coefficient is used as first channel information corresponding to when the first target antenna receives the UWB signal.

10. The system according to claim 9, characterized in that The baseband processing unit is also used for: Performing a correlation operation on the second local sequence and the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as second channel information corresponding to when the second target antenna receives the UWB signal; The incident angle of the UWB signal incident on the first target antenna and the second target antenna is determined according to the first channel information and the second channel information, and the relationship between the incident angle and the channel information is as follows: Wherein, θ is the incident angle of the UWB signal incident on the first target antenna and the second target antenna, c is the speed of light, D is the distance between the first target antenna and the second target antenna, and Δτ is the time difference between the UWB signal incident on the first target antenna and the second target antenna determined based on the first channel information and the second channel information.

11. The system according to claim 9, characterized in that When the UWB signal also includes an SFD field, the baseband processing unit is also used for: when the length of the SYNC field is insufficient for the second target antenna to receive a second symbol sequence of a second length in the SYNC field, the second target antenna is used to receive the SFD field as at least a portion of sequence data in a second symbol sequence of a second length.

12. The system according to claim 9, characterized in that When the UWB signal also includes a Payload field, the baseband processing unit is also used for: when the length of the SYNC field is insufficient for the second target antenna to receive the second symbol sequence of the second length in the SYNC field, the second target antenna is used to receive the Payload field as at least a portion of sequence data in the second symbol sequence of the second length.

13. The system according to claim 9, characterized in that When the UWB signal includes an STS field, the baseband processing unit is further used for: During the first Gap, the first target antenna is switched to a working state by the switch, so that the first target antenna receives the first STS sequence of the STS field during the STS activity block immediately following the first Gap; And, during the second Gap period, the second target antenna is switched to an operating state through the switch, so that the second target antenna receives the second STS sequence of the STS field during the STS activity block immediately following the second Gap.

14. The system according to claim 9, characterized in that When the UWB signal includes an additional RMarker and an STS field, wherein the additional RMarker is used to define the start and end of a single STS field, the baseband processing unit is further used to: When the first additional RMarker mark is detected, the first target antenna is switched to the working state through the switch during the gap immediately following the first additional RMarker mark so that the first target antenna is used to receive the first UWB signal, and when the next additional RMarker mark is detected, the second target antenna is switched to the working state through the switch during the gap immediately following the next additional RMarker mark so that the second target antenna is used to receive the second UWB signal.

15. A UWB signal positioning method, characterized in that: include: Acquire at least one incident angle, wherein the incident angle is an incident angle determined based on the UWB signal incident angle processing method according to any one of claims 1 to 8 according to the UWB signal transmitted by at least one positioning device; The position of the target is located based on the incident angle.

16. A UWB signal positioning system, characterized in that: It includes a receiving and processing unit and at least one positioning device; wherein the positioning device is used to transmit UWB signals; the receiving and processing unit is used to obtain the incident angle corresponding to the positioning device, and to position the target based on the incident angle, wherein the incident angle is the incident angle determined based on the UWB signal incident angle processing method according to any one of claims 1 to 8.

17. An electronic device, characterized in that: include: at least one processor; And, a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute: the UWB signal incident angle processing method described in any one of claims 1-8, or the UWB signal positioning method described in claim 15.

18. A computer storage medium, characterized in that: The computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by a processor, the UWB signal incident angle processing method described in any one of claims 1 to 8, or the UWB signal positioning method described in claim 15 is executed.

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