Azimuth determination method and related products

Abstract

The present application discloses an azimuth determination method and related products. The method includes: a first device can send a UWB signal to a second device, and the second device receives the UWB signal sent by the first device; the first device sends a Bluetooth signal to the second device, and the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device; the second device receives the Bluetooth signal, parses the Bluetooth signal to determine the first electromagnetic wave polarization direction corresponding to the first device, and determines the second electromagnetic wave polarization direction of the dual-polarized antenna. When the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, the second device sends a UWB feedback signal to the first device, and the UWB feedback signal is used to instruct the first device to determine the target azimuth according to the UWB feedback signal; the first device receives the UWB feedback signal sent by the second device, and determines the arrival phase difference based on the UWB feedback signal. Finally, the target azimuth can be determined based on the arrival phase difference. The use of the present application embodiment is conducive to improving the accuracy of angle measurement.

Description

Technical Field

[0001] The present application relates to the field of electronic technology, and in particular to a method for determining an azimuth angle and related products. Background Art

[0002] Ultra-wideband (UWB) wireless communication technology is a pulse communication technology. Unlike traditional high-frequency carrier modulation signals, UWB technology achieves wireless transmission by transmitting and receiving extremely narrow pulses. In UWB communication, after a first device receives a specific UWB signal from a second device, it measures the arrival phase difference and determines the azimuth based on a preset mapping between the arrival phase difference and the azimuth.

[0003] When measuring the azimuth between two devices, there is usually a certain mismatch between the polarization direction of the electromagnetic wave received by the antenna and the polarization direction of the antenna itself. Different degrees of mismatch introduce different phase differences, resulting in inaccurate measured azimuth. Summary of the Invention

[0004] The embodiments of the present application provide a method for determining an azimuth angle and related products, which are conducive to improving the accuracy of angle measurement.

[0005] In a first aspect, an embodiment of the present application provides a method for determining an azimuth angle, applied to a first device, the method comprising:

[0006] sending a UWB signal to a second device;

[0007] Sending a Bluetooth signal to the second device, where the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, where the first electromagnetic wave polarization direction is used to match the polarization direction of a dual-polarized antenna of the second device;

[0008] receiving a UWB feedback signal sent by the second device;

[0009] determining an arrival phase difference according to the UWB feedback signal;

[0010] The target azimuth is determined according to the arrival phase difference.

[0011] In a second aspect, an embodiment of the present application provides a method for determining an azimuth angle, which is applied to a second device. The method includes:

[0012] receiving a UWB signal sent by a first device;

[0013] receiving a Bluetooth signal, and parsing the Bluetooth signal to determine a polarization direction of a first electromagnetic wave corresponding to the first device;

[0014] Determining a second electromagnetic wave polarization direction of the dual-polarized antenna;

[0015] When the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, a UWB feedback signal is sent to the first device, where the UWB feedback signal is used to instruct the first device to determine a target azimuth according to the UWB feedback signal.

[0016] In a third aspect, an embodiment of the present application provides a first device, comprising: a processor, a UWB communication module, a UWB antenna module, a Bluetooth communication module, and a Bluetooth antenna, wherein:

[0017] The processor is connected to the UWB communication module, the UWB communication module is connected to the UWB antenna module, the processor is connected to the Bluetooth communication module, and the Bluetooth communication module is connected to the Bluetooth antenna;

[0018] The UWB communication module is configured to output a UWB signal, and the UWB antenna module transmits the UWB signal to the second device;

[0019] The Bluetooth communication module is configured to output a Bluetooth signal, and the Bluetooth signal is sent to the second device via the Bluetooth antenna. The Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used to match the polarization direction of the dual-polarized antenna of the second device.

[0020] The UWB antenna module is configured to receive a UWB feedback signal sent by the second device;

[0021] The UWB communication module is configured to determine an arrival phase difference based on the UWB feedback signal;

[0022] The processor is configured to determine a target azimuth angle according to the arrival phase difference.

[0023] In a fourth aspect, an embodiment of the present application provides a second device, the second device comprising: the second device comprising: a processor, a UWB communication module, a dual-polarized antenna, a Bluetooth communication module and a Bluetooth antenna, wherein:

[0024] The processor is connected to the UWB communication module, the UWB communication module is connected to the dual-polarized antenna, the processor is connected to the Bluetooth communication module, and the Bluetooth communication module is connected to the Bluetooth antenna;

[0025] The dual-polarized antenna is used to receive the UWB signal sent by the first device;

[0026] The Bluetooth antenna is configured to receive a Bluetooth signal and parse the Bluetooth signal to obtain a polarization direction of a first electromagnetic wave corresponding to the first device through the Bluetooth communication module;

[0027] The UWB communication module is used to determine the polarization direction of the second electromagnetic wave of the dual-polarized antenna;

[0028] The UWB communication module is used to send a UWB feedback signal to the first device when the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, and the UWB feedback signal is used by the first device to determine the target azimuth.

[0029] In a fifth aspect, an embodiment of the present application provides an electronic device comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program comprises instructions for executing the steps of any method of the first aspect or the second aspect of the embodiment of the present application.

[0030] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the above-mentioned computer-readable storage medium stores a computer program for electronic data exchange, wherein the above-mentioned computer program enables a computer to execute part or all of the steps described in any method of the first aspect or the second aspect of the embodiment of the present application.

[0031] In a seventh aspect, embodiments of the present application provide a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to execute some or all of the steps described in any of the methods of the first or second aspects of the embodiments of the present application. The computer program product may be a software installation package.

[0032] It can be seen that in an embodiment of the present application, the first device can send a UWB signal to the second device, and the second device receives the UWB signal sent by the first device; the first device sends a Bluetooth signal to the second device, and the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; the second device receives the Bluetooth signal, and parses the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal, and determines the second electromagnetic wave polarization direction of the dual-polarized antenna. When the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, a UWB feedback signal is sent to the first device, and the UWB feedback signal is used to instruct the first device to determine the target azimuth according to the UWB feedback signal; the first device receives the UWB feedback signal sent by the second device, and determines the arrival phase difference according to the UWB feedback signal, and finally determines the target azimuth according to the arrival phase difference. In this way, the first device can send its desired polarization direction (the first electromagnetic wave polarization direction) to the second device, and the second device can adjust the corresponding second electromagnetic wave polarization direction to match the first electromagnetic wave polarization direction. This helps reduce the impact of the electromagnetic wave polarization direction on angle measurement accuracy and improves the angle measurement accuracy of the first device. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. 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 any creative work.

[0034] Figure 1 This is a schematic diagram of a network architecture of a method for determining an azimuth angle provided in an embodiment of the present application;

[0035] Figure 2A This is a flow chart of a method for determining an azimuth angle provided in an embodiment of the present application;

[0036] Figure 2B This is a schematic structural diagram of a UWB antenna module provided in an embodiment of the present application;

[0037] Figure 2C is a schematic diagram of the polarization direction of an antenna provided in an embodiment of the present application;

[0038] Figure 2D This is a schematic diagram of interaction between a first device and a second device provided in an embodiment of the present application;

[0039] Figure 2E This is a schematic diagram of an angle measurement scenario provided by an embodiment of the present application;

[0040] Figure 3 is a structural diagram of a first device provided in an embodiment of the present application;

[0041] Figure 4A This is a flow chart of a method for determining an azimuth angle provided in an embodiment of the present application;

[0042] Figure 4B This is a schematic structural diagram of a power divider, a phase controller, and a dual-polarized antenna provided in an embodiment of the present application;

[0043] Figure 5 is a structural diagram of a second device provided in an embodiment of the present application;

[0044] Figure 6A This is an interactive schematic diagram of an azimuth angle determination method provided in an embodiment of the present application;

[0045] Figure 6B This is a schematic structural diagram of a dual-polarized antenna provided in an embodiment of the present application;

[0046] Figure 6C This is a schematic diagram of the placement of a dual-polarized antenna provided in an embodiment of the present application;

[0047] Figure 7 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0048] Figure 8 This is a block diagram of the functional units of an azimuth angle determination device provided in an embodiment of the present application;

[0049] Figure 9A This is a block diagram of the functional units of an azimuth angle determination device provided in an embodiment of the present application;

[0050] Figure 9B This is a block diagram of the functional units of an azimuth angle determination device provided in an embodiment of the present application;

[0051] Figure 10 This is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0052] Figure 11 This is a schematic diagram of the software structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0054] The terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish between different objects, not to describe a particular order. Furthermore, the terms "including," "having," and any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or elements is not limited to the listed steps or elements but may optionally include steps or elements not listed, or may optionally include other steps or elements inherent to the process, method, product, or apparatus.

[0055] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0056] 1) The electronic device may be a portable electronic device that also includes other functions such as a personal digital assistant and / or music player function, such as a mobile phone, a tablet computer, a wearable electronic device with wireless communication function (such as a smart watch), etc. Exemplary embodiments of portable electronic devices include but are not limited to portable electronic devices equipped with an IOS system, an Android system, a Microsoft system or other operating systems. The above-mentioned portable electronic device may also be other portable electronic devices, such as a laptop computer (Laptop), etc. It should also be understood that in some other embodiments, the above-mentioned electronic device may not be a portable electronic device, but a desktop computer. In the embodiment of the present application, the above-mentioned electronic device may include a first device and / or a second device.

[0057] 2) Ultra-wideband (UWB) is a wireless carrier communication technology that transmits data using nanosecond-scale, narrow, non-sinusoidal pulses rather than sinusoidal carrier waves. Therefore, it occupies a very wide spectrum. UWB offers advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is particularly suitable for high-speed wireless access in dense multipath environments, such as indoor locations.

[0058] 3) Phase difference of arrival (PDoA), which is used to measure and calculate the angle of arrival (AoA) in UWB technology.

[0059] 4) Angle of Arrival (AOA), also known as the azimuth angle.

[0060] Figure 1 A schematic diagram of the network architecture of the azimuth determination method applicable to this application is shown in FIG. Figure 1 As shown, the architecture diagram includes a first device (100a) and a second device (100b), and the first device can be as follows Figure 10 The electronic device 1000 shown may be a smart phone, a tablet computer, a desktop computer, a wearable electronic device with wireless communication function, etc., and the specific details are not limited here.

[0061] Among them, the first device may include a processor, a UWB communication module, a UWB antenna module, a Bluetooth communication module and a Bluetooth antenna, etc., which are not limited here; among them, the processor is connected to the UWB communication module, the UWB communication module is connected to the UWB antenna module, the processor is connected to the Bluetooth communication module, and the Bluetooth communication module is connected to the Bluetooth antenna.

[0062] Among them, the second device may include a processor, a Bluetooth communication module, a Bluetooth antenna, a UWB communication module and a dual-polarized antenna, etc., which are not limited here; among them, the processor is connected to the Bluetooth communication module, the Bluetooth communication module is connected to the Bluetooth antenna, and the processor is connected to the UWB communication module.

[0063] In an embodiment of the present application, the first device may send a UWB signal to the second device, and the second device may receive the UWB signal sent by the first device; the first device may send a Bluetooth signal to the second device, and the Bluetooth signal may include a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; the second device may receive the Bluetooth signal, and parse out the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal, and determine the second electromagnetic wave polarization direction of the dual-polarized antenna. When the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, a UWB feedback signal may be sent to the first device, and the UWB feedback signal may be used to instruct the first device to determine the target azimuth according to the UWB feedback signal; the first device may receive the UWB feedback signal sent by the second device, and determine the arrival phase difference according to the UWB feedback signal, and finally determine the target azimuth according to the arrival phase difference. In this way, the first device can send its desired polarization direction (the first electromagnetic wave polarization direction) to the second device, and the second device can adjust the corresponding second electromagnetic wave polarization direction to match the first electromagnetic wave polarization direction. This helps reduce the impact of the electromagnetic wave polarization direction on angle measurement accuracy and improves the angle measurement accuracy of the first device.

[0064] See also Figure 2A , Figure 2A The embodiment of the present application provides a flow chart of an azimuth angle determination method, which is applied to a first device. As shown in the figure, the azimuth angle determination method includes the following operations.

[0065] S201. Send a UWB signal to a second device.

[0066] The first device may include at least one of the following modules: a processor, a UWB communication module, a UWB antenna module, a Bluetooth communication module, a Bluetooth antenna, etc., which are not limited here.

[0067] The second device may include at least one of the following modules: a processor, a Bluetooth communication module, a Bluetooth antenna, a UWB communication module, a dual-polarized antenna, etc., which are not limited here.

[0068] The UWB antenna module in the first device may include at least two UWB antennas, for example, UWB antenna 1 and UWB antenna 2, and the UWB antenna may be arranged on the back of the first device, such as Figure 2B FIG. 1 is a schematic diagram of the structure of a UWB antenna module.

[0069] In a specific implementation, the first device may send a UWB signal to the second device via the above-mentioned UWB antenna module, and the UWB signal may be used to request the establishment of a UWB communication connection.

[0070] S202: Send a Bluetooth signal to the second device, where the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, where the first electromagnetic wave polarization direction is used to match the polarization direction of a dual-polarized antenna of the second device.

[0071] The first device may obtain the first electromagnetic wave polarization direction corresponding to at least two UWB antennas in the UWB antenna module and, while transmitting the UWB signal, transmit the first electromagnetic wave polarization direction to the second device via the Bluetooth antenna corresponding to the Bluetooth communication module. The first electromagnetic wave polarization direction may refer to the polarization direction of different antennas in the UWB antenna module of the first device in the UWB communication channel. The first electromagnetic wave polarization direction may be used by the second device to match the polarization direction of the dual-polarized antenna.

[0072] Among them, since the polarization direction of the electromagnetic wave received by the UWB antenna module corresponding to the first device is usually mismatched with the polarization direction of the antenna itself, and the degree of mismatch is different, the phase difference introduced is also different. Therefore, even if the UWB signal is transmitted at a fixed azimuth, the polarization direction of the electromagnetic wave is different, the parsed arrival phase difference will be different, and the final mapped azimuth will also be different. In other words, in UWB angle measurement applications, the angle measurement accuracy is affected by the polarization direction between the antennas, which will lead to the situation that the measured angle is unreliable. Therefore, in an embodiment of the present application, the first device can send its corresponding first electromagnetic wave polarization direction to the second device via a Bluetooth antenna, and the second device can adjust or match its corresponding dual-polarized antenna according to the first electromagnetic wave polarization direction to achieve alignment between the second device and the first device, thereby reducing the influence of the polarization direction on the angle measurement and improving the angle measurement accuracy.

[0073] The polarization direction can be understood as the direction of the instantaneous electric field in the direction of maximum radiation of the electromagnetic wave during the propagation process. According to the motion trajectory of the electric field intensity vector, the polarization directions can be divided into the following categories: 1) Linear polarization: The electromagnetic wave radiated by the antenna vibrates back and forth in a straight line and propagates forward. 2) Circular polarization / elliptical polarization: The electromagnetic wave radiated by the antenna rotates around the propagation direction along a circular or elliptical path and propagates forward. Figure 2C The figure shows a schematic diagram of the polarization direction of an antenna. According to the position and direction of the antenna, the following types can be determined: horizontal polarization, vertical polarization, dual polarization, cross polarization, right-hand circular polarization, left-hand circular polarization, etc., which are not limited here.

[0074] In an embodiment of the present application, the first electromagnetic wave polarization direction may be preset in a first device memory, and the first electromagnetic wave polarization direction between at least two antennas in the UWB antenna module under different channel conditions may be stored in the memory.

[0075] In a specific implementation, the polarization direction of the first electromagnetic wave may be related to the UWB communication channel, and the polarization direction of the first electromagnetic wave may be obtained according to the UWB channel on which the UWB communication is to be performed. For example, in UWB communication technology, the most commonly used UWB communication channels are ch5 and ch9. If there are two UWB antennas in the UWB antenna module, namely UWB antenna 1 and UWB antenna 2, then the polarization directions of UWB antenna 1 and UWB antenna 2 in ch5 and ch9 are the same. Alternatively, there may be another situation: the polarization directions of UWB antenna 1 and UWB antenna 2 in ch5 and ch9 are orthogonal to each other; in this way, the first polarization direction of the electromagnetic wave between different antennas under different channels can be stored accordingly.

[0076] S203: Receive a UWB feedback signal sent by the second device.

[0077] The UWB antenna module corresponding to the first device may include at least two UWB antennas. For example, the UWB antenna module includes two UWB antennas, and the two UWB antennas may receive a UWB feedback signal sent from the second device, and the UWB feedback signal is used to establish a UWB communication connection between the first device and the second device.

[0078] S204: Determine an arrival phase difference according to the UWB feedback signal.

[0079] The first device may determine, through a processor, the arrival phase difference corresponding to the UWB feedback signal based on the UWB feedback signal sent and fed back by the second device.

[0080] In a specific implementation, the above-mentioned UWB antenna module can be composed of two UWB antennas. Different UWB antennas in the first device receive signals from the same UWB antenna of the second device. Since the same signal reaches different UWB antennas with different phases, a phase difference is generated. like Figure 2D As shown in FIG. 1 , a schematic diagram of the interaction between the first device and the second device is shown. The arrival phase difference corresponding to the UWB feedback signal received by the first device can be determined based on the angle (θ1, θ2, etc., where θ≈θ1≈θ2) at which the different UWB antennas of the first device receive the UWB feedback signal, the wavelength λ, and the distance d between the two UWB antennas. for:

[0081]

[0082] S205: Determine the target azimuth according to the arrival phase difference.

[0083] Among them, since the first device can determine the arrival phase difference based on the UWB signal after receiving the UWB signal, and determine the azimuth after determining the arrival phase difference; generally, the path difference between the dual-polarized antenna of the second device and at least two UWB antennas in the UWB antenna module in the first device can be calculated by the arrival phase difference. Thus, the angle information of the second device relative to the first device, that is, the above-mentioned azimuth, can be calculated based on the phase difference of the UWB feedback signal reaching different antennas of the first device, the wavelength of the signal, and the distance between different antennas of the first device. However, in actual applications, due to the influence of antenna mutual coupling, it is difficult to calculate the above-mentioned azimuth (arrival angle) using simple trigonometric functions. In addition, there is usually a certain mismatch between the polarization direction of the electromagnetic wave received by the UWB antenna and the polarization direction of the antenna itself, and the different degrees of mismatch introduce different phase differences. Therefore, different devices need to be calibrated to obtain a specific mapping relationship or a reference function of the azimuth. The above-mentioned mapping relationship can be a mapping relationship between the arrival phase difference and the target azimuth. Therefore, the target azimuth can be determined according to the above mapping relationship and the arrival phase difference, so as to reduce the influence of the polarization direction on the angle measurement accuracy, which is conducive to improving the angle measurement accuracy.

[0084] Among them, Figure 2E As shown in FIG, a schematic diagram of an angle measurement scenario is shown, where a first device can receive a UWB signal sent by a second device and measure the azimuth angle based on the UWB signal. Figure 2E As shown in FIG, a mapping relationship between an arrival phase difference and an azimuth angle is shown. Different arrival phase differences correspond to different azimuth angles, and the arrival phase angle is positively correlated with the azimuth angle.

[0085] In a possible example, the above-mentioned determination of the target azimuth angle by the processor based on the arrival phase difference may include the following steps: obtaining a preset function between a preset arrival phase difference and an azimuth angle; substituting the arrival phase difference into the preset function to determine the target azimuth angle.

[0086] The preset function between the above-mentioned preset arrival phase difference and the azimuth angle may be preset by the user or by the system, and is not limited here.

[0087] In a specific implementation, the above-mentioned preset function f(x) can be obtained, and the preset function can be used to represent the mapping relationship between the arrival phase angle and the azimuth angle. Thus, the arrival phase angle calculated above can be substituted into the preset function to calculate the target azimuth angle corresponding to the arrival phase angle.

[0088] It can be seen that the azimuth angle determination method described in the embodiment of the present application is applied to the first device, and can send a UWB signal to the second device; send a Bluetooth signal to the second device, the Bluetooth signal includes the first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; receive the UWB feedback signal sent by the second device; determine the arrival phase difference based on the UWB feedback signal; and determine the target azimuth angle based on the arrival phase difference. In this way, while measuring the arrival phase difference, the corresponding first electromagnetic wave polarization direction can be sent to the second device, so that the second device can match the polarization direction of its corresponding dual-polarized antenna. Finally, the target azimuth angle can be determined based on the polarization direction and the arrival phase difference. Therefore, it is beneficial to reduce the influence of electromagnetic wave polarization on the angle measurement process and to improve the angle measurement accuracy.

[0089] With the above Figure 2A For details on the embodiments shown, please refer to Figure 3 , Figure 3 3 is a structural diagram of a first device provided in an embodiment of the present application. As shown in the figure, the first device may include a processor 301, a UWB communication module 302, a UWB antenna module 303, a Bluetooth communication module 304 and a Bluetooth antenna 305, wherein:

[0090] The processor 301 is connected to the UWB communication module 302, the UWB communication module 302 is connected to the UWB antenna module 303, the processor 301 is connected to the Bluetooth communication module 304, and the Bluetooth communication module 304 is connected to the Bluetooth antenna 305;

[0091] The UWB communication module 302 is configured to output a UWB signal, and the UWB antenna module 303 transmits the UWB signal to the second device;

[0092] A Bluetooth communication module 304 is configured to output a Bluetooth signal, and transmit the Bluetooth signal to the second device via the Bluetooth antenna 305. The Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used to match the polarization direction of the dual-polarized antenna of the second device.

[0093] The UWB antenna module 303 is configured to receive a UWB feedback signal sent by the second device;

[0094] The UWB communication module 302 is configured to determine an arrival phase difference based on a UWB feedback signal;

[0095] The processor 301 is configured to determine a target azimuth angle according to an arrival phase difference.

[0096] Optionally, the first device may further include a memory.

[0097] The UWB antenna module 303 may include at least two UWB antennas.

[0098] In a possible example, in determining the target azimuth angle according to the arrival phase difference, the processor 301 is specifically configured to:

[0099] Obtaining a preset function between a preset arrival phase difference and an azimuth angle;

[0100] Substitute the arrival phase difference into the preset function to determine the target azimuth.

[0101] It can be seen that the first device described in the embodiment of the present application can output a UWB signal by the UWB communication module 302 and send the UWB signal to the second device through the UWB antenna module 303; the Bluetooth signal is output by the Bluetooth communication module 304, and the Bluetooth signal is sent to the second device by the Bluetooth antenna 305. The Bluetooth signal includes the first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; the UWB antenna module 303 receives the UWB feedback signal sent by the second device; the UWB communication module 302 determines the arrival phase difference based on the UWB feedback signal; and the target azimuth is determined based on the arrival phase difference. In this way, while measuring the arrival phase difference, the corresponding first electromagnetic wave polarization direction can be sent to the second device so that the second device can match the polarization direction of its corresponding dual-polarized antenna. Finally, the target azimuth can be determined based on the polarization direction and the arrival phase difference. Therefore, it is beneficial to reduce the influence of electromagnetic wave polarization on the angle measurement process and improve the angle measurement accuracy.

[0102] See also Figure 4A , Figure 4A The embodiment of the present application provides a flow chart of an azimuth angle determination method, which is applied to a second device. As shown in the figure, the azimuth angle determination method includes the following operations.

[0103] S401: Receive a UWB signal sent by a first device.

[0104] The second device may include at least one of the following modules: a processor, a Bluetooth communication module, a Bluetooth antenna, a UWB communication module, a dual-polarized antenna, etc., which are not limited here.

[0105] Among them, the above-mentioned dual-polarized antenna may refer to a UWB antenna, which is the same as or different from the UWB antenna module in the above-mentioned first device. In an embodiment of the present application, one of the above-mentioned dual-polarized antennas is in a horizontal state and the other is in a vertical state.

[0106] S402: Receive a Bluetooth signal, and parse the Bluetooth signal to obtain a polarization direction of a first electromagnetic wave corresponding to the first device.

[0107] The second device may receive the Bluetooth signal sent by the first device through the Bluetooth antenna, and parse the direction of the first electromagnetic wave carried in the Bluetooth signal.

[0108] S403: Determine a second electromagnetic wave polarization direction of the dual-polarized antenna.

[0109] Among them, the antenna setting information of the dual-polarized antenna is pre-set in the second device, and the second electromagnetic wave polarization direction of the dual-polarized antenna can be determined according to the antenna setting information. The second electromagnetic wave polarization direction can be horizontal, vertical, or 45°, etc., which is not limited here.

[0110] Furthermore, the second device may also include an IMU module, a power divider, and a phase controller; after determining the polarization direction of the second electromagnetic wave of the dual-polarized antenna, the above method may also include the following steps: obtaining the posture information corresponding to the second device through the IMU module; adjusting the power distribution ratio through the power divider and adjusting the phase difference through the phase controller according to the posture information and the polarization direction of the second electromagnetic wave, so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave.

[0111] The second device may further include an inertial measurement unit (IMU), i.e., an IMU module, a power splitter, and a phase controller, etc., which are not limited here. One end of the power splitter may be connected to the UWB communication module, and the other end may be connected to the phase controller, which may be connected to the dual-polarized antenna.

[0112] The IMU module may be used to obtain attitude information of the second device, and the attitude information may include information such as the angular velocity and acceleration of the second device in three-dimensional space.

[0113] The power distribution ratio at the output end of the power divider can be adjusted dynamically.

[0114] Among them, Figure 4B Figure 1 shows a schematic diagram of a power divider, a phase controller, and a dual-polarized antenna. As shown in the figure, the two outputs of the power divider are connected to the two inputs of the phase controller, and the two outputs of the phase controller are connected to the dual-polarized antennas (i.e., UWB antenna 1 and UWB antenna 2).

[0115] Among them, the second device can preset a power allocation ratio corresponding to different posture information, and the power allocation ratio is used to control or influence the polarization direction of the dual-polarized antenna, thereby adjusting or affecting the second electromagnetic wave polarization direction corresponding to the dual-polarized antenna of the second device.

[0116] In a specific implementation, after obtaining the posture information and the polarization direction of the second electromagnetic wave, the second device can determine the power ratio corresponding to the power divider based on the posture information, and adjust or optimize the polarization direction of the second electromagnetic wave through the power divider and phase controller so that the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction. Specifically, the UWB feedback signal output by the UWB communication module can be distributed to the two output ends through the power divider at the power ratio corresponding to the posture information, and finally transmitted to the dual-polarized antenna through the phase controller.

[0117] Furthermore, when the UWB feedback signal is transmitted to the phase controller, the phase controller can adjust the transmission phases of the two RF links, thereby controlling the phase difference between the RF signals in the two RF links, and ultimately transmitting the signal to the dual-polarized antenna, thereby adjusting the polarization direction of the second electromagnetic wave so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave corresponding to the first device. In other words, the polarization direction of the second electromagnetic wave is the same as the polarization direction of the first electromagnetic wave.

[0118] It can be seen that in this application, the second device can monitor the posture information of the second device through the IMU module, and adjust the polarization direction of the second electromagnetic wave of the dual-polarized antenna through the power divider and the phase controller according to the posture information and the polarization direction of the second electromagnetic wave, so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave of the first device. Therefore, no matter what posture state the second device is in, it can adjust or influence the polarization direction of its own dual-polarized antenna through the IMU module, power divider and phase controller, so as to match the polarization direction of the first device (measuring end), which is beneficial to reduce the influence of different polarization directions on the angle measurement accuracy during UWB communication, and is beneficial to improve the angle measurement accuracy.

[0119] S404: When the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, send a UWB feedback signal to the first device, where the UWB feedback signal is used to instruct the first device to determine a target azimuth according to the UWB feedback signal.

[0120] Among them, after the first device receives the UWB signal, it can determine the arrival phase difference based on the UWB signal, and determine the azimuth angle after determining the arrival phase difference. In general, the path difference between the dual-polarized antenna of the second device and at least two UWB antennas in the UWB antenna module in the first device can be calculated by the arrival phase difference. Thus, the angle information of the second device relative to the first device, that is, the above-mentioned azimuth angle, can be calculated based on the phase difference of the UWB feedback signal reaching different antennas of the first device, the wavelength of the signal, and the distance between different antennas of the first device. However, in actual applications, due to the influence of antenna mutual coupling, it is difficult to use simple trigonometric functions to calculate the above-mentioned azimuth angle (arrival angle). In addition, there is usually a certain mismatch between the polarization direction of the electromagnetic wave received by the UWB antenna and the polarization direction of the antenna itself, and the different degrees of mismatch introduce different phase differences. Therefore, at the second device end, i.e., the measured end, the polarization direction can be adjusted through a phase controller and a power divider so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave corresponding to the first device, thereby reducing the influence of the polarization direction on the angle measurement accuracy of the first device, which is conducive to improving the angle measurement accuracy in UWB communication.

[0121] Among them, after the polarization direction of the second electromagnetic wave is adjusted in the above manner, the polarization direction of the dual-polarized antenna matches the polarization direction corresponding to the UWB antenna module in the first device, that is, the polarization direction of the first electromagnetic wave, and a UWB feedback signal is sent to the first device. The UWB feedback signal can be used by the first device to determine the target azimuth, thereby completing the angle measurement process in UWB communication.

[0122] It can be seen that the azimuth angle determination method described in the embodiment of the present application is applied to the second device, which can receive the UWB signal sent by the first device; receive the Bluetooth signal, and parse the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal; determine the second electromagnetic wave polarization direction of the dual-polarized antenna; when the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, send a UWB feedback signal to the first device, and the UWB feedback signal is used to instruct the first device to determine the target azimuth angle according to the UWB feedback signal. In this way, the second device can match the polarization direction of the first device (measuring end) by adjusting the polarization direction of its own dual-polarized antenna, which is beneficial to reduce the impact of different polarization directions on the angle measurement accuracy of the first device during UWB communication, and is beneficial to improve the angle measurement accuracy.

[0123] See also Figure 5 , Figure 5 This is a structural diagram of a second device. As shown in the figure, the second device may include a processor 501, a UWB communication module 502, a dual-polarized antenna 503, a Bluetooth communication module 504 and a Bluetooth antenna 505, wherein:

[0124] The processor 501 is connected to the UWB communication module 502, the UWB communication module 502 is connected to the dual-polarized antenna 503, the processor 501 is connected to the Bluetooth communication module 504, and the Bluetooth communication module 504 is connected to the Bluetooth antenna 505;

[0125] A dual-polarized antenna 503, configured to receive a UWB signal sent by the first device;

[0126] The Bluetooth antenna 505 is configured to receive a Bluetooth signal and parse the Bluetooth signal through the Bluetooth communication module 504 to obtain a polarization direction of a first electromagnetic wave corresponding to the first device;

[0127] The UWB communication module 502 is used to determine the polarization direction of the second electromagnetic wave of the dual-polarized antenna 503;

[0128] The UWB communication module 502 is configured to send a UWB feedback signal to the first device when the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave. The UWB feedback signal is used by the first device to determine the target azimuth.

[0129] The polarization feeding end of each antenna is connected to the output end of the phase controller.

[0130] Optionally, the above-mentioned second device also includes an IMU module 506, a power divider 507, and a phase controller 508. The IMU module 506 is connected to the processor 501, the UWB communication module 502 is connected to the power divider 507, the power divider 507 is connected to the phase controller 508, and the phase controller 508 is connected to the dual-polarized antenna 503.

[0131] The common terminal of the power divider 507 is connected to the RF input and output ports of the UWB communication module 502. The power distribution ratio at the output of the power divider 507 is dynamically adjustable and controlled by the processor 501. The output terminal is connected to the input terminal of the phase controller 508. Therefore, the power divider 507 can distribute the UWB RF signal (UWB feedback signal) output by the UWB communication module 502 to the two output terminals at a specific power ratio, thereby transmitting it to the dual-polarized antenna 503.

[0132] The phase controller 508 can adjust the transmission phases of the two radio frequency links, thereby controlling the phase difference between the two radio frequency signals, and then transmitting them to the dual-polarized antenna 503 .

[0133] In a possible example, after the UWB communication module 502 determines the polarization direction of the second electromagnetic wave of the dual-polarized antenna 503;

[0134] IMU module 506, used to obtain attitude information corresponding to the second device;

[0135] The processor 501 is further configured to:

[0136] A power distributor 507, used to adjust the power distribution ratio;

[0137] The phase controller 508 is used to adjust the phase difference so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave.

[0138] Optionally, the first device may further include a memory 509 .

[0139] It can be seen that the second device described in the embodiment of the present application can receive the UWB signal sent by the first device through the dual-polarized antenna 503; receive the Bluetooth signal through the Bluetooth antenna 505, and parse out the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal; determine the second electromagnetic wave polarization direction of the dual-polarized antenna 503; when the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, send a UWB feedback signal to the first device through the dual-polarized antenna 503. The UWB feedback signal is used to instruct the first device to determine the target azimuth according to the UWB feedback signal. In this way, the second device can match the polarization direction of the first device (measuring end) by adjusting the polarization direction of its own dual-polarized antenna 503, which is beneficial to reduce the impact of different polarization directions on the angle measurement accuracy of the first device during UWB communication, and is beneficial to improve the angle measurement accuracy.

[0140] See also Figure 6A , Figure 6A An interactive diagram of a method for determining an azimuth angle is provided, where:

[0141] S601: A first device sends a UWB signal to a second device.

[0142] S602: The second device receives a UWB signal sent by the first device.

[0143] S603: The first device sends a Bluetooth signal to the second device, where the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, where the first electromagnetic wave polarization direction is used to match the polarization direction of a dual-polarized antenna of the second device.

[0144] S604: The second device receives a Bluetooth signal and parses the Bluetooth signal to obtain a polarization direction of a first electromagnetic wave corresponding to the first device.

[0145] S605: The second device determines a polarization direction of a second electromagnetic wave of the dual-polarized antenna.

[0146] S606. When the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, the second device sends a UWB feedback signal to the first device, where the UWB feedback signal is used to instruct the first device to determine a target azimuth according to the UWB feedback signal.

[0147] S607: The first device receives the UWB feedback signal sent by the second device.

[0148] S608: The first device determines an arrival phase difference according to the UWB feedback signal.

[0149] S609: The first device determines the target azimuth according to the arrival phase difference.

[0150] The above step S601 can refer to Figure 2A Step S201 in the azimuth determination method described above; the above step S602 can refer to Figure 4A Step S401 in the azimuth determination method described above; the above step S603 can refer to Figure 2A Step S202 of the azimuth angle determination method described above; the above steps S604 to S606 can refer to Figure 4A The steps S402-S404 in the azimuth determination method described above; the emotion recognition method described in the above steps S607-S609 can refer to Figure 2A Steps S203-S205 in the described azimuth angle determination method.

[0151] For example, if the channel for UWB communication is ch5, the UWB antenna module of the first device includes two antennas, UWB antenna 1 and UWB antenna 2, and the polarization direction of UWB antenna 1 and UWB antenna 2 on ch5 is horizontal polarization direction, that is, the first electromagnetic wave polarization direction. Figure 6B As shown in FIG, it is a schematic structural diagram of a dual-polarized antenna. In this figure, the UWB antenna in the second device can be designed as a dual-polarized antenna, and its placement is shown in the figure.

[0152] Then, when the first device sends a Bluetooth signal to the second device through the Bluetooth antenna, the second device can obtain the polarization direction of the first device from the Bluetooth signal, that is, the horizontal polarization direction; then, the second device determines that it needs to send electromagnetic waves in the horizontal polarization direction when sending the UWB feedback signal. The second device obtains its own attitude information through the IMU module, such as Figure 6C The figure shows a schematic diagram of the placement of a dual-polarized antenna. The UWB antenna in the second device is a dual-polarized antenna design. Figure 6CAs shown, in the current placement posture, the polarization direction of the second electromagnetic wave corresponding to the two polarization units of the dual-polarized antenna in the second device is not horizontally polarized. Then, the second device can adjust the polarization direction of the second electromagnetic wave of the second device through a power divider and a phase controller. For example, based on the posture information, the distribution ratio of the power divider can be determined to be 1:1, the transmission phase difference of the phase controller can be determined to be 0°, and the current posture of the second device can be combined to make the electromagnetic wave emitted by the dual-polarized antenna of the second device horizontally polarized.

[0153] It can be seen that in the azimuth determination method described in the embodiment of the present application, the first device can send a UWB signal to the second device, and the second device receives the UWB signal sent by the first device; the first device sends a Bluetooth signal to the second device, and the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; the second device receives the Bluetooth signal, and parses the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal, and determines the second electromagnetic wave polarization direction of the dual-polarized antenna. When the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, a UWB feedback signal is sent to the first device, and the UWB feedback signal is used to instruct the first device to determine the target azimuth according to the UWB feedback signal; the first device receives the UWB feedback signal sent by the second device, and determines the arrival phase difference according to the UWB feedback signal, and finally determines the target azimuth according to the arrival phase difference. In this way, the first device can send its desired polarization direction (the first electromagnetic wave polarization direction) to the second device, and the second device can adjust the corresponding second electromagnetic wave polarization direction to match the first electromagnetic wave polarization direction. This helps reduce the impact of the electromagnetic wave polarization direction on angle measurement accuracy and improves the angle measurement accuracy of the first device.

[0154] See also Figure 7 , Figure 7 This is a structural diagram of an electronic device. As shown in the figure, the electronic device includes a processor, a memory, a communication interface and one or more programs. The electronic device may include a first device or a second device, wherein the one or more programs are stored in the memory and configured to be executed by the processor.

[0155] In a possible example, if the electronic device is a first device, the program includes instructions for executing the following steps:

[0156] sending a UWB signal to a second device;

[0157] Sending a Bluetooth signal to the second device, where the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, where the first electromagnetic wave polarization direction is used to match the polarization direction of a dual-polarized antenna of the second device;

[0158] receiving a UWB feedback signal sent by the second device;

[0159] determining an arrival phase difference according to the UWB feedback signal;

[0160] The target azimuth is determined according to the arrival phase difference.

[0161] It can be seen that the electronic device described in the embodiment of the present application can send a UWB signal to a second device; send a Bluetooth signal to the second device, the Bluetooth signal including the first electromagnetic wave polarization direction corresponding to the first device, the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; receive the UWB feedback signal sent by the second device; determine the arrival phase difference based on the UWB feedback signal; and determine the target azimuth based on the arrival phase difference. In this way, while measuring the arrival phase difference, the corresponding first electromagnetic wave polarization direction can be sent to the second device so that the second device can match the polarization direction of its corresponding dual-polarized antenna. Finally, the target azimuth can be determined based on the polarization direction and the arrival phase difference. Therefore, it is beneficial to reduce the influence of electromagnetic wave polarization on the angle measurement process and to improve the angle measurement accuracy.

[0162] In terms of determining the target azimuth angle by the processor according to the arrival phase difference, the program includes instructions for executing the following steps:

[0163] Obtaining a preset function between a preset arrival phase difference and an azimuth angle;

[0164] Substitute the arrival phase difference into the preset function to determine the target azimuth.

[0165] If the electronic device is the second device, the program includes instructions for executing the following steps:

[0166] receiving a UWB signal sent by a first device;

[0167] receiving a Bluetooth signal, and parsing the Bluetooth signal to determine a polarization direction of a first electromagnetic wave corresponding to the first device;

[0168] Determining a second electromagnetic wave polarization direction of the dual-polarized antenna;

[0169] When the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, a UWB feedback signal is sent to the first device, where the UWB feedback signal is used to instruct the first device to determine a target azimuth according to the UWB feedback signal.

[0170] It can be seen that the electronic device described in the embodiment of the present application can receive the UWB signal sent by the first device; receive the Bluetooth signal, and parse out the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal; determine the second electromagnetic wave polarization direction of the dual-polarized antenna; when the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, send a UWB feedback signal to the first device, and the UWB feedback signal is used to instruct the first device to determine the target azimuth according to the UWB feedback signal. In this way, the second device can match the polarization direction of the first device (measuring end) by adjusting the polarization direction of its own dual-polarized antenna, which is beneficial to reduce the impact of different polarization directions on the angle measurement accuracy of the first device during UWB communication, and is beneficial to improve the angle measurement accuracy.

[0171] The second device may include an IMU module, a power divider, and a phase controller;

[0172] After determining the polarization direction of the second electromagnetic wave of the dual-polarized antenna, the program further includes instructions for executing the following steps:

[0173] Acquire the posture information corresponding to the second device through the IMU module;

[0174] According to the posture information and the polarization direction of the second electromagnetic wave, the power distribution ratio is adjusted by the power divider, and the phase difference is adjusted by the phase controller so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave.

[0175] The above mainly introduces the solution of the embodiment of the present application from the perspective of the execution process of the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0176] The embodiment of the present application can divide the functional units of the electronic device according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0177] In the case of dividing each functional module into corresponding functional modules, Figure 8 A schematic diagram of an azimuth angle determination device is shown in FIG. Figure 8 As shown, the azimuth angle determination device 800 is applied to a first device, and the azimuth angle determination device 800 may include: a sending unit 801, a receiving unit 802 and a determining unit 803, wherein:

[0178] The sending unit 801 may be used to support the electronic device in executing the above steps S201 to S202 and / or other processes of the technology described herein.

[0179] The receiving unit 802 may be configured to support the electronic device in executing the aforementioned step S203 and / or other processes of the technology described herein.

[0180] The determining unit 803 may be configured to support the electronic device in executing the above steps S204 to S205 and / or other processes of the technology described herein.

[0181] It can be seen that the azimuth angle determination device provided in the embodiment of the present application can send a UWB signal to the second device; send a Bluetooth signal to the second device, the Bluetooth signal includes the first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the polarization direction of the dual-polarized antenna; receive the UWB feedback signal sent by the second device; determine the arrival phase difference based on the UWB feedback signal; and determine the target azimuth angle based on the arrival phase difference. In this way, while measuring the arrival phase difference, the corresponding first electromagnetic wave polarization direction can be sent to the second device, so that the second device can match the polarization direction of its corresponding dual-polarized antenna. Finally, the target azimuth angle can be determined based on the polarization direction and the arrival phase difference. Therefore, it is beneficial to reduce the influence of electromagnetic wave polarization on the angle measurement process and to improve the angle measurement accuracy.

[0182] In a possible example, in determining the target azimuth angle by the processor according to the arrival phase difference, the determining unit 803 is specifically configured to:

[0183] Obtaining a preset function between a preset arrival phase difference and an azimuth angle;

[0184] Substitute the arrival phase difference into the preset function to determine the target azimuth.

[0185] Figure 9A A schematic diagram of an azimuth angle determination device is shown in FIG. Figure 9A As shown, the azimuth angle determination device 900 is applied to the second device, and the azimuth angle determination device 900 may include: a receiving unit 901, a determining unit 902 and a sending unit 903, wherein,

[0186] The receiving unit 901 may be used to support the electronic device in executing the above steps S401 to S402 and / or other processes of the technology described herein.

[0187] The determining unit 902 may be configured to support the electronic device in executing the aforementioned step S403 and / or other processes of the technology described herein.

[0188] The sending unit 903 may be configured to support the electronic device in executing the above step S404 and / or other processes of the technology described herein.

[0189] It can be seen that the azimuth angle determination device provided in the embodiment of the present application can receive a UWB signal sent by a first device; receive a Bluetooth signal, and parse out the first electromagnetic wave polarization direction corresponding to the first device carried in the Bluetooth signal; determine the second electromagnetic wave polarization direction of the dual-polarized antenna; when the second electromagnetic wave polarization direction matches the first electromagnetic wave polarization direction, send a UWB feedback signal to the first device, and the UWB feedback signal is used to instruct the first device to determine the target azimuth angle according to the UWB feedback signal. In this way, the second device can match the polarization direction of the first device (measuring end) by adjusting the polarization direction of its own dual-polarized antenna, which is beneficial to reduce the impact of different polarization directions on the angle measurement accuracy of the first device during UWB communication, and is beneficial to improve the angle measurement accuracy.

[0190] In one possible example, the second device includes an IMU module, a power divider, and a phase controller; Figure 9B As shown, after determining the polarization direction of the second electromagnetic wave of the dual-polarized antenna, the azimuth angle determination device 900 may further include: an acquisition unit 904 and an adjustment unit 905, wherein:

[0191] The acquiring unit 904 is configured to acquire the posture information corresponding to the second device through the IMU module;

[0192] The adjustment unit 905 is used to adjust the power distribution ratio through the power divider and adjust the phase difference through the phase controller according to the posture information and the polarization direction of the second electromagnetic wave, so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave.

[0193] For example, Figure 10 1 shows a schematic structural diagram of an electronic device 1000. The electronic device 1000 may include a processor 1010, an external memory interface 1020, an internal memory 1021, a universal serial bus (USB) interface 1030, a charging management module 1040, a power management module 1041, a battery 1042, an antenna 1, an antenna 2, a mobile communication module 1050, a wireless communication module 1060, an audio module 1070, a speaker 1070A, a receiver 1070B, a microphone 1070C, an earphone interface 1070D, a sensor module 1080, a compass 1090, a motor 1091, an indicator 1092, a camera 1093, a display 1094, and a subscriber identification module (SIM) card interface 1095.

[0194] It should be understood that the structures illustrated in the embodiments of the present application do not constitute a specific limitation on the electronic device 1000. In other embodiments of the present application, the electronic device 1000 may include more or fewer components than shown, or may combine or separate certain components, or arrange the components differently. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

[0195] The processor 1010 may include one or more processing units. For example, the processor 1010 may include an application processor (AP), a modem processor, a graphics processing unit (GPU), an image signal processor (ISP), a controller, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU). The different processing units may be independent components or integrated into one or more processors. In some embodiments, the electronic device 1000 may also include one or more processors 1010. The controller may generate operation control signals based on instruction opcodes and timing signals to control instruction fetching and execution. In other embodiments, the processor 1010 may also include a memory for storing instructions and data. For example, the memory in the processor 1010 may be a high-speed cache memory. This memory may store instructions or data that have just been used or are being recycled by the processor 1010. If the processor 1010 needs to use the instruction or data again, it can directly call it from the memory. This avoids repeated access, reduces the waiting time of the processor 1010, and thus improves the efficiency of the electronic device 1000 in processing data or executing instructions.

[0196] In some embodiments, the processor 1010 may include one or more interfaces. The interfaces may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a SIM card interface, and / or a USB interface. Among them, the USB interface 1030 is an interface that complies with the USB standard specification, and specifically can be a Mini USB interface, a Micro USB interface, a USB Type C interface, etc. The USB interface 1030 can be used to connect a charger to charge the electronic device 1000, and can also be used to transfer data between the electronic device 1000 and peripheral devices. The USB interface 1030 can also be used to connect headphones to play audio through the headphones.

[0197] It is understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is merely an illustrative illustration and does not constitute a structural limitation on the electronic device 1000. In other embodiments of the present application, the electronic device 1000 may also adopt different interface connection methods from the above embodiments, or a combination of multiple interface connection methods.

[0198] The charging management module 1040 is configured to receive charging input from a charger. The charger can be either a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 1040 can receive charging input from the wired charger via the USB interface 1030. In some wireless charging embodiments, the charging management module 1040 can receive wireless charging input via the wireless charging coil of the electronic device 1000. While charging the battery 1042, the charging management module 1040 can also provide power to the electronic device via the power management module 1041.

[0199] The power management module 1041 is used to connect the battery 1042, the charging management module 1040 and the processor 1010. The power management module 1041 receives input from the battery 1042 and / or the charging management module 1040, and provides power to the processor 1010, the internal memory 1021, the external memory, the display 1094, the camera 1093 and the wireless communication module 1060. The power management module 1041 can also be used to monitor parameters such as battery capacity, battery cycle count, and battery health status (leakage, impedance). In some other embodiments, the power management module 1041 can also be set in the processor 1010. In other embodiments, the power management module 1041 and the charging management module 1040 can also be set in the same device.

[0200] The wireless communication function of the electronic device 1000 can be implemented through the antenna 1, the antenna 2, the mobile communication module 1050, the wireless communication module 1060, the modem processor, and the baseband processor.

[0201] Antenna 1 and Antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in electronic device 1000 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve antenna utilization. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In other embodiments, the antennas can be used in conjunction with a tuning switch.

[0202] The mobile communication module 1050 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied to the electronic device 1000. The mobile communication module 1050 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 1050 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 1050 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 1050 can be set in the processor 1010. In some embodiments, at least some of the functional modules of the mobile communication module 1050 can be set in the same device as at least some of the modules of the processor 1010.

[0203] The wireless communication module 1060 can provide wireless communication solutions including wireless local area networks (WLAN) (such as wireless fidelity (Wi-Fi) networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), UWB, etc., which are applied to the electronic device 1000. The wireless communication module 1060 can be one or more devices that integrate at least one communication processing module. The wireless communication module 1060 receives electromagnetic waves via the antenna 2, frequency modulates and filters the electromagnetic wave signals, and sends the processed signals to the processor 1010. The wireless communication module 1060 can also receive the signal to be sent from the processor 1010, frequency modulate it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0204] Electronic device 1000 implements display functionality through a GPU, display screen 1094, and an application processor. The GPU is a microprocessor for relational analysis that connects display screen 1094 and the application processor. The GPU is used to perform mathematical and geometric calculations and render graphics. Processor 1010 may include one or more GPUs that execute program instructions to generate or modify display information.

[0205] Display screen 1094 is used to display images, videos, and the like. Display screen 1094 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), a mini light-emitting diode (MiniLED), a MicroLED, a Micro-oLed, or a quantum dot light-emitting diode (QLED). In some embodiments, electronic device 1000 may include one or more display screens 1094.

[0206] The electronic device 1000 can implement a shooting function through an ISP, a camera 1093, a video codec, a GPU, a display screen 1094, and an application processor.

[0207] The ISP processes data fed back by the camera 1093. For example, when taking a photo, the shutter is opened, and light is transmitted through the lens to the camera's photosensitive element. The light signal is converted into an electrical signal, which is then passed to the ISP for processing and converted into a visible image. The ISP can also perform algorithmic optimization on image noise, brightness, and skin tone. The ISP can also optimize parameters such as exposure and color temperature of the captured scene. In some embodiments, the ISP can be located within the camera 1093.

[0208] The camera 1093 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element can be a charge coupled device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The photosensitive element converts the optical signal into an electrical signal, and then passes the electrical signal to the ISP to be converted into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the electronic device 1000 may include one or more cameras 1093.

[0209] The digital signal processor is used to process digital signals. In addition to processing digital image signals, it can also process other digital signals. For example, when the electronic device 1000 selects a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0210] Video codecs are used to compress or decompress digital video. Electronic device 1000 may support one or more video codecs. This allows electronic device 1000 to play or record videos in various encoding formats, such as Moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, and MPEG4.

[0211] The NPU is a neural network (NN) computing processor. Drawing on the structure of biological neural networks, such as the transmission patterns between neurons in the human brain, it rapidly processes input information and can continuously self-learn. The NPU can enable intelligent cognitive applications in electronic device 1000, such as image recognition, face recognition, speech recognition, and text comprehension.

[0212] The external memory interface 1020 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the electronic device 1000. The external memory card communicates with the processor 1010 via the external memory interface 1020 to implement data storage functions. For example, files such as music and videos can be stored on the external memory card.

[0213] The internal memory 1021 can be used to store one or more computer programs, which include instructions. The processor 1010 can execute the above instructions stored in the internal memory 1021, thereby causing the electronic device 1000 to perform the method for displaying page elements, various applications, and data processing provided in some embodiments of the present application. The internal memory 1021 may include a program storage area and a data storage area. The program storage area may store an operating system; the program storage area may also store one or more applications (such as a gallery, contacts, etc.). The data storage area may store data created during the use of the electronic device 1000 (such as photos, contacts, etc.). In addition, the internal memory 1021 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more disk storage components, a flash memory component, a universal flash storage (UFS), etc. In some embodiments, the processor 1010 can execute the instructions stored in the internal memory 1021 and / or the instructions stored in the memory provided in the processor 1010, thereby causing the electronic device 1000 to execute the method for displaying page elements, and other applications and data processing provided in the embodiments of the present application. The electronic device 1000 can implement audio functions such as music playback and recording through the audio module 1070, the speaker 1070A, the receiver 1070B, the microphone 1070C, the headphone jack 1070D, and the application processor.

[0214] The sensor module 1080 may include a pressure sensor 1080A, a gyroscope sensor 1080B, an air pressure sensor 1080C, a magnetic sensor 1080D, an acceleration sensor 1080E, a distance sensor 1080F, a proximity light sensor 1080G, a fingerprint sensor 1080H, a temperature sensor 1080J, a touch sensor 1080K, an ambient light sensor 1080L, a bone conduction sensor 1080M, and the like.

[0215] The pressure sensor 1080A is used to sense pressure signals and convert them into electrical signals. In some embodiments, the pressure sensor 1080A can be located on the display screen 1094. There are many types of pressure sensors 1080A, such as resistive pressure sensors, inductive pressure sensors, and capacitive pressure sensors. A capacitive pressure sensor can include at least two parallel plates made of conductive material. When force is applied to the pressure sensor 1080A, the capacitance between the electrodes changes. The electronic device 1000 determines the intensity of the pressure based on the change in capacitance. When a touch operation is applied to the display screen 1094, the electronic device 1000 detects the intensity of the touch operation based on the pressure sensor 1080A. The electronic device 1000 can also calculate the location of the touch based on the detection signal from the pressure sensor 1080A. In some embodiments, touch operations applied to the same touch location but with different touch operation intensities can correspond to different operation instructions. For example, when a touch operation with an intensity less than a first pressure threshold is applied to a short message application icon, an instruction to view the short message is executed. When a touch operation with a touch operation intensity greater than or equal to a first pressure threshold is applied to the short message application icon, an instruction to create a new short message is executed.

[0216] The gyroscope sensor 1080B can be used to determine the motion posture of the electronic device 1000. In some embodiments, the angular velocity of the electronic device 1000 around three axes (i.e., X, Y, and Z axes) can be determined by the gyroscope sensor 1080B. The gyroscope sensor 1080B can be used for anti-shake shooting. For example, when the shutter is pressed, the gyroscope sensor 1080B detects the angle of the electronic device 1000 shaking, calculates the distance that the lens module needs to compensate based on the angle, and allows the lens to offset the shaking of the electronic device 1000 through reverse movement to achieve anti-shake. The gyroscope sensor 1080B can also be used for navigation and somatosensory game scenes.

[0217] Accelerometer 1080E can detect the magnitude of acceleration of electronic device 1000 in all directions (generally three axes). When electronic device 1000 is stationary, it can detect the magnitude and direction of gravity. It can also be used to identify the electronic device's posture, enabling applications such as switching between landscape and portrait modes and pedometers.

[0218] Ambient light sensor 1080L is used to sense ambient light brightness. Electronic device 1000 can adaptively adjust the brightness of display screen 1094 based on the perceived ambient light brightness. Ambient light sensor 1080L can also be used to automatically adjust white balance when taking photos. Ambient light sensor 1080L can also work with proximity sensor 1080G to detect whether electronic device 1000 is in a pocket to prevent accidental touches.

[0219] The fingerprint sensor 1080H is used to collect fingerprints. The electronic device 1000 can use the collected fingerprint characteristics to implement fingerprint unlocking, access application locks, fingerprint photography, fingerprint call answering, etc.

[0220] The temperature sensor 1080J is used to detect temperature. In some embodiments, the electronic device 1000 uses the temperature detected by the temperature sensor 1080J to execute a temperature processing strategy. For example, when the temperature reported by the temperature sensor 1080J exceeds a threshold, the electronic device 1000 reduces the performance of the processor located near the temperature sensor 1080J to reduce power consumption and implement thermal protection. In other embodiments, when the temperature is lower than another threshold, the electronic device 1000 heats the battery 1042 to prevent the electronic device 1000 from shutting down abnormally due to low temperature. In other embodiments, when the temperature is lower than another threshold, the electronic device 1000 boosts the output voltage of the battery 1042 to prevent abnormal shutdown due to low temperature.

[0221] Touch sensor 1080K, also known as a "touch panel." The touch sensor 1080K can be disposed on the display screen 1094. The touch sensor 1080K and the display screen 1094 form a touch screen, also known as a "touch screen." The touch sensor 1080K is used to detect touch operations applied thereto or in the vicinity thereof. The touch sensor can transmit the detected touch operations to the application processor to determine the type of touch event. Visual output related to the touch operations can be provided via the display screen 1094. In other embodiments, the touch sensor 1080K can also be disposed on the surface of the electronic device 1000, at a location different from that of the display screen 1094.

[0222] For example, Figure 11 A software structure diagram of electronic device 1000 is shown. The layered architecture divides the software into several layers, each with clear roles and division of labor. The layers communicate with each other through software interfaces. In some embodiments, the Android system is divided into four layers: the application layer, the application framework layer, the Android runtime and system libraries, and the kernel layer. The application layer can include a series of application packages.

[0223] like Figure 11 As shown, the application package may include applications such as camera, gallery, calendar, call, map, navigation, WLAN, Bluetooth, music, video, short message, etc.

[0224] The application framework layer provides an application programming interface (API) and programming framework for the applications in the application layer. The application framework layer includes some predefined functions.

[0225] like Figure 11 As shown, the application framework layer may include a window manager, a content provider, a view system, a phone manager, a resource manager, a notification manager, and the like.

[0226] The window manager is used to manage window programs. The window manager can obtain the display size, determine whether there is a status bar, lock the screen, take screenshots, etc.

[0227] Content providers are used to store and retrieve data and make it accessible to applications. The data may include videos, images, audio, calls made and received, browsing history and bookmarks, phone books, etc.

[0228] The view system includes visual controls, such as those for displaying text and images. The view system is used to build applications. A display interface can consist of one or more views. For example, a display interface containing a text notification icon might include a view for displaying text and a view for displaying images.

[0229] The phone manager is used to provide communication functions of the electronic device 1000, such as management of call status (including answering, hanging up, etc.).

[0230] The resource manager provides various resources for applications, such as localized strings, icons, images, layout files, video files, and so on.

[0231] The Notification Manager allows applications to display notifications in the status bar. These messages can be displayed briefly and then disappear automatically without user interaction. For example, the Notification Manager is used to notify users of completed downloads and message reminders. The Notification Manager can also display notifications in the top status bar of the system as icons or scrolling text, such as notifications from background applications, or as dialog windows on the screen. Examples include text messages in the status bar, beeps, vibrations on electronic devices, and flashing indicator lights.

[0232] Android Runtime includes core libraries and a virtual machine. Android runtime is responsible for scheduling and management of the Android system.

[0233] The core library consists of two parts: one is the function that needs to be called by the Java language, and the other is the Android core library.

[0234] The application layer and application framework layer run in a virtual machine. The virtual machine executes Java files in the application layer and application framework layer as binary files. The virtual machine manages object lifecycles, stack management, thread management, security and exception management, and garbage collection.

[0235] The system library can include multiple functional modules, such as a surface manager, media libraries, a 3D graphics processing library (such as OpenGL ES), and a 2D graphics engine (such as SGL).

[0236] The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications.

[0237] The media library supports playback and recording of a variety of common audio and video formats, as well as static image files. The media library can support a variety of audio and video encoding formats, such as MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

[0238] The 3D graphics processing library is used to implement 3D graphics drawing, image rendering, compositing, and layer processing.

[0239] A 2D graphics engine is a drawing engine for 2D drawings.

[0240] The kernel layer is the layer between hardware and software. The kernel layer includes at least display driver, camera driver, audio driver, and sensor driver.

[0241] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0242] The electronic device provided in this embodiment is used to execute the above-mentioned azimuth angle determination method, and thus can achieve the same effect as the above-mentioned implementation method.

[0243] When integrated units are used, the electronic device may include a processing module, a storage module, and a communication module. The processing module may be used to control and manage the actions of the electronic device. For example, it may be used to support the electronic device in executing the steps performed by the aforementioned sending unit 801, receiving unit 802, and determining unit 803, or the receiving unit 901, determining unit 902, sending unit 903, acquiring unit 904, and adjusting unit 905. The storage module may be used to support the electronic device in executing and storing program code and data. The communication module may be used to support communication between the electronic device and other devices.

[0244] The processing module may be a processor or a controller. It may implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, and so on. The storage module may be a memory. The communication module may specifically be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, or a Wi-Fi chip.

[0245] In one embodiment, when the processing module is a processor and the storage module is a memory, the electronic device involved in this embodiment may be a Figure 10 Device with the structure shown.

[0246] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0247] The present application also provides a computer program product comprising a non-transitory computer-readable storage medium storing a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps of any of the methods described in the above method embodiments. The computer program product may be a software installation package, and the computer may comprise an electronic device.

[0248] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0249] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0250] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the above-mentioned units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0251] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0252] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0253] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a memory and includes a number of instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0254] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0255] The above is a detailed introduction to the embodiments of the present application. Specific examples are used herein to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and 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 may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for determining an azimuth angle, applied to a first device, characterized in that: The method comprises: sending a UWB signal to a second device; Sending a Bluetooth signal to the second device, where the Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used by the second device to match the first electromagnetic wave polarization direction and the second electromagnetic wave polarization direction of the dual-polarized antenna of the second device; the second device includes an IMU module, a power divider, and a phase controller; the IMU module is used to obtain posture information of the second device; the power divider and the phase controller are used by the second device to adjust the power distribution ratio and the phase difference according to the posture information and the second electromagnetic wave polarization direction, so that the first electromagnetic wave polarization direction matches the second electromagnetic wave polarization direction; different posture information corresponds to different power distribution ratios, and the power distribution ratio is used to adjust the second electromagnetic wave polarization direction; receiving a UWB feedback signal sent by the second device; determining an arrival phase difference according to the UWB feedback signal; The target azimuth is determined according to the arrival phase difference.

2. The method according to claim 1, characterized in that Determining the target azimuth angle according to the arrival phase difference includes: Obtaining a preset function between a preset arrival phase difference and an azimuth angle; Substitute the arrival phase difference into the preset function to determine the target azimuth.

3. A method for determining an azimuth angle, applied to a second device, characterized in that: The method comprises: receiving a UWB signal sent by a first device; receiving a Bluetooth signal, and parsing the Bluetooth signal to determine a polarization direction of a first electromagnetic wave corresponding to the first device; determining a polarization direction of a second electromagnetic wave of a dual-polarized antenna of the second device; The second device includes an IMU module, a power divider, and a phase controller, and the posture information corresponding to the second device is obtained through the IMU module; according to the posture information and the polarization direction of the second electromagnetic wave, the power distribution ratio is adjusted by the power divider, and the phase difference is adjusted by the phase controller, so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, wherein different posture information corresponds to different power distribution ratios, and the power distribution ratio is used to adjust the polarization direction of the second electromagnetic wave; When the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, a UWB feedback signal is sent to the first device, where the UWB feedback signal is used to instruct the first device to determine a target azimuth according to the UWB feedback signal.

4. A first device, characterized in that: The first device includes: a processor, a UWB communication module, a UWB antenna module, a Bluetooth communication module and a Bluetooth antenna, wherein: The processor is connected to the UWB communication module, the UWB communication module is connected to the UWB antenna module, the processor is connected to the Bluetooth communication module, and the Bluetooth communication module is connected to the Bluetooth antenna; The UWB communication module is configured to output a UWB signal, and the UWB antenna module transmits the UWB signal to the second device; The Bluetooth communication module is used to output a Bluetooth signal, and the Bluetooth signal is sent to the second device by the Bluetooth antenna. The Bluetooth signal includes a first electromagnetic wave polarization direction corresponding to the first device, and the first electromagnetic wave polarization direction is used for the second device to match the first electromagnetic wave polarization direction and the second electromagnetic wave polarization direction of the dual-polarized antenna of the second device; the second device includes an IMU module, a power divider, and a phase controller; the IMU module is used to obtain posture information of the second device; the power divider and the phase controller are used for the second device to adjust the power distribution ratio and the phase difference according to the posture information and the second electromagnetic wave polarization direction, so that the first electromagnetic wave polarization direction and the second electromagnetic wave polarization direction match; different posture information corresponds to different power distribution ratios, and the power distribution ratio is used to adjust the second electromagnetic wave polarization direction; The UWB antenna module is configured to receive a UWB feedback signal sent by the second device; The UWB communication module is configured to determine an arrival phase difference based on the UWB feedback signal; The processor is configured to determine a target azimuth angle according to the arrival phase difference.

5. The first device according to claim 4, characterized in that In determining the target azimuth angle according to the arrival phase difference, the processor is specifically configured to: Obtaining a preset function between a preset arrival phase difference and an azimuth angle; Substitute the arrival phase difference into the preset function to determine the target azimuth.

6. A second device, characterized in that: The second device includes: a processor, a UWB communication module, a dual-polarization antenna, a Bluetooth communication module, a Bluetooth antenna, an IMU module, a power divider, and a phase controller, wherein: The processor is connected to the UWB communication module, the UWB communication module is connected to the dual-polarized antenna, the processor is connected to the Bluetooth communication module, and the Bluetooth communication module is connected to the Bluetooth antenna; The dual-polarized antenna is used to receive the UWB signal sent by the first device; The Bluetooth antenna is configured to receive a Bluetooth signal and parse the Bluetooth signal to obtain a polarization direction of a first electromagnetic wave corresponding to the first device through the Bluetooth communication module; The UWB communication module is used to determine the polarization direction of the second electromagnetic wave of the dual-polarized antenna; The IMU module is used to obtain the posture information corresponding to the second device; The processor is further configured to: The power distributor is used to adjust the power distribution ratio; The phase controller is used to adjust the phase difference so that the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, wherein different posture information corresponds to different power allocation ratios, and the power allocation ratio is used to adjust the polarization direction of the second electromagnetic wave; The UWB communication module is used to send a UWB feedback signal to the first device when the polarization direction of the second electromagnetic wave matches the polarization direction of the first electromagnetic wave, and the UWB feedback signal is used by the first device to determine the target azimuth.

7. The second device according to claim 6, characterized in that The IMU module is connected to the processor, the UWB communication module is connected to the power divider, the power divider is connected to the phase controller, and the phase controller is connected to the dual-polarized antenna.

8. A computer-readable storage medium, characterized in that A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 2 and / or claim 3.

Images