A method, apparatus, electronic device, and storage medium for determining the angle of arrival.

Abstract

This application discloses a method, apparatus, electronic device, and storage medium for determining the angle of arrival. The method includes: receiving a wireless signal transmitted by a transmitter; acquiring in-phase orthogonal signals of the wireless signal arriving at each of a plurality of antennas and the signal strength values ​​of the wireless signal received by each antenna; and determining the angle of arrival of the wireless signal relative to the receiver based on the in-phase orthogonal signals of each antenna and the signal strength values ​​of the wireless signal received by each antenna.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to a method, apparatus, electronic device, and storage medium for determining the angle of arrival. Background Technology

[0002] In existing technologies, to locate a person, animal, or object, a Bluetooth module is typically installed at the object, and multiple Bluetooth gateways are positioned around it. These gateways receive the wireless signals emitted by the Bluetooth module at the object and transmit this data to a server. The server then determines the angle of arrival (Angle of Arrival) of the wireless signal relative to each gateway and uses this Angle of Arrival to determine the object's location. However, both determining the Angle of Arrival and calculating the object's location in existing solutions must be performed on the server side, increasing the server's computational load. Summary of the Invention

[0003] To address the aforementioned technical problems, embodiments of this application provide a method, apparatus, electronic device, and storage medium for determining the angle of arrival.

[0004] This application discloses a method for determining the angle of arrival, the method being applied at a receiving end having multiple antennas, the method comprising:

[0005] Receives wireless signals transmitted by the transmitter;

[0006] Collect the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas, and the signal strength values ​​of the wireless signal received by each antenna;

[0007] The angle of arrival of the wireless signal relative to the receiver is determined based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signal received by each antenna.

[0008] In one optional embodiment of this application, the plurality of antennas are divided into N antenna groups, where N is an integer greater than or equal to 2;

[0009] Determining the angle of arrival of the wireless signal relative to the receiver based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signal received by each antenna includes:

[0010] For each of the N antenna groups, the angle of arrival of the wireless signal relative to the antenna group is determined based on the in-phase orthogonal signals on each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group.

[0011] The first antenna group among the N antenna groups is determined, and the attenuation factor between the first antenna group and each second antenna group among the N antenna groups is determined; the second antenna group is the antenna group among the N antenna groups other than the first antenna group.

[0012] The angle of arrival of the wireless signal relative to each antenna group and the attenuation factor are used to determine the angle of arrival of the wireless signal relative to the receiver.

[0013] In an optional embodiment of this application, determining the angle of arrival of the wireless signal relative to the antenna group for each of the N antenna groups, based on the in-phase orthogonal signals on each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group, includes:

[0014] For each of the N antenna groups, determine the angle of arrival of the wireless signal relative to each antenna in that antenna group;

[0015] The angle of arrival of the wireless signal relative to the antenna group is determined based on the angle of arrival of the wireless signal relative to each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group.

[0016] In an optional embodiment of this application, determining the angle of arrival of the wireless signal relative to each antenna in the N antenna groups includes:

[0017] For each of the N antenna groups, determine the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in that antenna group;

[0018] One antenna in the antenna group is selected sequentially as the first antenna, and a second antenna located at a different position from the first antenna is randomly selected from the antenna group; the phase difference between the signal vectors corresponding to the first antenna and the second antenna is determined based on the slope value of the signal vector corresponding to the first antenna and the slope value of the signal vector corresponding to the second antenna.

[0019] The difference between the distance the wireless signal travels to the first antenna and the distance it travels to the second antenna is determined based on the phase difference.

[0020] The angle of arrival of the wireless signal relative to the first antenna is determined based on the distance between the first antenna and the second antenna and the difference between them.

[0021] In an optional embodiment of this application, determining the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in each of the N antenna groups includes:

[0022] For each antenna in each of the N antenna groups, Kalman filtering is performed on the in-phase component and the quadrature component of the continuous in-phase and quadrature signals acquired by that antenna to obtain the filtered data of the in-phase component and the filtered data of the quadrature component.

[0023] Based on the filtered data of the in-phase component and the filtered data of the quadrature component, the acquisition data matrix of the in-phase component and the acquisition data matrix of the quadrature component are constructed.

[0024] A matrix equation is constructed based on the acquisition data matrix of the in-phase component and the acquisition data matrix of the quadrature component, and the matrix equation is fitted to obtain the slope of the signal vector corresponding to the antenna.

[0025] In an optional embodiment of this application, determining the angle of arrival of the wireless signal relative to the antenna group based on the angle of arrival of the wireless signal relative to each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group includes:

[0026] Determine the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group;

[0027] The angle of arrival of the wireless signal relative to the antenna group is determined based on the probability density and angle of arrival of each antenna in the antenna group.

[0028] In an optional embodiment of this application, determining the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group includes:

[0029] Determine the average signal strength value of the wireless signal received by the multiple antennas included in the antenna group;

[0030] The standard deviation of the signal strength values ​​of the wireless signals received by the multiple antennas included in the antenna group is determined based on the signal strength values ​​of the wireless signals received by the multiple antennas included in the antenna group and the mean value.

[0031] The probability density corresponding to the intensity value of the wireless signal received by each antenna in the antenna group is determined based on the mean and the standard deviation.

[0032] In an optional embodiment of this application, determining the first antenna group among the N antenna groups includes:

[0033] For each of the N antenna groups, determine the probability density corresponding to the strength value of the wireless signal received by each antenna in that antenna group;

[0034] Based on the strength value of the wireless signal received by each antenna in the antenna group and the probability density corresponding to the strength value of the wireless signal received by each antenna, the weighted average value of the wireless signal strength value corresponding to the antenna group is determined.

[0035] The first antenna group is determined based on the weighted average of the wireless signal strength values ​​corresponding to each of the N antenna groups.

[0036] In an optional embodiment of this application, determining the attenuation factor between the first antenna group and each of the N antenna groups includes:

[0037] Determine the average signal strength value of the wireless signal received by each of the N antenna groups;

[0038] For each of the N antenna groups, the attenuation factor of the second antenna group relative to the first antenna group is determined using the average signal strength value of the wireless signal received by the first antenna group and the average signal strength value of the wireless signal received by the second antenna group.

[0039] In an optional embodiment of this application, the receiving end further includes a first switching circuit and a second switching circuit. The step of acquiring the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas and the signal strength values ​​of the wireless signal received by each antenna includes:

[0040] The first switching circuit is used to switch and collect in-phase orthogonal signals on each antenna in different antenna groups of the N antenna groups, as well as the signal strength value of the wireless signal received by each antenna;

[0041] While using the first switching circuit to switch and collect the in-phase orthogonal signals on each antenna in the target antenna group of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna, the second switching circuit is used to collect the in-phase orthogonal signals on different antennas in the target antenna group and the signal strength values ​​of the wireless signals received.

[0042] In an optional embodiment of this application, after determining the angle of arrival of the wireless signal relative to the receiver based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna, the method further includes:

[0043] The determined angle of arrival of the wireless signal relative to the receiver is sent to the server, which is used to determine the location of the transmitter based on at least one angle of arrival sent by the receiver.

[0044] This application also discloses a device for determining the angle of arrival, the device being applied at a receiving end having multiple antennas, the device comprising:

[0045] The receiving unit is used to receive wireless signals transmitted by the transmitting end;

[0046] The acquisition unit is used to acquire the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas and the signal strength values ​​of the wireless signal received by each antenna;

[0047] The determining unit is configured to determine the angle of arrival of the wireless signal relative to the receiving end based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna.

[0048] In one optional embodiment of this application, the plurality of antennas are divided into N antenna groups, where N is an integer greater than or equal to 2;

[0049] The determining unit is specifically configured to: for each of the N antenna groups, determine the angle of arrival of the wireless signal relative to the antenna group based on the in-phase orthogonal signals on each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group; determine a first antenna group among the N antenna groups, and determine the attenuation factor between the first antenna group and each second antenna group among the N antenna groups; the second antenna group is the antenna group other than the first antenna group among the N antenna groups; and determine the angle of arrival of the wireless signal relative to the receiving end based on the angle of arrival of the wireless signal relative to each antenna group and the attenuation factor.

[0050] In an optional embodiment of this application, the determining unit is specifically used to: determine the angle of arrival of the wireless signal relative to each antenna in the N antenna groups; and determine the angle of arrival of the wireless signal relative to the antenna group based on the angle of arrival of the wireless signal relative to each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group.

[0051] In an optional embodiment of this application, the determining unit is specifically configured to: for each of the N antenna groups, determine the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in the antenna group; sequentially select one antenna in the antenna group as the first antenna, and arbitrarily select a second antenna located at a different position from the first antenna in the antenna group; determine the phase difference between the signal vectors corresponding to the first antenna and the second antenna based on the slope values ​​of the signal vectors corresponding to the first antenna and the second antenna; determine the difference between the distance the wireless signal travels to the first antenna and the distance it travels to the second antenna based on the phase difference; and determine the angle of arrival of the wireless signal relative to the first antenna based on the distance between the first antenna and the second antenna and the difference.

[0052] In an optional embodiment of this application, the determining unit is specifically configured to: perform Kalman filtering on the in-phase and quadrature components of the continuous in-phase and quadrature signals acquired by each antenna in each of the N antenna groups to obtain filtered data of the in-phase components and filtered data of the quadrature components; construct an acquisition data matrix of the in-phase components and an acquisition data matrix of the quadrature components based on the filtered data of the in-phase components and the filtered data of the quadrature components; construct a matrix equation based on the acquisition data matrix of the in-phase components and the acquisition data matrix of the quadrature components, and fit the matrix equation to obtain the slope of the signal vector corresponding to the antenna.

[0053] In an optional embodiment of this application, the determining unit is specifically used to: determine the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group; and determine the angle of arrival of the wireless signal relative to the antenna group based on the probability density corresponding to each antenna in the antenna group and the angle of arrival corresponding to each antenna.

[0054] In an optional embodiment of this application, the determining unit is specifically used to: determine the mean value of the signal strength values ​​of the wireless signals received by the plurality of antennas included in the antenna group; determine the standard deviation of the signal strength values ​​of the wireless signals received by the plurality of antennas included in the antenna group based on the collected signal strength values ​​of the wireless signals received by the plurality of antennas included in the antenna group and the mean value; and determine the probability density corresponding to the strength value of the wireless signal received by each antenna in the antenna group based on the mean value and the standard deviation.

[0055] In an optional embodiment of this application, the determining unit is specifically configured to: for each of the N antenna groups, determine the probability density corresponding to the strength value of the wireless signal received by each antenna in the antenna group; based on the strength value of the wireless signal received by each antenna in the antenna group and the probability density corresponding to the strength value of the wireless signal received by each antenna, determine the weighted average value of the wireless signal strength value corresponding to the antenna group; and determine the first antenna group according to the weighted average value of the wireless signal strength value corresponding to each of the N antenna groups.

[0056] In an optional embodiment of this application, the determining unit is specifically used to: determine the average signal strength value of the wireless signal received by each of the N antenna groups; and for each second antenna group among the N antenna groups, determine the attenuation factor of the second antenna group relative to the first antenna group using the average signal strength value of the wireless signal received by the first antenna group and the average signal strength value of the wireless signal received by the second antenna group.

[0057] In an optional embodiment of this application, the receiving end further includes a first switching circuit and a second switching circuit. The acquisition unit is specifically used to: use the first switching circuit to switch and acquire in-phase orthogonal signals on each antenna in different antenna groups of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna; when using the first switching circuit to switch and acquire in-phase orthogonal signals on each antenna in the target antenna group of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna, use the second switching circuit to acquire in-phase orthogonal signals on different antennas in the target antenna group and the signal strength values ​​of the wireless signals received.

[0058] In an optional embodiment of this application, after the determining unit determines the angle of arrival of the wireless signal relative to the receiving end based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna, the device further includes:

[0059] A transmitting unit is configured to transmit the determined angle of arrival of the wireless signal relative to the receiving end to a server, wherein the server is configured to determine the location of the transmitting end based on at least one angle of arrival transmitted by the receiving end.

[0060] This application also discloses an electronic device, which includes a memory and a processor. The memory stores computer-executable instructions, and the processor, when executing the computer-executable instructions in the memory, can implement the method for determining the angle of arrival described in the above embodiments.

[0061] This application also provides a computer storage medium storing executable instructions, which, when executed by a processor, implement the method for determining the angle of arrival described in the above embodiments.

[0062] The technical solution of this application embodiment includes multiple antennas at the receiving end to receive wireless signals transmitted by the transmitting end; collecting the in-phase orthogonal signals of the wireless signal arriving at each of the multiple antennas and the signal strength values ​​of the wireless signal received by each antenna; and determining the angle of arrival of the wireless signal relative to the receiving end based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signal received by each antenna. In this way, the angle of arrival of the wireless signal transmitted by the transmitting end can be determined at the receiving end, without the server needing to further determine the angle of arrival of the wireless signal relative to each receiving end after receiving data from multiple receiving ends. This reduces the computational load required by the server in calculating the angle of arrival of the wireless signal relative to each receiving end, and improves the positioning speed of the transmitting end. Attached Figure Description

[0063] Figure 1 A flowchart illustrating a method for locating a Bluetooth terminal, as provided in an embodiment of this application;

[0064] Figure 2 A flowchart illustrating the method for determining the angle of arrival provided in an embodiment of this application;

[0065] Figure 3 This is a schematic diagram of a receiving antenna structure provided in an embodiment of this application;

[0066] Figure 4 A schematic diagram of an antenna switching circuit provided in an embodiment of this application;

[0067] Figure 5 An antenna signal vector diagram provided in an embodiment of this application;

[0068] Figure 6 A schematic diagram illustrating the principle of determining the antenna angle of arrival, provided in an embodiment of this application;

[0069] Figure 7 This application provides a control flowchart for locating the transmitter.

[0070] Figure 8 A schematic diagram illustrating the structural composition of a device for determining the angle of arrival provided in an embodiment of this application;

[0071] Figure 9 This is a schematic diagram of the structural composition of an electronic device provided in an embodiment of this application. Detailed Implementation

[0072] In order to gain a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for reference and illustration only and are not intended to limit the embodiments of this application.

[0073] Figure 1 A flowchart illustrating a method for locating a Bluetooth terminal, as provided in this application embodiment, is shown below. Figure 1 As shown, locating a Bluetooth terminal includes the following steps:

[0074] Step 101: Equip the person or object that needs to be located with a Bluetooth terminal.

[0075] Here, the Bluetooth terminal is mainly used to transmit Bluetooth signals.

[0076] Step 102: Within the Bluetooth signal coverage area, the Bluetooth gateway listens for signals emitted by the Bluetooth terminal.

[0077] Here, the Bluetooth signal coverage area mainly refers to the range within which the Bluetooth gateway can receive Bluetooth signals. When the Bluetooth terminal is located within this coverage area, the Bluetooth gateway can collect the wireless signals emitted by the Bluetooth terminal.

[0078] In this solution, to locate Bluetooth terminals, several Bluetooth gateways need to be installed in the building. Based on the deployment of the Bluetooth gateways in the building, a three-dimensional monitoring building information model (BIM) model of the building is established.

[0079] The Bluetooth signal coverage area includes the entire space of the building. After a Bluetooth terminal enters the building, each Bluetooth gateway deployed in the building can receive and listen to the Bluetooth signal emitted by the Bluetooth terminal. After listening to the Bluetooth signal emitted by the Bluetooth terminal, the Bluetooth gateway can identify the Bluetooth terminal and obtain its information, and then transmit the obtained information to the monitoring platform, which is located on the positioning server.

[0080] In some optional solutions, the Bluetooth gateway can also be equipped with a camera to capture images of people or objects requiring location tracking (or images of Bluetooth terminals). Understandably, images of people or objects captured by Bluetooth gateways located in different positions within a building will differ. The location server can then combine the image data from each Bluetooth gateway to pinpoint the person or object being located.

[0081] Step 103: The signal is transmitted to the positioning server, and the positioning is achieved using the three-dimensional four-point positioning method and direction finding technology.

[0082] While monitoring the wireless signals emitted by Bluetooth terminals, each Bluetooth gateway also sends the information of the monitored wireless signals (such as signal strength information) to the positioning server.

[0083] After receiving data from each Bluetooth gateway monitoring Bluetooth signals, the positioning server uses a three-dimensional four-point positioning method and lateral positioning technology to process and calculate the data monitored by the Bluetooth gateways, and calculates the coordinates of the Bluetooth terminal based on BIM.

[0084] Step 104: Display location, personnel, or object information in the 3D monitoring BIM model.

[0085] To display the location of the person or object to be located more intuitively and vividly in the display interface, icons can be used to display the person or object to be located in the 3D monitoring BIM model according to the basic information of the person or object to be located.

[0086] Step 105: If a person or object moves, BIM automatically updates the position and displays the movement trajectory.

[0087] The Bluetooth terminals within the building can receive signals from each other in real time, and the positioning platform can also receive and process the data of wireless signals sent by each Bluetooth terminal in real time. Thus, when the location of the person or object to be located changes, such as when the person or object moves, BIM can automatically update the location of the person or object and display the movement trajectory of the person or object.

[0088] In the above scheme, each Bluetooth gateway only monitors the Bluetooth signals transmitted by the Bluetooth terminals and sends the monitored Bluetooth signals to the positioning server. The data processing processes, such as calculating the angle of arrival of each Bluetooth gateway and determining the location of the Bluetooth terminals, need to be performed by the positioning server. The positioning server has a large computational load, and there is a long delay in the final determination of the location of the Bluetooth terminals.

[0089] In addition, the fast and slow fading of the Bluetooth signal collected by the Bluetooth gateway can cause data fluctuations in the signal strength value received by the Bluetooth gateway, affecting the positioning accuracy of the Bluetooth terminal.

[0090] Furthermore, the simultaneous broadcasting of signals by multiple Bluetooth gateways deployed within a building can cause mutual interference between the gateways, affecting the real-time calculation of Bluetooth terminal location data.

[0091] Based on the problems existing in the above embodiments, this application proposes a method for determining the angle of arrival. This method enables each receiving end to directly determine the angle of arrival of the wireless signal transmitted by the transmitting end relative to the receiving end based on the received wireless signal. Then, each receiving end can directly send the determined angle of arrival to the positioning server. The positioning server does not need to perform the step of determining the angle of arrival of the wireless signal relative to each receiving end. Instead, it can directly determine the position of the transmitting end based on the angle of arrival sent by the receiving end, reducing the computational load of the positioning server and shortening the data processing time of the transmitting end position.

[0092] Figure 2 This is a flowchart illustrating a method for determining the angle of arrival (Angle of Arrival) provided in an embodiment of this application. This method is applied at a receiving end, which has multiple antennas, such as... Figure 2 As shown, the method for determining the angle of arrival provided in this application includes the following steps:

[0093] Step 201: Receive the wireless signal transmitted by the transmitter.

[0094] In this embodiment, the transmitting end is located on the side where the object to be located is situated. The transmitting end is capable of transmitting wireless signals. In an optional embodiment of this application, the transmitting end is a Bluetooth terminal. When it is necessary to locate objects such as people, animals, or robots, the person, animal, or robot can carry a Bluetooth terminal. By having the Bluetooth terminal transmit signals, the receiving end can determine the angle of arrival of the signal transmitted by the Bluetooth terminal relative to the receiving end.

[0095] In one optional embodiment of this application, the wireless signal transmitted by the transmitter is a constant-frequency extended signal (CTE) waveform broadcast within the broadcast frame.

[0096] Step 202: Collect the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas and the signal strength value of the wireless signal received by each antenna.

[0097] In this embodiment of the application, a transmitter is provided with multiple antennas, and each antenna in the transmitter can receive the wireless signal transmitted by the transmitter.

[0098] In one optional embodiment of this application, the receiving end is a Bluetooth gateway, which has a data acquisition module. This data acquisition module is capable of acquiring the in-phase / quadrature (I / Q) signal on each of the antennas of the transmitting end where the CTE waveform broadcast by the transmitting end arrives, as well as the signal strength value (RSSI, Received Signal Strength Indication) of the CTE waveform received by each antenna.

[0099] Step 203: Determine the angle of arrival of the wireless signal relative to the receiver based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signal received by each antenna.

[0100] In this embodiment, after the receiver collects the I / Q signals and RSSI from each antenna, it can determine the angle of arrival of the wireless signal from the transmitter to the receiver by combining the geometry of each antenna on the receiver (such as the angle between antennas and the distance between them).

[0101] In an optional embodiment of this application, after step 203 above, the method further includes the following steps:

[0102] Step 204: The determined angle of arrival of the wireless signal relative to the receiver is sent to the server, which is used to determine the location of the transmitter based on at least one angle of arrival sent by the receiver.

[0103] In this embodiment of the application, in order to locate the transmitter, multiple receivers need to be deployed at different locations within the area where the transmitter is located. Multiple receivers determine multiple angle-of-arrival data. The multiple receivers can send their respective angle-of-arrival data to the server. The server can also be called a positioning platform. The server uses the angle-of-arrival data determined by the multiple deployed receivers to finally calculate the location coordinates of the transmitter.

[0104] In one optional embodiment of this application, the multiple antennas in the receiving end are divided into N antenna groups, where N is an integer greater than or equal to 2; step 203 above can be specifically implemented through the following steps:

[0105] Step 2.1): For each of the N antenna groups, determine the angle of arrival of the wireless signal relative to the antenna group based on the in-phase orthogonal signals on each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group.

[0106] Step 2.2): Determine the first antenna group among the N antenna groups, and determine the attenuation factor between the first antenna group and each second antenna group among the N antenna groups; the second antenna group is the antenna group among the N antenna groups other than the first antenna group.

[0107] Because the angle between the two antenna groups in the antenna array is 90°, the signal strength reaching the two antenna groups differs. When the terminal is on one side of the antenna group, the RSSI received on that side should be greater. This side of the antenna group is referred to as the main receiving antenna group, or the first antenna group. The antenna group on the other side is called the auxiliary receiving antenna group. The prediction of the main receiving antenna group is mainly based on the RSSI collected from each antenna. i,k The value predicts which antenna group will be the main receiving antenna group for this test.

[0108] Step 2.3): Determine the angle of arrival of the wireless signal relative to the receiver based on the angle of arrival of the wireless signal relative to each antenna group and the attenuation factor.

[0109] In an optional embodiment of this application, step 2.1) above can be implemented through the following steps:

[0110] Step 2.1.1): For each of the N antenna groups, determine the angle of arrival of the wireless signal relative to each antenna in that antenna group.

[0111] Step 2.1.2): Determine the angle of arrival of the wireless signal relative to the antenna group based on the angle of arrival of the wireless signal relative to each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group.

[0112] In an optional embodiment of this application, step 2.1.1) above can be implemented through the following steps:

[0113] Step 2.1.1.1): For each of the N antenna groups, determine the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in that antenna group;

[0114] Step 2.1.1.2): Select one antenna from the antenna group as the first antenna, and arbitrarily select a second antenna from the antenna group that is located at a different position from the first antenna; determine the phase difference between the signal vectors corresponding to the first antenna and the second antenna based on the slope value of the signal vector corresponding to the first antenna and the slope value of the signal vector corresponding to the second antenna;

[0115] Step 2.1.1.3): Determine the difference between the distance the wireless signal travels to the first antenna and the distance it travels to the second antenna based on the phase difference;

[0116] Step 2.1.1.4): Determine the angle of arrival of the wireless signal relative to the first antenna based on the distance between the first antenna and the second antenna and the difference.

[0117] The CTE waveform signal broadcast by the transmitter will exhibit phase differences at a given time point due to variations in the antenna positions at the receiving end. This difference in phase is caused by the different antenna positions at the receiving end. Based on the I / Q signals acquired from the antenna array, the signal vectors at different antennas are calculated. in, The angular deviation between the signal vectors can then be calculated, which is the signal phase difference φ on the two antennas. Figure 5 In the vector diagram shown, The signal vector of antenna 1, Let φ be the signal vector of antenna 2, and let φ be the signal phase difference in the complex plane. The included angle.

[0118] After determining the phase difference φ, the obtained phase difference φ is used to further calculate the angle of arrival (AOA) value of a certain antenna in the antenna array at the receiving end. For example... Figure 6 As shown, the distance difference r between antenna 1 and antenna 2 and the aforementioned phase difference φ have the following relationship: r = λφ / 2π. Then, based on the antenna spacing d and using the geometric relationships within a right triangle, the angle between the direction of arrival of the wireless signal and the antenna direction, i.e., the angle of arrival AOA, can be calculated.

[0119] In an optional embodiment of this application, step 2.1.1.1) above can be implemented in the following way:

[0120] 2.1.1.1.1) For each antenna in each of the N antenna groups, perform Kalman filtering on the in-phase and quadrature components of the continuous in-phase and quadrature signals acquired by the antenna to obtain the filtered data of the in-phase components and the filtered data of the quadrature components.

[0121] 2.1.1.1.2) Construct the acquisition data matrix of the in-phase component and the acquisition data matrix of the quadrature component based on the filtered data of the in-phase component and the filtered data of the quadrature component;

[0122] 2.1.1.1.3) Construct a matrix equation based on the acquisition data matrix of the in-phase component and the acquisition data matrix of the quadrature component, and fit the matrix equation to obtain the slope of the signal vector corresponding to the antenna.

[0123] Specifically, in the calculation of the phase difference φ, the key algorithm is to calculate and obtain the signal vector based on the acquired I / Q data. The slope, and then according to Figure 5 The phase difference φ is calculated from the vector diagram shown. Considering the random fluctuations of the I / Q signals, the following method is used to calculate the slope of the signal vector:

[0124] First, the continuous sampled values ​​I... i Q i Using a state-space model of signal and noise, Kalman filtering is performed to calculate the filtered output data KI. i KQ i And form a data collection matrix, X = |KI1, KI2, ... KI N |,Y=|KQ1,KQ2,...KQ N Furthermore, the matrix equation Y = kX + ε is established, where k is the slope and ε is the error matrix. Then, the least squares method is used to perform linear regression fitting on the matrix equation, and matrix calculations are used to finally calculate the slope k of the signal vector = (X... T X) -1 X T Y;

[0125] In an optional embodiment of this application, step 2.1.2) above can be implemented through the following steps:

[0126] Step 2.1.2.1) Determine the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group;

[0127] Step 2.1.2.2) Determine the angle of arrival of the wireless signal relative to the antenna group based on the probability density and angle of arrival of each antenna in the antenna group.

[0128] In an optional embodiment of this application, steps 2.1.2.1.1) to 2.1.2.1.3) below can be used to calculate the probability density P. i,k The calculation involves determining the probability density, then performing a weighted AOA calculation on the results to calculate the AOA angle value for each antenna group. Where i = 1, 2.

[0129] In the above calculation, the probability density method is used, that is, the probability density corresponding to the collected RSSI value is used for weighted calculation. The sum of the probability value and the collected data value is used instead of the ordinary mean calculation, which further reduces the impact of random fluctuations in the collected data value on the positioning error.

[0130] In an optional embodiment of this application, step 2.1.2.1) above can be implemented through the following steps:

[0131] 2.1.2.1.1) Determine the average signal strength value of the wireless signal received by the multiple antennas included in the antenna group;

[0132] 2.1.2.1.2) Determine the standard deviation of the signal strength values ​​of the wireless signals received by the multiple antennas included in the antenna group based on the collected signal strength values ​​of the wireless signals received by the multiple antennas included in the antenna group and the mean value;

[0133] 2.1.2.1.3) Determine the probability density corresponding to the strength value of the wireless signal received by each antenna in the antenna group based on the mean and the standard deviation.

[0134] According to the theory of wireless signal strength distribution, the RSSI of a signal sampled at a certain spatial point follows a normal distribution. The formula for calculating the normal distribution is: σ is the standard deviation, μ is the expected value, and f(x) is the probability density function of x. Therefore, the RSSI of the sampled values ​​from the three antennas in the same antenna group... i,k The corresponding probability density can be calculated using the normal distribution function, and the result is the probability value P corresponding to that sample value. i,k P i,k In the calculation, By taking the expected value of the normal distribution, the probability density can be calculated.

[0135] σ can be obtained by calculating the standard deviation from multiple actual RSSI data collections. That is, multiple sets of RSSI data are collected at specific spatial points, and their standard deviation is calculated. Where N is the number of sampling points Let N be the mean of the N sampling points.

[0136] For a given antenna group i, firstly, based on the RSSI value of each antenna, the calculated probability density P of each antenna is used. i,k .

[0137] In an optional embodiment of this application, step 2.2) above can be implemented in the following way:

[0138] Step 2.2.1) For each of the N antenna groups, determine the probability density corresponding to the strength value of the wireless signal received by each antenna in that antenna group;

[0139] Step 2.2.2) Based on the strength value of the wireless signal received by each antenna in the antenna group and the probability density corresponding to the strength value of the wireless signal received by each antenna, determine the weighted average value of the wireless signal strength value corresponding to the antenna group;

[0140] Step 2.2.3) Determine the first antenna group based on the weighted average of the wireless signal strength values ​​corresponding to each of the N antenna groups.

[0141] In this embodiment, the first antenna group represents the main receiving antenna group among multiple antenna groups at the receiving end. For each antenna group, steps 2.1.2.1.1) to 2.1.2.1.3) can be used to calculate the probability density corresponding to the strength value of the wireless signal received by each antenna in each antenna group. Then, the determined probability density value is used to calculate the RSSI weighted average value of this antenna group. Based on the magnitudes of RSSI1 and RSSI2, the larger value is selected as the primary receiving antenna group.

[0142] In an optional embodiment of this application, step 2.3) above can be implemented in the following way:

[0143] Step 2.3.1) Determine the average signal strength value of the wireless signal received by each of the N antenna groups;

[0144] Step 2.3.2) For each of the N antenna groups, the attenuation factor of the second antenna group relative to the first antenna group is determined by using the average signal strength value of the wireless signal received by the first antenna group and the average signal strength value of the wireless signal received by the second antenna group.

[0145] Specifically, the first antenna group is the main receiving antenna group. The attenuation factor η of the first antenna group and any second antenna group can be obtained by actual measurement using the following method: The transmitter is facing a certain antenna group (such as antenna group 1), and the RSSI values ​​of the first antenna group (antenna group 1) and the second antenna group (antenna group 2) are collected. The attenuation factor of the 90° antenna direction on the antenna gain can then be calculated. in, These are the average values ​​of RSSI collected from the first antenna group (e.g., antenna group 1) and the second antenna group (e.g., antenna group 2), respectively.

[0146] Once the main antenna group is determined (e.g., the first antenna group is the main antenna group), the final output AOA angle value θ = (θ1 + η * θ2) / (1 + η) is calculated based on the attenuation factor η of the 90° antenna direction on the antenna gain.

[0147] In an optional embodiment of this application, the receiving end further includes a first switching circuit and a second switching circuit, and the above step 202 can be implemented in the following way:

[0148] Step 2.2.1) Use the first switching circuit to switch and collect the in-phase orthogonal signals on each antenna in different antenna groups of the N antenna groups and the signal strength value of the wireless signal received by each antenna;

[0149] Step 2.2.2) While using the first switching circuit to switch and collect the in-phase orthogonal signals on each antenna in the target antenna group of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna, the second switching circuit is used to collect the in-phase orthogonal signals on different antennas in the target antenna group and the signal strength values ​​of the wireless signals received.

[0150] In one optional embodiment of this application, taking the receiver as a Bluetooth gateway as an example, the Bluetooth gateway is divided into two types: a main gateway and a secondary gateway. The main gateway is mainly responsible for the connection with the transmitter and the control of the entire AOA test process; the secondary gateway is mainly responsible for the transmitter's MAC scanning, I / Q data acquisition, AOA calculation, and output. An antenna array consisting of multiple antennas is deployed on the secondary gateway. Specifically, taking... Figure 3 Taking the antenna array on the Bluetooth gateway as an example, the Bluetooth gateway has 6 antennas, which constitute the antenna array of the Bluetooth gateway. The 6 antennas are divided into two groups, each group including 3 dipole antennas. The receiver antenna design uses 6 onboard dipole antennas, a 6-layer PCB structure, FR4 material, and a dielectric constant of 4.1. The antenna array circuit board has a high-speed antenna switching circuit, with an antenna switching speed of less than 2µs, to achieve high-speed switching and acquisition of wireless signals on different antennas. The following mainly describes the geometric structure and circuit implementation process of the antenna array.

[0151] The antenna array is divided into two groups, A1X and A2X, each with three dipole antennas. The angle between the antenna groups is 90°, and the two groups of antennas are symmetrically distributed. Their geometric structure is as follows: Figure 3 As shown (unit: cm).

[0152] Figure 4 A method for providing embodiments of this application Figure 3 The diagram shows the antenna switching circuit for the antenna array. On the antenna PCB, high-speed switching of multiple antennas on the Bluetooth gateway is achieved through high-speed RF switch chips UA, UB1, and UB2. UA uses the SKY13323 chip to achieve 2-to-1 RF signal selection, while UB1 and UB2 use the SKY13408 chip to achieve 3-to-1 RF signal selection. UA is responsible for antenna group selection, UB1 for antenna selection within antenna group A1X, and UB2 for antenna selection within antenna group A2X. Through two-stage selection, switching of 6 antennas is achieved. UB1 and UB2 are each connected to two control lines to achieve 3-to-1 antenna selection, while UA is connected to one control line to achieve 2-to-1 antenna selection.

[0153] The Bluetooth gateway utilizes its built-in Bluetooth chip CC2640R2F to monitor the air link between the transmitter and the main gateway in real time and extract the CTE information from the transmitter. On the CC2640R2F Bluetooth chip, a real-time memory mapping method is used to acquire I / Q data from each antenna on the Bluetooth gateway. During the acquisition process, high-speed switching of the antenna array in the Bluetooth gateway is controlled to allow time-division multiplexing of I / Q signal acquisition on each antenna. Simultaneously, this acquisition module also acquires the RSSI value of the wireless signal received on each antenna.

[0154] The technical solution of this application embodiment can determine the angle of arrival of the wireless signal transmitted by the transmitter relative to the receiver at the receiving end, without the server having to further determine the angle of arrival of the wireless signal relative to each receiver after receiving data of wireless signals fed back by multiple receivers. This reduces the computational load required by the server to calculate the angle of arrival of the wireless signal relative to each receiver and can improve the positioning speed of the transmitter.

[0155] Figure 7 This application provides a control flowchart for locating a transmitter. To achieve the location of the transmitter, this application requires the coordinated control of the transmitter, multiple receivers, and a server.

[0156] Figure 7 In this application, the terminal corresponds to the transmitter, the auxiliary gateway corresponds to the receiver, the main gateway corresponds to the main receiver, and the remote server corresponds to the server.

[0157] Figure 7 The terminal features a built-in CC2640R2F Bluetooth chip and an embedded Bluetooth 5.1 protocol stack, ensuring compatibility with 4.X terminal scanning and connection. It also includes a built-in 1000mAh lithium battery and charging circuitry, along with a USB charging port for extended battery life. The Bluetooth gateway is divided into two types: a primary gateway and a secondary gateway. The primary gateway is mainly responsible for communication with the terminal and controlling the entire AOA testing process; the secondary gateway is mainly responsible for scanning the terminal's Media Access Control Address (MAC), acquiring I / Q data, and calculating and outputting AOA data.

[0158] The technical solution of this application embodiment can adopt a working mode of one main gateway and multiple auxiliary gateways. The main gateway is mainly responsible for the process control of AOA data acquisition, while the auxiliary gateways are mainly responsible for AOA data acquisition and calculation. The AOA data collected by the multiple auxiliary gateways is sent to a remote server through the operator network for the background positioning engine to perform location calculation. The entire positioning process requires the collaborative work of multiple gateways and terminals to ultimately achieve the positioning of the terminal. Its control flow is as follows: Figure 7 Below is Figure 7 The control process is described in detail below:

[0159] 1) The remote server sends a "start location" command to the main gateway and sends the MAC address of the terminal to be located to the main gateway;

[0160] 2) The main gateway establishes a Bluetooth connection with the terminal through air interface interaction, establishes an air interface link, and transmits the relevant parameters of this connection to the remote server through "uplink connection parameters"; among them, the connection parameters include connection address, frequency hopping value, connection channel number, channel mapping table, etc., which represent the complete parameter set of this connection.

[0161] 3) After receiving the uplink connection parameters, the remote server forwards the parameters of this connection to multiple secondary gateways. After receiving the forwarded connection parameters, the secondary gateways determine the target object to be monitored based on the connection address, frequency hopping value, connection channel number, channel mapping table, etc., and begin monitoring the air link between the main gateway and the terminal.

[0162] 4) If the main gateway connects successfully, it reports the "connection result" to the remote server; the secondary gateway starts monitoring the air interface link according to the connection parameters, and if the monitoring is successful, it sends the "monitoring result feedback" to the remote server.

[0163] 5) The remote server receives the connection result and monitoring result feedback, confirms that the connection and connection monitoring are normal, and then sends the "AOA data collection enable" command to the main gateway and the auxiliary gateway respectively.

[0164] 6) After receiving the “AOA Enable” command, the main gateway notifies the terminal to enter the AOA data acquisition mode via the air interface, and the terminal begins to broadcast CTE data in its broadcast information; after receiving the “AOA Enable” command, the secondary gateway begins to acquire I / Q data and performs real-time calculation of AOA data.

[0165] 7) The secondary gateway reports the calculated AOA data in real time;

[0166] Upon completion of this test, the remote server issued "Stop Location" commands to both the primary and secondary gateways, notifying all gateways to cease this AOA location process.

[0167] 8) After receiving the "Stop Location" command, the main gateway will shut down the Bluetooth connection with the terminal over the air interface.

[0168] The following describes the configuration and function of a receiving end in one embodiment of this application.

[0169] In one optional embodiment of this application, the receiving end is a Bluetooth gateway with a built-in 4G communication module. It receives instructions from a remote server through the operator's network and sends the collected data back to the remote server for the positioning engine to calculate the location of the terminal.

[0170] The 4G communication module uses the SIM7600 module, employing SMT packaging. It supports LTE-TDD / LTE-FDD / HSPA+ / TD-SCDMA / EVDO and GSM / GPRS / EDGE frequency bands, and supports LTE CAT4 (downlink speed of 150Mbps). It boasts stable performance, a compact size (only 30*30*2.9mm), and high cost-effectiveness, enabling low-power short message service (SMS) and data transmission. The SIM7600CE is suitable for various compact product designs and meets the requirements for Bluetooth gateway design and stable operation.

[0171] The Bluetooth scanning module primarily scans for terminals, automatically identifying iBeacon devices using the Bluetooth 4.2 protocol and Bluetooth 5.1 terminals based on the terminals' broadcast information. For iBeacon devices, it can scan and obtain the terminal's Uuid, Major, Minor, and RSSI; for Bluetooth 5.1 terminals, it can scan and obtain the Bluetooth terminal's MAC address and RSSI.

[0172] The main control module uses an STM32F103 as the main control MCU, with a built-in embedded operating system FreeROTS, for various data acquisition and module coordination. Its main workflow is as follows:

[0173] 1) Acquisition of scan data: The terminal ID and RSSI scanned by the Bluetooth scanning module are collected periodically and uploaded to the remote server through the communication module.

[0174] 2) AOA data acquisition process control: Parse the remote server instructions returned by the communication module, and according to the instructions, schedule tasks for the I / Q data acquisition module, AOA calculation module and communication module of the Bluetooth gateway, and preprocess various acquired data to form framed uplink messages.

[0175] 3) AOA data collection and reporting: Collect the AOA value calculated by the AOA calculation module of the secondary gateway and upload it to the remote server through the communication module.

[0176] The technical solution of this application embodiment has the following advantages:

[0177] 1) In terms of overall planning, the onboard PCB antenna array is deployed directly on the receiving end (Bluetooth gateway), so that the value of the angle of arrival (AOA) can be calculated and obtained on a single receiving end, reducing the engineering cost of the entire positioning system and effectively reducing the computational load of the back-end positioning engine.

[0178] 2) A geometric and circuit design for an onboard PCB antenna array is proposed. The antenna array is directly embedded into the receiver (Bluetooth gateway) to form an integrated acquisition device, which facilitates engineering implementation.

[0179] 3) A dual-antenna and AOA calculation algorithm based on Bluetooth gateway antenna array is proposed. On the one hand, the direct output of angle of arrival is realized at the receiver. On the other hand, in order to further improve the positioning accuracy, mathematical tools such as Kalman filtering, linear regression, and normal distribution probability density are used to smooth the collected data in the AOA calculation process. The probability density is used to weight the signal field strength sampling value, which reduces the impact of wireless signal fluctuation on positioning accuracy, greatly improves the positioning accuracy, and realizes centimeter-level high-precision positioning at the receiver.

[0180] 4) A complete control process for multi-device collaborative control during transmitter positioning is proposed, including air interface control between the receiver and transmitter and collaborative control between receivers, providing a complete solution and implementation standard for transmitter positioning.

[0181] This application embodiment also provides a device for determining the angle of arrival, the device being applied to a receiving end, the receiving end having multiple antennas, such as... Figure 8 As shown, the angle of arrival determination device 800 includes:

[0182] The receiving unit 801 is used to receive wireless signals transmitted by the transmitting end;

[0183] The acquisition unit 802 is used to acquire the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas and the signal strength value of the wireless signal received by each antenna;

[0184] The determining unit 803 is used to determine the angle of arrival of the wireless signal relative to the receiving end based on the in-phase orthogonal signals on each antenna and the signal strength value of the wireless signal received by each antenna.

[0185] In one optional embodiment of this application, the plurality of antennas are divided into N antenna groups, where N is an integer greater than or equal to 2;

[0186] The determining unit 803 is specifically configured to: for each of the N antenna groups, determine the angle of arrival of the wireless signal relative to the antenna group based on the in-phase orthogonal signals on each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group; determine the first antenna group among the N antenna groups, and determine the attenuation factor between the first antenna group and each second antenna group among the N antenna groups; the second antenna group is the antenna group other than the first antenna group among the N antenna groups; and determine the angle of arrival of the wireless signal relative to the receiving end based on the angle of arrival of the wireless signal relative to each antenna group and the attenuation factor.

[0187] In an optional embodiment of this application, the determining unit 803 is specifically used to: determine the angle of arrival of the wireless signal relative to each antenna in the N antenna groups;

[0188] The angle of arrival of the wireless signal relative to the antenna group is determined based on the angle of arrival of the wireless signal relative to each antenna in the antenna group and the signal strength value of the wireless signal received by each antenna in the antenna group.

[0189] In an optional embodiment of this application, the determining unit 803 is specifically configured to: for each of the N antenna groups, determine the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in the antenna group; sequentially select one antenna in the antenna group as the first antenna, and arbitrarily select a second antenna located at a different position from the first antenna in the antenna group; determine the phase difference between the signal vectors corresponding to the first antenna and the second antenna based on the slope values ​​of the signal vectors corresponding to the first antenna and the second antenna; determine the difference between the distance the wireless signal travels to the first antenna and the distance it travels to the second antenna based on the phase difference; and determine the angle of arrival of the wireless signal relative to the first antenna based on the distance between the first antenna and the second antenna and the difference.

[0190] In an optional embodiment of this application, the determining unit 803 is specifically configured to: perform Kalman filtering on the in-phase and quadrature components of the continuous in-phase and quadrature signals acquired by each antenna in each of the N antenna groups to obtain filtered data of the in-phase components and filtered data of the quadrature components; construct an acquisition data matrix of the in-phase components and an acquisition data matrix of the quadrature components based on the filtered data of the in-phase components and the filtered data of the quadrature components; construct a matrix equation based on the acquisition data matrix of the in-phase components and the acquisition data matrix of the quadrature components, and fit the matrix equation to obtain the slope of the signal vector corresponding to the antenna.

[0191] In an optional embodiment of this application, the determining unit 803 is specifically used to: determine the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group; and determine the angle of arrival of the wireless signal relative to the antenna group based on the probability density corresponding to each antenna in the antenna group and the angle of arrival corresponding to each antenna.

[0192] In an optional embodiment of this application, the determining unit 803 is specifically configured to: determine the mean value of the signal strength values ​​of the wireless signals received by the plurality of antennas included in the antenna group; determine the standard deviation of the signal strength values ​​of the wireless signals received by the plurality of antennas included in the antenna group based on the collected signal strength values ​​of the wireless signals received by the plurality of antennas included in the antenna group and the mean value; and determine the probability density corresponding to the strength value of the wireless signal received by each antenna in the antenna group based on the mean value and the standard deviation.

[0193] In an optional embodiment of this application, the determining unit 803 is specifically configured to: for each of the N antenna groups, determine the probability density corresponding to the strength value of the wireless signal received by each antenna in the antenna group; based on the strength value of the wireless signal received by each antenna in the antenna group and the probability density corresponding to the strength value of the wireless signal received by each antenna, determine the weighted average value of the wireless signal strength value corresponding to the antenna group; and determine the first antenna group according to the weighted average value of the wireless signal strength value corresponding to each of the N antenna groups.

[0194] In an optional embodiment of this application, the determining unit 803 is specifically used to: determine the average signal strength value of the wireless signal received by each of the N antenna groups; and for each second antenna group among the N antenna groups, determine the attenuation factor of the second antenna group relative to the first antenna group using the average signal strength value of the wireless signal received by the first antenna group and the average signal strength value of the wireless signal received by the second antenna group.

[0195] In an optional embodiment of this application, the receiving end further includes a first switching circuit and a second switching circuit. The acquisition unit 802 is specifically used to: use the first switching circuit to switch and acquire the in-phase orthogonal signals on each antenna in different antenna groups of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna; when using the first switching circuit to switch and acquire the in-phase orthogonal signals on each antenna in the target antenna group of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna, use the second switching circuit to acquire the in-phase orthogonal signals on different antennas in the target antenna group and the signal strength values ​​of the wireless signals received.

[0196] In an optional embodiment of this application, after the determining unit 803 determines the angle of arrival of the wireless signal relative to the receiving end based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna, the device further includes:

[0197] The transmitting unit 804 is configured to transmit the determined angle of arrival of the wireless signal relative to the receiving end to the server, wherein the server is configured to determine the location of the transmitting end based on at least one angle of arrival transmitted by the receiving end.

[0198] Those skilled in the art should understand that Figure 8 The functions of each unit in the angle of arrival determination device shown can be understood by referring to the relevant description of the aforementioned angle of arrival determination method. Figure 8 The functions of each unit in the angle of arrival determination device shown can be implemented by a program running on a processor or by specific logic circuits.

[0199] This application also provides an electronic device. Figure 9 This is a schematic diagram of the hardware structure of the electronic device according to an embodiment of this application, such as... Figure 9 As shown, the electronic device includes: a communication component 903 for data transmission, at least one processor 901, and a memory 902 for storing computer programs capable of running on the processor 901. The various components in the terminal are coupled together via a bus system 904. It is understood that the bus system 904 is used to implement communication between these components. In addition to a data bus, the bus system 904 also includes a power bus, a control bus, and a status signal bus. However, for clarity, in… Figure 9 The general labeled all buses as Bus System 904.

[0200] Wherein, when the processor 901 executes the computer program, it performs at least the following: Figure 2 The steps of the method.

[0201] It is understood that memory 902 can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memory 902 described in the embodiments of this application is intended to include, but is not limited to, these and any other suitable types of memory.

[0202] The methods disclosed in the embodiments of this application can be applied to or implemented by the processor 901. The processor 901 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware in the processor 901 or by instructions in the form of software. The processor 901 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor 901 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in the memory 902. The processor 901 reads the information in the memory 902 and combines it with its hardware to complete the steps of the aforementioned method.

[0203] In an exemplary embodiment, the electronic device may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic components to perform the aforementioned travel method.

[0204] This application also provides a computer-readable storage medium storing a computer program thereon, characterized in that the program, when executed by a processor, is at least used to perform... Figure 2 The steps of the method are shown. The computer-readable storage medium may specifically be a memory. The memory may be, for example... Figure 9 The memory 902 shown.

[0205] The technical solutions described in the embodiments of this application can be combined arbitrarily without conflict.

[0206] In the several embodiments provided in this application, it should be understood that the disclosed methods and smart devices can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and 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. In addition, the coupling, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0207] The units described above as separate components may or may not be physically separate. 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 the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0208] In addition, each functional unit in the various embodiments of this application can be integrated into a second processing unit, or each unit can be a separate unit, or two or more units can be integrated into a unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0209] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A method for determining the angle of arrival, characterized in that, The method is applied to a receiving end, the receiving end having multiple antennas, the method comprising: Receives wireless signals transmitted by the transmitter; Collect the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas, and the signal strength values ​​of the wireless signal received by each antenna; The angle of arrival of the wireless signal relative to the receiver is determined based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna. The multiple antennas are divided into N antenna groups, where N is an integer greater than or equal to 2; Determining the angle of arrival of the wireless signal relative to the receiver based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signal received by each antenna includes: For each of the N antenna groups, the angle of arrival of the wireless signal relative to each antenna in the antenna group is determined based on the in-phase orthogonal signals of each antenna in the antenna group. Determine the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group; The angle of arrival of the wireless signal relative to the antenna group is determined based on the probability density and angle of arrival of each antenna in the antenna group. The first antenna group among the N antenna groups is determined, and the attenuation factor between the first antenna group and each second antenna group among the N antenna groups is determined; the second antenna group is the antenna group among the N antenna groups other than the first antenna group. The angle of arrival of the wireless signal relative to each antenna group and the attenuation factor are used to determine the angle of arrival of the wireless signal relative to the receiver. The step of determining the angle of arrival of the wireless signal relative to each antenna in the N antenna groups, based on the in-phase orthogonal signals of each antenna in the antenna group, includes: For each of the N antenna groups, determine the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in that antenna group; One antenna in the antenna group is selected sequentially as the first antenna, and a second antenna located at a different position from the first antenna is randomly selected from the antenna group; the phase difference between the signal vectors corresponding to the first antenna and the second antenna is determined based on the slope value of the signal vector corresponding to the first antenna and the slope value of the signal vector corresponding to the second antenna. The difference between the distance the wireless signal travels to the first antenna and the distance it travels to the second antenna is determined based on the phase difference. The angle of arrival of the wireless signal relative to the first antenna is determined based on the distance between the first antenna and the second antenna and the difference between them.

2. The method according to claim 1, characterized in that, The step of determining the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in each of the N antenna groups includes: For each antenna in each of the N antenna groups, Kalman filtering is performed on the in-phase component and the quadrature component of the continuous in-phase and quadrature signals acquired by that antenna to obtain the filtered data of the in-phase component and the filtered data of the quadrature component. The in-phase component and the quadrature component are constructed based on the filtered data of the in-phase component and the filtered data of the quadrature component. A matrix equation is constructed based on the acquisition data matrix of the in-phase component and the acquisition data matrix of the quadrature component, and the matrix equation is fitted to obtain the slope of the signal vector corresponding to the antenna.

3. The method according to claim 1, characterized in that, Determining the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group includes: Determine the average signal strength value of the wireless signal received by the multiple antennas included in the antenna group; The standard deviation of the signal strength values ​​of the wireless signals received by the multiple antennas included in the antenna group is determined based on the signal strength values ​​of the wireless signals received by the multiple antennas included in the antenna group and the mean value. The probability density corresponding to the strength value of the wireless signal received by each antenna in the antenna group is determined based on the mean and the standard deviation.

4. The method according to any one of claims 1 to 3, characterized in that, Determining the first antenna group among the N antenna groups includes: For each of the N antenna groups, determine the probability density corresponding to the strength value of the wireless signal received by each antenna in that antenna group; Based on the strength value of the wireless signal received by each antenna in the antenna group and the probability density corresponding to the strength value of the wireless signal received by each antenna, the weighted average value of the wireless signal strength value corresponding to the antenna group is determined. The first antenna group is determined based on the weighted average of the wireless signal strength values ​​corresponding to each of the N antenna groups.

5. The method according to any one of claims 1 to 3, characterized in that, Determining the attenuation factor between the first antenna group and each of the N antenna groups includes: Determine the average signal strength value of the wireless signal received by each of the N antenna groups; For each of the N antenna groups, the attenuation factor of the second antenna group relative to the first antenna group is determined using the average signal strength value of the wireless signal received by the first antenna group and the average signal strength value of the wireless signal received by the second antenna group.

6. The method according to any one of claims 1 to 3, characterized in that, The receiving end also includes a first switching circuit and a second switching circuit. The acquisition of in-phase quadrature signals arriving at each of the plurality of antennas and the signal strength values ​​of the wireless signals received by each antenna includes: The first switching circuit is used to switch and collect in-phase orthogonal signals on each antenna in different antenna groups of the N antenna groups, as well as the signal strength value of the wireless signal received by each antenna; While using the first switching circuit to switch and collect the in-phase orthogonal signals on each antenna in the target antenna group of the N antenna groups and the signal strength values ​​of the wireless signals received by each antenna, the second switching circuit is used to collect the in-phase orthogonal signals on different antennas in the target antenna group and the signal strength values ​​of the wireless signals received.

7. The method according to any one of claims 1 to 3, characterized in that, After determining the angle of arrival of the wireless signal relative to the receiver based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna, the method further includes: The determined angle of arrival of the wireless signal relative to the receiver is sent to the server, which is used to determine the location of the transmitter based on at least one angle of arrival sent by the receiver.

8. A device for determining the angle of arrival, characterized in that, The device is applied to a receiving end, the receiving end having multiple antennas, and the device includes: The receiving unit is used to receive wireless signals transmitted by the transmitting end; The acquisition unit is used to acquire the in-phase orthogonal signals of the wireless signal arriving at each of the plurality of antennas and the signal strength values ​​of the wireless signal received by each antenna; The determining unit is configured to determine the angle of arrival of the wireless signal relative to the receiving end based on the in-phase orthogonal signals on each antenna and the signal strength values ​​of the wireless signals received by each antenna. The multiple antennas are divided into N antenna groups, where N is an integer greater than or equal to 2; The determining unit is specifically configured to, for each of the N antenna groups, determine the angle of arrival of the wireless signal relative to each antenna in the antenna group based on the in-phase orthogonal signals of each antenna in the antenna group; determine the probability density corresponding to the signal strength value of the wireless signal received by each antenna in the antenna group; determine the angle of arrival of the wireless signal relative to the antenna group based on the probability density and the angle of arrival of each antenna in the antenna group; determine the first antenna group among the N antenna groups, and determine the attenuation factor between the first antenna group and each second antenna group among the N antenna groups; the second antenna group is the antenna group among the N antenna groups other than the first antenna group; and determine the angle of arrival of the wireless signal relative to each antenna group and the attenuation factor. The angle of arrival of the wireless signal relative to the receiver; for each of the N antenna groups, the slope of the signal vector corresponding to the in-phase orthogonal signal on each antenna in the antenna group is determined; one antenna in the antenna group is selected sequentially as the first antenna, and a second antenna located at a different position from the first antenna is arbitrarily selected from the antenna group; the phase difference between the signal vectors corresponding to the first antenna and the second antenna is determined based on the slope values ​​of the signal vectors corresponding to the first antenna and the second antenna; the difference between the distance the wireless signal travels to the first antenna and the distance it travels to the second antenna is determined based on the phase difference; the angle of arrival of the wireless signal relative to the first antenna is determined based on the distance between the first antenna and the second antenna and the difference.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, wherein the memory stores computer-executable instructions, and the processor, when executing the computer-executable instructions in the memory, can implement the method of any one of claims 1 to 7.

10. A computer storage medium, characterized in that, The storage medium stores executable instructions that, when executed by a processor, implement the method of any one of claims 1 to 7.

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