Angle measurement method and device, computer readable storage medium and processor

Abstract

The application discloses an angle measurement method and device, a computer readable storage medium and a processor. The method comprises the following steps: receiving a negotiation request message sent by a measurement initiating device, wherein the initiating party angle measurement request parameter included in the negotiation request message is used to indicate that the angle of the measurement initiating device is requested to be measured; sending a negotiation response message to the measurement initiating device, wherein the response party measurement capability information included in the negotiation response message is used to determine whether the measurement response device has the capability of measuring the angle of the signal; receiving a UWB first pulse signal sent by the measurement initiating device; in the case that the measurement response device has the capability of measuring the angle of the signal, measuring the first pulse signal to obtain the angle information of the measurement initiating device; and sending a UWB second pulse signal to the measurement initiating device, wherein the second pulse signal comprises the angle information of the measurement initiating device. The application solves the technical problem of insufficient information interaction when the UWB signal is used for angle measurement in the related art.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and more specifically, to an angle measurement method, apparatus, computer-readable storage medium, and processor. Background Technology

[0002] Ultra-wideband (UWB) wireless communication technology is a carrier-free communication technology. Instead of using a carrier wave, UWB uses short energy pulse sequences, which are spread across a frequency range through orthogonal frequency division modulation (OFDM) or direct sequencing. Due to its extremely large signal transmission bandwidth, the short pulse signals transmitted over the air interface possess ultra-high time resolution and a certain degree of angular accuracy during correlation demodulation. After more than a decade of hardware development and evolution, today's UWB, based on the characteristics of 2ns pulses, can achieve high-precision TDOA ranging and AOA angle measurement between two UWB devices over short distances.

[0003] However, in related technologies, both UWB devices communicate using the IEEE Std 802.15.4z-2020 protocol. This protocol defines the air interface interaction process and signaling format for distance and angle measurement between the two UWB devices. Using this interaction method, the measurement initiating device is unaware of the capabilities of the measurement responding device. The initiating device cannot know in advance whether the measurement responding device can send back angle measurement values. If the measurement responding device cannot send back angle measurement information, air interface resources are wasted because the response field in the measurement report returned from the air interface is empty. Furthermore, the measurement initiating device cannot obtain the angle information of the measured object, thus failing to meet the angle measurement requirement.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This invention provides an angle measurement method, apparatus, computer-readable storage medium, and processor to at least solve the technical problem of insufficient information interaction when using UWB signals for angle measurement in related technologies.

[0006] According to one aspect of the present invention, an angle measurement method is provided, comprising: receiving a negotiation request message sent by a measurement initiating device, wherein the negotiation request message includes initiator angle measurement request parameters for indicating a request to measure the angle of the measurement initiating device; sending a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responder measurement capability information, the responder measurement capability information for determining whether the measurement response device has the capability to measure signal angles; receiving a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; if the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, measuring the first pulse signal to obtain angle information of the measurement initiating device; and sending a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and the second pulse signal includes the angle information of the measurement initiating device.

[0007] Optionally, the negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angle; sending the second pulse signal to the measurement initiating device further includes: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angle, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angle, deleting the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; and sending the third pulse signal to the measurement initiating device.

[0008] Optionally, the negotiation response message further includes: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the message further includes: receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

[0009] According to another aspect of the present invention, an angle measurement method is also provided, comprising: sending a negotiation request message to a measurement response device, wherein the negotiation request message includes initiator angle measurement request parameters for indicating a request to measure the angle of the measurement initiator device; receiving a negotiation response message sent by the measurement response device, wherein the negotiation response message includes responder measurement capability information, the responder measurement capability information being used to determine whether the measurement response device has the capability to measure signal angles; sending a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal; and, if the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, receiving a second pulse signal sent by the measurement initiator device, wherein the second pulse signal is a UWB signal, and the second pulse signal includes angle information of the measurement initiator device obtained by the measurement response device from measuring the first pulse signal.

[0010] Optionally, the negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, the message further includes: receiving a third pulse signal sent by the measurement responding device, wherein the third pulse signal is a signal obtained by the measurement responding device after deleting the field used for feedback angle information from the second pulse signal; measuring the third pulse signal to obtain the angle information of the measurement responding device.

[0011] Optionally, the negotiation response message further includes: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the message further includes: sending an angle feedback signal to the measurement response device, wherein the angle feedback signal includes the angle information of the measurement response device.

[0012] According to another aspect of the present invention, an angle measurement method is also provided, comprising: a measurement initiating device sending a negotiation request message to a measurement responding device, wherein the negotiation request message includes initiating angle measurement request parameters for indicating a request to measure the angle of the measurement initiating device; the measurement responding device sending a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responding measurement capability information, the responding measurement capability information for determining whether the measurement responding device has the capability to measure signal angles; the measurement responding device receiving a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; if the responding measurement capability information indicates that the measurement responding device has the capability to measure signal angles, the measurement responding device measures the first pulse signal to obtain angle information of the measurement initiating device; the measurement responding device sending a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and the second pulse signal includes the angle information of the measurement initiating device.

[0013] Optionally, the negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; the measurement response device sending the second pulse signal to the measurement initiating device further includes: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the response device measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the measurement response device deletes the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; the measurement response device sends the third pulse signal to the measurement initiating device.

[0014] Optionally, the negotiation response message further includes: a responder angle measurement request parameter, wherein it is used to indicate a request to measure the angle of the measurement response device; and if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the message further includes: the measurement response device receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

[0015] According to another aspect of the present invention, an angle measuring device is also provided, comprising: a first receiving module, configured to receive a negotiation request message sent by a measurement initiating device, wherein the negotiation request message includes initiating angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiating device; a first sending module, configured to send a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responding party measurement capability information, the responding party measurement capability information being used to determine whether the measurement responding device has the capability to measure signal angles; a second receiving module, configured to receive a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; a first measuring module, configured to measure the first pulse signal to obtain angle information of the measurement initiating device when the responding party measurement capability information indicates that the measurement responding device has the capability to measure signal angles; and a second sending module, configured to send a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal, and the second pulse signal includes the angle information of the measurement initiating device.

[0016] According to another aspect of the present invention, an angle measuring device is also provided, comprising: a third sending module, configured to send a negotiation request message to a measurement response device, wherein the negotiation request message includes initiator angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiator device; a third receiving module, configured to receive a negotiation response message sent by the measurement response device, wherein the negotiation response message includes responder measurement capability information, the responder measurement capability information being used to determine whether the measurement response device has the capability to measure signal angles; a fourth sending module, configured to send a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal; and a fourth receiving module, configured to receive a second pulse signal sent by the measurement initiator device when the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, wherein the second pulse signal is a UWB signal, and the second pulse signal includes angle information of the measurement initiator device obtained by the measurement response device from measuring the first pulse signal.

[0017] According to another aspect of the present invention, an angle measuring device is also provided, comprising: a fifth sending module, configured to send a negotiation request message from a measurement initiating device to a measurement responding device, wherein the negotiation request message includes initiating angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiating device; a sixth sending module, configured to send a negotiation response message from the measurement responding device to the measurement initiating device, wherein the negotiation response message includes responding measurement capability information, the responding measurement capability information being used to determine whether the measurement responding device has the capability to measure signal angles; a fifth receiving module, configured to receive a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; a second measuring module, configured to, when the responding measurement capability information indicates that the measurement responding device has the capability to measure signal angles, measure the first pulse signal to obtain angle information of the measurement initiating device; and a seventh sending module, configured to send a second pulse signal from the measurement responding device to the measurement initiating device, wherein the second pulse signal is a UWB signal, and the second pulse signal includes the angle information of the measurement initiating device.

[0018] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform any of the above-described angle measurement methods.

[0019] According to another aspect of the present invention, a processor is also provided, the processor being configured to run a program, wherein the program, when running, executes any of the angle measurement methods described above.

[0020] In this embodiment of the invention, a negotiation signal is sent between the measuring devices. By communicating the angle measurement requirements and capabilities of the measuring devices in the negotiation signal, the purpose of communicating the requirements and capabilities of the measuring devices in advance before using UWB signals for angle measurement is achieved. This realizes the technical effect of sufficient communication between the measuring devices when using UWB signals for angle measurement, and solves the technical problem of insufficient information interaction when using UWB signals for angle measurement in related technologies. Attached Figure Description

[0021] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0022] Figure 1A hardware structure block diagram of a computer terminal for implementing an angle measurement method is shown.

[0023] Figure 2 This is a flowchart illustrating an angle measurement method according to an embodiment of the present invention.

[0024] Figure 3 This is a flowchart illustrating angle measurement method two according to an embodiment of the present invention;

[0025] Figure 4 This is a flowchart illustrating angle measurement method three according to an embodiment of the present invention;

[0026] Figure 5 This is an interactive timing diagram of the device provided according to an optional embodiment of the present invention when performing angle measurement;

[0027] Figure 6 This is a structural block diagram of an angle measuring device according to an embodiment of the present invention;

[0028] Figure 7 This is a structural block diagram of the angle measuring device II provided according to an embodiment of the present invention;

[0029] Figure 8 This is a structural block diagram of the angle measuring device three provided according to an embodiment of the present invention. Detailed Implementation

[0030] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] First, some nouns or terms that appear in the description of the embodiments of this application shall be interpreted as follows:

[0033] Ultra-wideband (UWB) is a wireless carrier communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data, and it occupies a very wide spectrum.

[0034] The measurement initiation device is the device that initially initiates the process when using UWB technology to measure distance or angle.

[0035] Measurement response equipment is a device that responds to the measurement process when using UWB technology to measure distance or angle.

[0036] Time Differential Arrival (TDOA) ranging is a method of measuring distance between devices by utilizing the time difference of pulse arrival at the device.

[0037] Angle of Arrival (AOA) is a method for calibrating the position of equipment by measuring the angle at which a pulse arrives.

[0038] Example 1

[0039] According to an embodiment of the present invention, an embodiment of a method for measuring angle is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0040] The method embodiment provided in Embodiment 1 of this application can be executed on a mobile terminal, computer terminal, or similar computing device. Figure 1 A hardware block diagram of a computer terminal for implementing an angle measurement method is shown. Figure 1 As shown, the computer terminal 10 may include one or more processors 102 (shown as 102a, 102b, ..., 102n in the figure) 102 (processor 102 may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.), a memory 104 for storing data, and a transmission module 106 for communication functions. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of a BUS bus), a network interface, a power supply, and / or a camera. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the aforementioned electronic device. For example, computer terminal 10 may also include... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0041] It should be noted that the aforementioned one or more processors 102 and / or other data processing circuits are generally referred to herein as "data processing circuits". These data processing circuits may be embodied, in whole or in part, in software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuits may be a single, independent processing module, or may be integrated, in whole or in part, into any other element within the computer terminal 10. As involved in the embodiments of this application, the data processing circuits serve as a form of processor control (e.g., selection of a variable resistor termination path connected to an interface).

[0042] The memory 104 can be used to store software programs and modules for application software, such as the program instructions / data storage device corresponding to the angle measurement method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, to implement the above-mentioned application method. The memory 104 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer terminal 10 via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0043] The transmission module 106 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the communication provider of the computer terminal 10. In one example, the transmission module 106 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission module 106 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0044] The display may be, for example, a touchscreen liquid crystal display (LCD) that allows the user to interact with the user interface of the computer terminal 10.

[0045] The IEEE Std 802.15.4z-2020 protocol defines the air interface interaction process and signaling format for distance and angle measurement between two UWB devices. When a measurement is required, the measurement initiating device sends a negotiation message MCPS-DATA.request to the measurement responding device over the air interface, requesting the measurement responding device to perform the measurement. However, whether the measurement response device can return the angle measurement result is not carried in this negotiation message. Instead, the measurement responding device returns the angle measurement value based on whether its own higher-level configuration item macAoaEnable is enabled. When macAoaEnable is True, the measurement responding device will fill in the angle information in the returned measurement report descriptor unit. However, if the measurement responding device cannot return angle information, the measurement initiating device cannot obtain the angle measurement information from the measurement feedback device.

[0046] Clearly, the measurement initiating device and the measurement responding device did not communicate sufficiently beforehand in the above process. The two devices did not exchange information about their respective needs and capabilities in advance, which led to a rigid measurement interaction process and may result in problems such as wasted signaling overhead and measurement result failure.

[0047] Figure 2 This is a flowchart illustrating an angle measurement method according to an embodiment of the present invention, as shown below. Figure 2 As shown, the method includes the following steps:

[0048] Step S202: Receive a negotiation request message sent by the measurement initiating device. The negotiation request message includes initiator angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiating device. Optionally, the negotiation request message can be a non-UWB signal, but a common data communication signal, such as a Bluetooth signal, local area network, or wireless personal area network.

[0049] Step S204: Send a negotiation response message to the measurement initiating device. The negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles. Optionally, the measurement response device can determine its own capability to measure signal angles based on whether its high-level configuration item `macAoaEnable` is enabled. When `macAoaEnable` is True, the measurement response device has the capability to measure signal angles; when this configuration item is false, the device does not have the capability to measure angles.

[0050] Step S206: Receive a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal. UWB technology can achieve centimeter-level precise positioning through UWB pulse signals, accurately determining the relative positional relationship between devices, such as the angular orientation of the measurement initiating device relative to the measurement responding device.

[0051] Step S208: If the responder's measurement capability information indicates that the measurement response device has the capability to measure signal angles, the first pulse signal is measured to obtain the angle information of the measurement initiating device. The angle information of the measurement initiating device can be the angle between the measurement initiating device and the measurement response device.

[0052] Step S210: Send a second pulse signal to the measurement initiating device. The second pulse signal is a UWB signal and includes angle information from the measurement initiating device. It should be noted that the UWB signal effectively combines measurement and communication. Through the second pulse signal, the measurement initiating device can provide feedback on its own angle, thus initiating the angle measurement process.

[0053] Through the above steps, by sending negotiation signals between the measuring devices, the angle measurement needs and capabilities of the measuring devices are communicated in the negotiation signals. This achieves the goal of communicating the needs and capabilities of the measuring devices in advance before they use UWB signals for angle measurement. This achieves the technical effect of sufficient communication between the measuring devices when using UWB signals for angle measurement, and solves the technical problem of insufficient information exchange when using UWB signals for angle measurement in related technologies.

[0054] As an optional embodiment, the negotiation request message may further include initiator measurement capability information, which is used to determine whether the measurement initiating device has the capability to measure signal angles. When the measurement initiating device has the capability to measure signal angles, it provides more possibilities for information interaction between devices. For example, when the measurement response device cannot perform signal angle measurement, the measurement initiating device can measure the angle of the signal fed back by the measurement response device itself to obtain the required angle information; or, when the measurement response device also needs its own angle information, the measurement initiating device can measure its angle and then feed the measurement result back to the measurement response signal through the information interaction signal. All of the above optional interaction processes rely on the measurement capability of the measurement initiating device. Therefore, the negotiation request message may include the initiator's measurement capability information to enable communication between the two devices and provide a basis for determining the subsequent specific interaction process.

[0055] Furthermore, as an optional embodiment, when sending the second pulse signal to the measurement initiating device, if the initiating device's measurement capability information indicates that it has the capability to measure signal angles, and the responding device's measurement capability information indicates that it does not have the capability to measure signal angles, the field used for feedback angle information in the second pulse signal can be deleted to obtain a third pulse signal; the third pulse signal is then sent to the measurement initiating device. It should be noted that the third pulse signal reduces signaling overhead and lowers the cost of inter-device communication because it reduces the field used for feedback angle information compared to the second pulse signal.

[0056] In related technologies, even if the measurement response device does not have the ability to measure angles, the pulse signal it feeds back to the measurement initiating device still includes a field for feeding back angle information. However, the field is empty, which means that the measurement initiating device cannot obtain angle information, and the signaling overhead of the interaction between devices cannot be saved. The above problems can be avoided through this optional embodiment.

[0057] As an optional embodiment, the negotiation response message may further include a responder angle measurement request parameter, wherein the responder angle measurement request parameter is used to indicate a request to measure the angle of the measurement response device; if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, an angle feedback signal sent by the measurement initiator device may also be received, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

[0058] In this optional embodiment, the measurement response device can convey its own measurement angle requirements to the measurement initiating device in the negotiation response message, thereby realizing bidirectional angle measurement between the measurement initiating device and the measurement response device. This expands the interaction scenarios between devices. When the measurement response device also has an angle measurement requirement, it does not need to initiate a measurement process to the measurement initiating device again, simplifying the overall process of angle measurement between devices.

[0059] Figure 3 This is a flowchart illustrating angle measurement method two according to an embodiment of the present invention, as shown below. Figure 3 As shown, the method includes the following steps:

[0060] Step S302: Send a negotiation request message to the measurement response device, wherein the negotiation request message includes the initiator angle measurement request parameters, which are used to indicate the request to measure the angle of the measurement initiator device.

[0061] Step S304: Receive a negotiation response message sent by the measurement response device, wherein the negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure the signal angle.

[0062] Step S306: Send a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal.

[0063] Step S308: If the measurement capability information of the responder indicates that the measurement response device has the capability to measure the signal angle, a second pulse signal sent by the measurement initiating device is received. The second pulse signal is a UWB signal and includes the angle information of the measurement initiating device obtained by the measurement response device from the measurement of the first pulse signal.

[0064] Through the above steps, the technical effect of sufficient communication between measuring devices when using UWB signals for angle measurement can be achieved, thereby solving the technical problem of insufficient information exchange when using UWB signals for angle measurement in related technologies.

[0065] As an optional embodiment, the negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angle; if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angle, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angle, the message further includes: receiving a third pulse signal sent by the measurement responding device, wherein the third pulse signal is a signal obtained by the measurement responding device by deleting the field used for feedback angle information from the second pulse signal; measuring the third pulse signal to obtain the angle information of the measurement responding device.

[0066] As an optional embodiment, the negotiation response message further includes: a responder angle measurement request parameter, wherein the responder angle measurement request parameter is used to indicate a request to measure the angle of the measurement response device; if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, the message further includes: sending an angle feedback signal to the measurement response device, wherein the angle feedback signal includes the angle information of the measurement response device.

[0067] Figure 4 This is a flowchart illustrating angle measurement method three according to an embodiment of the present invention, as shown below. Figure 4 As shown, the method includes the following steps:

[0068] In step S402, the measurement initiating device sends a negotiation request message to the measurement responding device. The negotiation request message includes the initiator's angle measurement request parameters, which are used to indicate a request to measure the angle of the measurement initiating device.

[0069] In step S404, the measurement response device sends a negotiation response message to the measurement initiating device. The negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure the signal angle.

[0070] Step S406: The measurement response device receives the first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal.

[0071] In step S408, if the measurement capability information of the responder indicates that the measurement response device has the capability to measure the angle of the signal, the measurement response device measures the first pulse signal to obtain the angle information of the measurement initiating device.

[0072] In step S410, the measurement response device sends a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiating device.

[0073] Through the above steps, the technical effect of sufficient communication between measuring devices when using UWB signals for angle measurement can be achieved, thereby solving the technical problem of insufficient information exchange when using UWB signals for angle measurement in related technologies.

[0074] As an optional embodiment, the negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angle; the measurement response device sending a second pulse signal to the measurement initiating device further includes: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angle, and the response device measurement capability information indicates that the measurement response device does not have the capability to measure signal angle, the measurement response device deletes the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; the measurement response device sends the third pulse signal to the measurement initiating device.

[0075] As an optional embodiment, the negotiation response message further includes: a responder angle measurement request parameter, wherein the responder angle measurement request parameter is used to indicate a request to measure the angle of the measurement response device; if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, the message further includes: the measurement response device receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

[0076] Figure 5 This is an interactive timing diagram of the device provided by an optional embodiment of the present invention when performing angle measurement, such as... Figure 5 As shown, the interaction process between the measurement initiating device and the measurement responding device when measuring an angle may include the following steps:

[0077] Step S1: The device initiating the measurement session, i.e., the measurement initiator, sends an MCPS-DATA.setup message to the already paired measurement responder, the Recipient. The MCPS-DATA.setup message, also known as the negotiation request message, contains the following parameters:

[0078] Request type Request type session ID Process ID Ranging role Equipment role in the measurement process Ranging parameter request Measurement Negotiation Parameters

[0079] The Request type is set as follows:

[0080] Request type Ranging

[0081] Ranging means measurement.

[0082] The Ranging role is set to:

[0083] Initiator Distance measurement initiator Responder Ranging response

[0084] The ranging parameter request should be set to:

[0085]

[0086]

[0087] The number of antenna elements in the horizontal and vertical directions indicates the arrangement of the antenna array of the measurement initiating device. The antenna array is used for distance and angle measurements. Whether the signal arrival angle parameter can be provided indicates the measurement angle capability information of the measurement initiating device, that is, whether the device can perform angle measurements on UWB pulse signals; whether the other party needs to return the measurement angle is the initiating party's angle measurement request parameter.

[0088] AngleOfArrivalProvided is set to:

[0089] Ture When macAoaEnable is set to True False When macAoaEnable is set to False

[0090] AngleOfArrivalRequest is set as follows:

[0091] Ture The other party needs to return to measure the angle. False No need for the other party to return the angle measurement

[0092] Step S2: The measurement response device Recipient sends an MCPS-DATA.confirm message back to the measurement initiating device Originator. The MCPS-DATA.confirm message is the responder negotiation message, used to reply to the negotiation request.

[0093] The MCPS-DATA.confirm message contains the following parameters:

[0094] Request type Ranging session ID Process ID Ranging role Responder Ranging parameter request Measurement Negotiation Parameters

[0095] The ranging parameter request is set as follows:

[0096]

[0097]

[0098] AngleOfArrivalProvided is set to:

[0099] Ture When macAoaEnable is set to True False When macAoaEnable is set to False

[0100] AngleOfArrivalRequest is set as follows:

[0101] Ture The other party needs to return to measure the angle. False No need for the other party to return to measure the angle

[0102] Step S3: After receiving the MCPS-DATA.confirm message, the measurement initiator sends the UWB ranging sequence according to the negotiation result through the existing process.

[0103] In step S4, the measurement response device Recipient measures the angle information of the measurement initiating device based on the ranging sequence pulses and feeds back the angle information to the measurement initiating device via a UWB signal. When the measurement response device Recipient cannot measure the angle of arrival, the RangeingReportDescriptor returned by the measurement response device Recipient to the measurement initiating device Originator will not contain the angle measurement-related information elements AngleOfArrivalAzimuth and AngleOfArrivalElevation.

[0104] In step S5, if AngleOfArrivalRequest is set to True in the MCPS-DATA.confirm message and the measurement initiating device Originator can perform angle measurement, then the measurement initiating device Originator will carry the following angle measurement information in the feedback message:

[0105] AngleOfArrivalAzimuth Measured horizontal angle of arrival signal AngleOfArrivalElevation Measured vertical angle of arrival signal

[0106] Furthermore, if the measurement initiating device (Originator) does not support its own angle measurement, the measurement responding device will set the AngleOfArrivalRequest information element in the MCPS-DATA.confirm message to False during the negotiation process.

[0107] Example 2

[0108] According to an embodiment of the present invention, an angle measuring device for implementing the above-described angle measuring method is also provided. Figure 6 This is a structural block diagram of an angle measuring device according to an embodiment of the present invention, such as... Figure 6 As shown, the angle measuring device includes: a first receiving module 62, a first transmitting module 64, a second receiving module 66, a first measuring module 68, and a second transmitting module 69. The angle measuring device will be described below.

[0109] The first receiving module 62 is used to receive a negotiation request message sent by the measurement initiating device. The negotiation request message includes the initiator's angle measurement request parameters, which are used to indicate a request to measure the angle of the measurement initiating device.

[0110] The first sending module 64 is used to send a negotiation response message to the measurement initiating device. The negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure the signal angle.

[0111] The second receiving module 66 is used to receive the first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal;

[0112] The first measurement module 68 is used to measure the first pulse signal to obtain the angle information of the measurement initiating device when the measurement capability information of the responder indicates that the measurement response device has the capability to measure the angle of the signal.

[0113] The second transmitting module 69 is used to transmit a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiating device.

[0114] It should be noted that the first receiving module 62, the first transmitting module 64, the second receiving module 66, the first measuring module 68, and the second transmitting module 69 mentioned above correspond to steps S202 to S210 in Embodiment 1. Multiple modules implement the same instances and application scenarios as their corresponding steps, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules, as part of the device, can run in the computer terminal 10 provided in Embodiment 1.

[0115] According to an embodiment of the present invention, an angle measuring device second for implementing the above-described angle measuring method second is also provided. Figure 7 This is a structural block diagram of the angle measuring device two provided according to an embodiment of the present invention, as shown below. Figure 7 As shown, the second angle measuring device includes: a third transmitting module 72, a third receiving module 74, a fourth transmitting module 76, and a fourth receiving module 78. The second angle measuring device will be described below.

[0116] The third sending module 72 is used to send a negotiation request message to the measurement response device, wherein the negotiation request message includes the initiator angle measurement request parameters, which are used to indicate the request to measure the angle of the measurement initiator device;

[0117] The third receiving module 74 is used to receive a negotiation response message sent by the measurement response device. The negotiation response message includes the measurement capability information of the responder, which is used to determine whether the measurement response device has the capability to measure the angle of the signal.

[0118] The fourth transmitting module 76 is used to transmit a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal;

[0119] The fourth receiving module 78 is used to receive a second pulse signal sent by the measurement initiating device when the measurement response device has the ability to measure the angle of the signal when the measurement capability information of the responder is that the measurement response device has the ability to measure the angle of the signal. The second pulse signal is a UWB signal and includes the angle information of the measurement initiating device obtained by the measurement response device from the measurement of the first pulse signal.

[0120] It should be noted that the third transmitting module 72, the third receiving module 74, the fourth transmitting module 76, and the fourth receiving module 78 mentioned above correspond to steps S302 to S308 in Embodiment 1. Multiple modules implement the same instances and application scenarios as their corresponding steps, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules, as part of the device, can run in the computer terminal 10 provided in Embodiment 1.

[0121] According to an embodiment of the present invention, an angle measuring device three for implementing the above-described angle measuring method three is also provided. Figure 8 This is a structural block diagram of the angle measuring device three provided according to an embodiment of the present invention, as shown below. Figure 8 As shown, the angle measuring device three includes: a fifth transmitting module 82, a sixth transmitting module 84, a fifth receiving module 86, a second measuring module 88, and a seventh transmitting module 89. The angle measuring device three will be described below.

[0122] The fifth sending module 82 is used to send a negotiation request message from the measurement initiating device to the measurement responding device. The negotiation request message includes the initiator's angle measurement request parameters, which are used to indicate the request to measure the angle of the measurement initiating device.

[0123] The sixth sending module 84 is used to send a negotiation response message from the measurement response device to the measurement initiating device. The negotiation response message includes the measurement capability information of the responder, which is used to determine whether the measurement response device has the capability to measure the signal angle.

[0124] The fifth receiving module 86 is used for the measurement response device to receive the first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal;

[0125] The second measurement module 88 is used to measure the first pulse signal to obtain the angle information of the measurement initiating device when the measurement capability information of the responder indicates that the measurement response device has the ability to measure the angle of the signal.

[0126] The seventh transmitting module 89 is used to send a second pulse signal from the measurement response device to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiating device.

[0127] It should be noted that the fifth transmitting module 82, the sixth transmitting module 84, the fifth receiving module 86, the second measuring module 88, and the seventh transmitting module 89 mentioned above correspond to steps S402 to S410 in Embodiment 1. Multiple modules implement the same instances and application scenarios as their corresponding steps, but are not limited to the content disclosed in Embodiment 1. It should also be noted that the above modules, as part of the device, can run on the computer terminal 10 provided in Embodiment 1.

[0128] Example 3

[0129] Embodiments of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one of a plurality of network devices in a computer network. The computer device includes a memory and a processor.

[0130] The memory can be used to store software programs and modules, such as the program instructions / modules corresponding to the angle measurement method and apparatus in this embodiment of the invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, thereby realizing the aforementioned angle measurement method. The memory may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include memory remotely located relative to the processor, and these remote memories can be connected to a computer terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0131] The processor can invoke information and application programs stored in memory via a transmission device to perform the following steps: receiving a negotiation request message sent by a measurement initiating device, wherein the negotiation request message includes initiator angle measurement request parameters to indicate a request to measure the angle of the measurement initiating device; sending a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responder measurement capability information to determine whether the measurement response device has the capability to measure signal angles; receiving a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; if the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, measuring the first pulse signal to obtain the angle information of the measurement initiating device; and sending a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes the angle information of the measurement initiating device.

[0132] Optionally, the processor may also execute program code for the following steps: negotiating a request message, further including: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; sending a second pulse signal to the measurement initiating device, further including: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, deleting the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; and sending the third pulse signal to the measurement initiating device.

[0133] Optionally, the processor may also execute program code for the following steps: negotiating a response message, further including: a response angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and, if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the response's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, further including: receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

[0134] The processor can invoke information and application programs stored in memory via a transmission device to perform the following steps: sending a negotiation request message to a measurement response device, wherein the negotiation request message includes initiator angle measurement request parameters to indicate a request to measure the angle of the measurement initiator device; receiving a negotiation response message sent by the measurement response device, wherein the negotiation response message includes responder measurement capability information to determine whether the measurement response device has the capability to measure signal angles; sending a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal; and, if the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, receiving a second pulse signal sent by the measurement initiator device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiator device obtained by the measurement response device from measuring the first pulse signal.

[0135] Optionally, the processor may also execute program code for the following steps: negotiating a request message, further including: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure the signal angle; if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure the signal angle, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure the signal angle, the processor may further include: receiving a third pulse signal sent by the measurement responding device, wherein the third pulse signal is a signal obtained by the measurement responding device by deleting the field used for feedback angle information from the second pulse signal; measuring the third pulse signal to obtain the angle information of the measurement responding device.

[0136] Optionally, the processor may also execute program code for the following steps: negotiating a response message, further including: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, further including: sending an angle feedback signal to the measurement response device, wherein the angle feedback signal includes the angle information of the measurement response device.

[0137] The processor can invoke information and application programs stored in memory via a transmission device to perform the following steps: the measurement initiating device sends a negotiation request message to the measurement responding device, wherein the negotiation request message includes initiator angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiating device; the measurement responding device sends a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responder measurement capability information, the responder measurement capability information used to determine whether the measurement responding device has the capability to measure the signal angle; the measurement responding device receives a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; if the responder measurement capability information indicates that the measurement responding device has the capability to measure the signal angle, the measurement responding device measures the first pulse signal to obtain the angle information of the measurement initiating device; the measurement responding device sends a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal, and the second pulse signal includes the angle information of the measurement initiating device.

[0138] Optionally, the processor may also execute program code for the following steps: negotiating a request message, further including: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure the signal angle; the measurement response device sending a second pulse signal to the measurement initiating device, further including: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure the signal angle, and the response device measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, the measurement response device deletes the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; the measurement response device sends the third pulse signal to the measurement initiating device.

[0139] Optionally, the processor may also execute program code for the following steps: negotiating a response message, further including: a response angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the response device's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, further including: the measurement response device receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

[0140] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be implemented by a program instructing the hardware related to the terminal device. The program can be stored in a computer-readable storage medium, which may include: flash drive, read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0141] Example 4

[0142] Embodiments of the present invention also provide a computer-readable storage medium. Optionally, in this embodiment, the computer-readable storage medium can be used to store the program code executed by the angle measurement method provided in Embodiment 1.

[0143] Optionally, in this embodiment, the computer-readable storage medium may be located in any computer terminal in a group of computer terminals in a computer network, or in any mobile terminal in a group of mobile terminals.

[0144] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: receiving a negotiation request message sent by a measurement initiating device, wherein the negotiation request message includes initiator angle measurement request parameters to indicate a request to measure the angle of the measurement initiating device; sending a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responder measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles; receiving a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; if the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, measuring the first pulse signal to obtain the angle information of the measurement initiating device; and sending a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes the angle information of the measurement initiating device.

[0145] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a negotiation request message, further comprising: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; sending a second pulse signal to the measurement initiating device, further comprising: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, deleting the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; and sending the third pulse signal to the measurement initiating device.

[0146] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a negotiation response message, further comprising: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and, if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, further comprising: receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes angle information of the measurement response device obtained by the measurement initiator device from measuring a third pulse signal.

[0147] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: sending a negotiation request message to a measurement response device, wherein the negotiation request message includes initiator angle measurement request parameters to indicate a request to measure the angle of the measurement initiator device; receiving a negotiation response message sent by the measurement response device, wherein the negotiation response message includes responder measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles; sending a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal; and, if the responder measurement capability information indicates that the measurement response device has the capability to measure signal angles, receiving a second pulse signal sent by the measurement initiator device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiator device obtained by the measurement response device from measuring the first pulse signal.

[0148] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a negotiation request message, further comprising: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, the method further comprises: receiving a third pulse signal sent by the measurement responding device, wherein the third pulse signal is a signal obtained by the measurement responding device by deleting the field used for feedback angle information from the second pulse signal; measuring the third pulse signal to obtain the angle information of the measurement responding device.

[0149] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a negotiation response message, further comprising: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and, if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, further comprising: sending an angle feedback signal to the measurement response device, wherein the angle feedback signal includes the angle information of the measurement response device.

[0150] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: the measurement initiating device sends a negotiation request message to the measurement responding device, wherein the negotiation request message includes initiator angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiating device; the measurement responding device sends a negotiation response message to the measurement initiating device, wherein the negotiation response message includes responder measurement capability information, the responder measurement capability information being used to determine whether the measurement responding device has the capability to measure the signal angle; the measurement responding device receives a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal; if the responder measurement capability information indicates that the measurement responding device has the capability to measure the signal angle, the measurement responding device measures the first pulse signal to obtain the angle information of the measurement initiating device; the measurement responding device sends a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal, and the second pulse signal includes the angle information of the measurement initiating device.

[0151] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a negotiation request message, further comprising: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; the measurement response device sending a second pulse signal to the measurement initiating device, further comprising: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the response device measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the measurement response device deletes the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; the measurement response device sends the third pulse signal to the measurement initiating device.

[0152] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: a negotiation response message, further comprising: a responder angle measurement request parameter, wherein the parameter indicates a request to measure the angle of the measurement response device; and, if the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure the signal angle, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure the signal angle, further comprising: the measurement response device receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes angle information of the measurement response device obtained by the measurement initiator device from measuring a third pulse signal.

[0153] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0154] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0155] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some interfaces; indirect couplings or communication connections between units or modules may be electrical or other forms.

[0156] The units described 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 units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0157] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0158] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, 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. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0159] The above are merely preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An angle measurement method, characterized in that, include: Receive a negotiation request message sent by the measurement initiating device, wherein the negotiation request message includes initiator angle measurement request parameters, used to indicate a request to measure the angle of the measurement initiating device; A negotiation response message is sent to the measurement initiating device, wherein the negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles. The capability to measure signal angles is determined based on whether the configuration item macAoaEnable of the measurement response device is enabled. When macAoaEnable is True, the measurement response device has the capability to measure signal angles. The device receives a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal, and the UWB signal is used to achieve centimeter-level precise positioning and determine the relative positional relationship between devices. If the measurement capability information of the responder indicates that the measurement response device has the capability to measure the angle of the signal, the first pulse signal is measured to obtain the angle information of the measurement initiating device. A second pulse signal is sent to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiating device; The negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; sending the second pulse signal to the measurement initiating device further includes: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, deleting the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; and sending the third pulse signal to the measurement initiating device; The negotiation response message further includes: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the message further includes: receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

2. An angle measurement method, characterized in that, include: Send a negotiation request message to the measurement response device, wherein the negotiation request message includes an initiator angle measurement request parameter, which is used to indicate a request to measure the angle of the measurement initiator device; The device receives a negotiation response message sent by the measurement response device, wherein the negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles. The capability to measure signal angles is determined based on whether the configuration item macAoaEnable of the measurement response device is enabled. When macAoaEnable is True, the measurement response device has the capability to measure signal angles. A first pulse signal is sent to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal, and the ultra-wideband (UWB) signal is used to achieve centimeter-level precise positioning and determine the relative positional relationship between devices; When the measurement capability information of the responder indicates that the measurement response device has the capability to measure signal angle, a second pulse signal sent by the measurement initiating device is received, wherein the second pulse signal is a UWB signal and includes the angle information of the measurement initiating device obtained by the measurement response device from the first pulse signal; The negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, the message further includes: receiving a third pulse signal sent by the measurement responding device, wherein the third pulse signal is a signal obtained by the measurement responding device after deleting the field used for feedback angle information from the second pulse signal; measuring the third pulse signal to obtain the angle information of the measurement responding device; The negotiation response message further includes: a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the message further includes: sending an angle feedback signal to the measurement response device, wherein the angle feedback signal includes the angle information of the measurement response device.

3. An angle measurement method, characterized in that, include: The measurement initiating device sends a negotiation request message to the measurement responding device, wherein the negotiation request message includes initiating angle measurement request parameters, which are used to indicate a request to measure the angle of the measurement initiating device; The measurement response device sends a negotiation response message to the measurement initiating device. The negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles. The capability to measure signal angles is determined based on whether the configuration item macAoaEnable of the measurement response device is enabled. When macAoaEnable is True, the measurement response device has the capability to measure signal angles. The measurement response device receives a first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal, and the ultra-wideband (UWB) signal is used to achieve centimeter-level precise positioning and determine the relative positional relationship between devices; If the measurement capability information of the responder indicates that the measurement response device has the capability to measure the angle of the signal, the measurement response device measures the first pulse signal to obtain the angle information of the measurement initiating device; The measurement response device sends a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes the angle information of the measurement initiating device; The negotiation request message further includes: initiator measurement capability information, wherein the initiator measurement capability information is used to determine whether the measurement initiating device has the capability to measure signal angles; the measurement response device sending the second pulse signal to the measurement initiating device further includes: if the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the response device measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the measurement response device deletes the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; the measurement response device sends the third pulse signal to the measurement initiating device; The negotiation response message further includes: a responder angle measurement request parameter, which indicates a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the message further includes: the measurement response device receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

4. An angle measuring device, characterized in that, include: The first receiving module is used to receive a negotiation request message sent by the measurement initiating device, wherein the negotiation request message includes initiating angle measurement request parameters, which indicate a request to measure the angle of the measurement initiating device; The first sending module is used to send a negotiation response message to the measurement initiating device. The negotiation response message includes the responder's measurement capability information. The responder's measurement capability information is used to determine whether the measurement response device has the capability to measure signal angles. The capability to measure signal angles is determined based on whether the configuration item macAoaEnable of the measurement response device is enabled. When macAoaEnable is True, the measurement response device has the capability to measure signal angles. The second receiving module is used to receive the first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal, and the ultra-wideband (UWB) signal is used to achieve centimeter-level precise positioning and determine the relative positional relationship between devices; The first measurement module is used to measure the first pulse signal to obtain the angle information of the measurement initiating device when the measurement capability information of the responder indicates that the measurement response device has the capability to measure the angle of the signal. The second transmitting module is used to transmit a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes angle information of the measurement initiating device; The negotiation request message further includes initiator measurement capability information, which is used to determine whether the measurement initiating device has the capability to measure signal angles. The second sending module is further configured to, when the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, delete the field used for feedback angle information in the second pulse signal to obtain a third pulse signal; and send the third pulse signal to the measurement initiating device. The device is further configured such that the negotiation response message includes a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the device further includes: receiving an angle feedback signal sent by the measurement initiator device, wherein the angle feedback signal includes the angle information of the measurement response device obtained by the measurement initiator device from measuring the third pulse signal.

5. An angle measuring device, characterized in that, include: The third sending module is used to send a negotiation request message to the measurement response device, wherein the negotiation request message includes initiator angle measurement request parameters, which are used to indicate a request to measure the angle of the measurement initiator device; The third receiving module is used to receive the negotiation response message sent by the measurement response device. The negotiation response message includes the responder's measurement capability information. The responder's measurement capability information is used to determine whether the measurement response device has the ability to measure signal angles. The ability to measure signal angles is determined based on whether the configuration item macAoaEnable of the measurement response device is enabled. When macAoaEnable is True, the measurement response device has the ability to measure signal angles. The fourth transmitting module is used to transmit a first pulse signal to the measurement response device, wherein the first pulse signal is an ultra-wideband (UWB) signal, and the ultra-wideband (UWB) signal is used to achieve centimeter-level precise positioning and determine the relative positional relationship between devices; The fourth receiving module is configured to receive a second pulse signal sent by the measurement initiating device when the measurement capability information of the responder indicates that the measurement response device has the capability to measure signal angles. The second pulse signal is a UWB signal and includes angle information of the measurement initiating device obtained by the measurement response device from the first pulse signal. The device is further configured to: ... The device is further configured such that the negotiation response message includes a responder angle measurement request parameter, used to indicate a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator device has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the device further includes: sending an angle feedback signal to the measurement response device, wherein the angle feedback signal includes the angle information of the measurement response device.

6. An angle measuring device, characterized in that, include: The fifth sending module is used to send a negotiation request message from the measurement initiating device to the measurement responding device. The negotiation request message includes the initiator angle measurement request parameter, which indicates a request to measure the angle of the measurement initiating device. The sixth sending module is used for the measurement response device to send a negotiation response message to the measurement initiating device. The negotiation response message includes the responder's measurement capability information, which is used to determine whether the measurement response device has the capability to measure signal angles. The capability to measure signal angles is determined based on whether the configuration item macAoaEnable of the measurement response device is enabled. When macAoaEnable is True, the measurement response device has the capability to measure signal angles. The fifth receiving module is used for the measurement response device to receive the first pulse signal sent by the measurement initiating device, wherein the first pulse signal is an ultra-wideband (UWB) signal, and the ultra-wideband (UWB) signal is used to achieve centimeter-level precise positioning and determine the relative positional relationship between devices; The second measurement module is used to, when the measurement capability information of the responder indicates that the measurement response device has the capability to measure the signal angle, measure the first pulse signal to obtain the angle information of the measurement initiating device. The seventh transmitting module is used for the measurement response device to send a second pulse signal to the measurement initiating device, wherein the second pulse signal is a UWB signal and includes the angle information of the measurement initiating device; The negotiation request message further includes initiator measurement capability information, which is used to determine whether the measurement initiating device has the capability to measure signal angles. The seventh sending module is further configured to, when the initiator measurement capability information indicates that the measurement initiating device has the capability to measure signal angles, and the responder measurement capability information indicates that the measurement responding device does not have the capability to measure signal angles, delete the field used for feedback angle information from the second pulse signal to obtain a third pulse signal; and send the third pulse signal to the measurement initiating device. The device is further configured such that the negotiation response message includes a responder angle measurement request parameter, which indicates a request to measure the angle of the measurement response device; and when the initiator's measurement capability information indicates that the measurement initiator has the capability to measure signal angles, and the responder's measurement capability information indicates that the measurement response device does not have the capability to measure signal angles, the device further includes: the measurement response device receiving an angle feedback signal sent by the measurement initiator, wherein the angle feedback signal includes angle information of the measurement response device obtained by the measurement initiator from measuring the third pulse signal.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the angle measurement method according to any one of claims 1 to 3.

8. A processor, characterized in that, The processor is used to run a program, wherein the program executes the angle measurement method according to any one of claims 1 to 3.

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