Angle determination, signal sending method and apparatus, electronic device, and storage medium

Abstract

The present disclosure relates to angle determination, signal sending method and device, electronic equipment and storage medium, wherein the angle determination method comprises: sending a control message to a target device on a first channel, wherein the control message at least carries channel switching information, which is used to instruct the target device to emit a signal on a second channel; and determining an angle of the target device to the terminal according to a first signal and a second signal, wherein the first signal emitted by the target device is received on the first channel, and the second signal emitted by the target device is received on the second channel. According to the present disclosure, when the terminal performs bidirectional ranging on the target device on the first channel, the channel switching information can be carried in the CM sent to the target device, and the target device is instructed to switch to the second channel to emit the signal through the channel switching information, so that a separate information is not needed to instruct the target device to switch to the second channel to emit the signal, which is beneficial to saving communication resources.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to angle determination methods, signal transmission methods, angle determination devices, signal transmission devices, electronic devices, and computer-readable storage media. Background Technology

[0002] On terminals and other devices, ultra-wideband (UWB) technology can be used to measure the distance between the terminal and the target device, as well as the angle between the target device and the terminal.

[0003] For example, a terminal and a target terminal need to communicate on a system to measure the angle between the target device and the terminal, such as the angle of arrival (AOA). This process generally requires two antennas. For example, the angle is calculated based on the phase difference between the signals received by the two antennas from the target device, and it is necessary to ensure that the distance between the two antennas is less than or equal to half the wavelength corresponding to the channel.

[0004] Because when the distance between the two antennas is greater than the aforementioned half wavelength, the phase difference between the two antennas is not unique within the half space (within ±90°). This results in a non-monotonic relationship between the phase difference and the AOA, leading to the calculation of multiple AOAs based on the phase difference, thus making it impossible to accurately determine the AOA. Summary of the Invention

[0005] This disclosure provides an angle determination method, a signal transmission method, an angle determination device, a signal transmission device, an electronic device, and a computer-readable storage medium to address the shortcomings of related technologies.

[0006] According to a first aspect of the embodiments of this disclosure, an angle determination method is proposed, applicable to a terminal, the method comprising: A control message is sent to the target device on the first channel, wherein the control message carries at least channel switching information to instruct the target device to transmit a signal on the second channel; The angle from the target device to the terminal is determined based on a first signal and a second signal, wherein the first signal transmitted by the target device is received on the first channel, and the second signal transmitted by the target device is received on the second channel.

[0007] According to a second aspect of the present disclosure, a signal transmission method is provided, applicable to a target device. The method includes: The control information sent by the terminal is received on the first channel; Based on the channel switching information carried in the control information, the signal is switched to the second channel for transmission; The target device transmits a first signal to the terminal on the first channel and a second signal to the terminal on the second channel, so that the terminal can determine the angle from the target device to the terminal based on the first signal and the second signal.

[0008] According to a third aspect of the present disclosure, an angle determining device is provided, suitable for a terminal, the device comprising: The transmitting module is configured to send a control message to a target device on a first channel, wherein the control message carries at least channel switching information to instruct the target device to transmit a signal on a second channel; The processing module is configured to determine the angle from the target device to the terminal based on a first signal and a second signal, wherein the first signal transmitted by the target device is received on the first channel, and the second signal transmitted by the target device is received on the second channel.

[0009] According to a fourth aspect of the present disclosure, a signal transmitting apparatus is provided, suitable for a target device. The apparatus includes: The receiving module is configured to receive control information sent by the terminal on the first channel; The transmitting module is configured to switch to the second channel to transmit signals according to the channel switching information carried in the control information; The target device transmits a first signal to the terminal on the first channel and a second signal to the terminal on the second channel, so that the terminal can determine the angle from the target device to the terminal based on the first signal and the second signal.

[0010] According to a fifth aspect of the present disclosure, an electronic device is provided, comprising: a first antenna and a second antenna, and a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described angle determination method.

[0011] According to a sixth aspect of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the above-described signal transmission method.

[0012] According to a seventh aspect of the present disclosure, a computer-readable storage medium is provided that stores a computer program thereon, which, when executed by a processor, implements the steps in the angle determination method described above.

[0013] According to an eighth aspect of the present disclosure, a computer-readable storage medium is provided that stores a computer program thereon, which, when executed by a processor, implements the steps in the above-described signal transmission method.

[0014] According to embodiments of this disclosure, when a terminal performs bidirectional ranging on a target device on a first channel, it can carry channel switching information in the CM sent to the target device. The channel switching information instructs the target device to switch to the second channel to transmit signals, eliminating the need to send a separate message to the target device to instruct it to switch to the second channel to transmit signals, which helps to save communication resources.

[0015] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0016] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0017] Figure 1 This is a schematic flowchart illustrating an angle determination method according to an embodiment of the present disclosure.

[0018] Figure 2A This is a schematic diagram illustrating a two-way ranging method according to an embodiment of the present disclosure.

[0019] Figure 2B This is a schematic diagram illustrating another bidirectional ranging method according to an embodiment of the present disclosure.

[0020] Figure 3 This is a schematic flowchart illustrating another angle determination method according to an embodiment of the present disclosure.

[0021] Figure 4 This is a schematic flowchart illustrating yet another angle determination method according to an embodiment of the present disclosure.

[0022] Figure 5A This is a schematic diagram of a time-domain resource in related technologies.

[0023] Figure 5B This is a schematic diagram of a time-domain resource according to an embodiment of the present disclosure.

[0024] Figure 6 This is a schematic flowchart illustrating yet another angle determination method according to an embodiment of the present disclosure.

[0025] Figure 7 This is a schematic flowchart illustrating yet another angle determination method according to an embodiment of the present disclosure.

[0026] Figure 8 This is a schematic diagram illustrating the relationship between AOA and phase difference according to an embodiment of the present disclosure.

[0027] Figure 9This is a schematic flowchart illustrating yet another angle determination method according to an embodiment of the present disclosure.

[0028] Figure 10 This is a schematic flowchart illustrating a signal transmission method according to an embodiment of the present disclosure.

[0029] Figure 11 This is a schematic flowchart illustrating another signal transmission method according to an embodiment of the present disclosure.

[0030] Figure 12 This is a schematic flowchart illustrating another signal transmission method according to an embodiment of the present disclosure.

[0031] Figure 13 This is a schematic flowchart illustrating another signal transmission method according to an embodiment of the present disclosure.

[0032] Figure 14 This is a schematic block diagram illustrating an angle determining device according to an embodiment of the present disclosure.

[0033] Figure 15 This is a schematic block diagram of a signal transmitting device according to an embodiment of the present disclosure.

[0034] Figure 16 This is a schematic diagram of an electronic device according to an embodiment of the present disclosure.

[0035] Figure 17 This is a schematic diagram of an electronic device according to an embodiment of the present disclosure.

[0036] Figure 18 This is a schematic block diagram illustrating an apparatus for angle determination and / or signal transmission according to embodiments of the present disclosure. Detailed Implementation

[0037] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this disclosure as detailed in the appended claims.

[0038] Figure 1 This is a schematic flowchart illustrating an angle determination method according to an embodiment of the present disclosure. The angle determination method can be applied to terminals, including but not limited to mobile phones, tablets, wearable devices, personal computers, and other electronic devices.

[0039] In one embodiment, the terminal can use ultra-wideband technology to measure the distance to the target device and the angle between the target device and the terminal. For example, it can measure the angle of incidence from the target device to the terminal, also known as the angle of arrival (AOA).

[0040] In one embodiment, the terminal is provided with at least a first antenna and a second antenna, and the terminal can measure the angle through the first antenna and the second antenna.

[0041] like Figure 1 As shown, the angle determination method may include the following steps: In step S101, a control message is sent to the target device on the first channel, wherein the control message carries at least channel switching information to instruct the target device to transmit a signal on the second channel; In step S102, the angle from the target device to the terminal is determined based on the first signal and the second signal, wherein the first signal transmitted by the target device is received on the first channel, and the second signal transmitted by the target device is received on the second channel.

[0042] It should be noted that the operation of receiving the first signal transmitted by the target device on the first channel can be performed before or after sending control information to the target device; similarly, the operation of receiving the second signal transmitted by the target device on the second channel can be performed before or after sending control information to the target device. The specific execution order can be set as needed.

[0043] Figure 2A This is a schematic diagram illustrating a two-way ranging method according to an embodiment of the present disclosure.

[0044] like Figure 2A As shown, the terminal can perform two-way ranging (TRW) on CH5 via ultra-wideband. Two-way ranging includes, but is not limited to, single-sided two-way ranging and double-sided two-way ranging. Two-way ranging mainly includes the following steps: The terminal sends a control message (CM) to the target device through the first channel. The terminal sends a Ranging Initiation Message (RIM) to the target device via the first channel. The target device sends a ranging response message (RRM) to the terminal on the first channel. The terminal sends a Ranging Final Message (RFM) to the target device via the first channel. The terminal sends a Measurement Report Message (MRM) to the target device via the first channel. The target device sends a Range Result Report Message (RRRM) to the terminal on the first channel.

[0045] For example, the first channel could be CH5. In the bidirectional ranging process, the terminal receiving the content sent by the target device can include two steps: the terminal receiving the RRM sent by the target device and the terminal receiving the RRRM sent by the target device. Therefore, the terminal receiving the signal transmitted by the target device on the first channel can be either receiving the RRM sent by the target device or receiving the RRRM sent by the target device.

[0046] Figure 2B This is a schematic diagram illustrating another bidirectional ranging method according to an embodiment of the present disclosure.

[0047] like Figure 2B As shown, after the target device completes two-way ranging with the terminal, it can switch to a second channel (e.g., CH9) to transmit a signal to the terminal. For example, the transmitted signal is called a channel switch message (CSM).

[0048] In one embodiment, when a terminal switches to the second channel to receive signals transmitted by a target device, both the terminal and the target device need to switch to the second channel.

[0049] In order to enable the target device to switch to the second channel, when the terminal performs bidirectional ranging on the target device on the first channel, it can carry channel switching information in the CM sent to the target device, and instruct the target device to switch to the second channel to transmit signals through the channel switching information.

[0050] This allows the target device, after performing bidirectional ranging with the terminal on the first channel (e.g., after sending a result report message RRRM to the terminal), to switch to the second channel to transmit signals to the terminal based on channel switching information. Therefore, it eliminates the need to send a separate message to the target device instructing it to switch to the second channel, thus saving communication resources.

[0051] Figure 3 This is a schematic flowchart illustrating another angle determination method according to embodiments of the present disclosure. Figure 3 As shown, the method further includes: In step S301, bidirectional ranging is performed on the target device on the first channel, wherein the first signal transmitted by the target device is received during the bidirectional ranging process.

[0052] In one embodiment, to determine the angle, it is necessary to determine the difference between a first phase difference and a second phase difference, and then determine the angle based on the difference. To determine the difference, the terminal first needs to receive the signal transmitted by the target device on a first channel, and then switch to a second channel to receive the signal transmitted by the target device.

[0053] Currently, terminals typically determine the first phase difference during bidirectional ranging of the target device. Therefore, in this embodiment, the terminal can be configured to determine the first phase difference during bidirectional ranging of the target device on the first channel, without needing to determine the first phase difference in a separate process.

[0054] Figure 4 This is a schematic flowchart illustrating yet another angle determination method according to embodiments of the present disclosure. Figure 4 As shown, the method further includes: In step S401, after performing bidirectional ranging on the target device on the first channel, the second signal transmitted by the target device is received on the second channel.

[0055] Figure 5A This is a schematic diagram of a time-domain resource in related technologies. Figure 5B This is a schematic diagram of a time-domain resource according to an embodiment of the present disclosure.

[0056] like Figure 5A As shown, the terminal performs bidirectional ranging on the target device. The target device can be: receiving the CM sent by the terminal on the first channel (e.g., CH5) in si1, where si1 represents the slot with slot index of 1, and the meanings of subsequent abbreviations follow the same pattern; receiving the RIM sent by the terminal on the first channel in si2; sending the RRM to the terminal on the first channel in si3; receiving the RFM sent by the terminal on the first channel in si4; receiving the MRM sent by the terminal on the first channel in si5; and sending the RRRM to the terminal on the first channel in si6.

[0057] According to embodiments of this disclosure, such as Figure 5B As shown, the target device can determine the target time domain resource as si7 based on the time domain resource information. Then, the target device can switch to the second channel (e.g., CH9) on si7 to transmit signals to the terminal, such as CSM.

[0058] Accordingly, during the transmission and reception of signals from si1 to si6, it is not necessary to switch to the second channel. After the terminal and the target device complete a complete two-way ranging process (e.g., the operations corresponding to si1 to si6) on the first channel, they can switch to the second channel for communication without changing the current two-way ranging process, which facilitates the expansion and implementation of this embodiment.

[0059] In one embodiment, the channel switching information is carried in the reserved bits of the control message.

[0060] In one embodiment, a portion of the control message may be as shown in Table 1 below: Table 1 In related technologies, control messages may include parameters such as Ultra-Wideband Message ID (UWB message ID), Reserved bits, Message control, and Stride length, where the Reserved bits can be 4 bits.

[0061] As shown in Table 1, this embodiment can further add channel switching information to the control message. The channel switching information can be carried in the reserved bits. For example, if 3 bits in the reserved bits are occupied, then 1 bit can be left in the reserved bits.

[0062] For example, a channel switching information of 0 indicates that the channel switch is disabled; a channel switching information of 1 indicates that the channel has been switched to channel 5 (CH5); a channel switching information of 2 indicates that the channel has been switched to channel 6 (CH6); a channel switching information of 3 indicates that the channel has been switched to channel 8 (CH8); and a channel switching information of 4 indicates that the channel has been switched to channel 9 (CH9).

[0063] In one embodiment, the channel switching information is used to indicate at least one of the following: Channel switching is disabled; Switch to the target channel.

[0064] As shown in Table 1, the channel switching information can indicate the target channel that the target device needs to switch to, i.e., the second channel, and can also indicate that the channel switch is disabled. For example, when the channel switching information is 0, it indicates that the channel switch is disabled. This can control whether the target device can perform channel switching, so as to prevent the target device from accidentally switching to other channels and causing problems with the terminal sending and receiving signals from the target device.

[0065] In one embodiment, the control message also carries time-domain resource information to instruct the target device to switch to the second channel to transmit signals within the target time-domain resources.

[0066] Figure 6 This is a schematic flowchart illustrating yet another angle determination method according to embodiments of the present disclosure. Figure 6 As shown, the method further includes: In step S601, the system switches to the second channel within the target time domain resource to receive the signal transmitted by the target device.

[0067] In one embodiment, when a terminal instructs a target device to communicate, it needs to specify both the frequency domain resources for communication and the time domain resources for communication. Channel switching information can instruct the target device to switch to a second channel for communication; the second channel corresponds to the frequency domain resources.

[0068] Based on this, this embodiment further carries time-domain resource information in the control message to instruct the target device to switch to the second channel to transmit signals within the target time-domain resources. Thus, on the one hand, the terminal can switch to the second channel to receive the signal transmitted by the target device within the target time-domain resources, and on the other hand, the target device can switch to the second channel to transmit signals to the terminal within the target time-domain resources, so as to ensure that the terminal can receive the signal transmitted by the target device on the second channel within the target time-domain resources, thereby determining the second phase difference.

[0069] In one embodiment, the time-domain resource information is carried in the ranging device management list of the control message.

[0070] In addition to the elements shown in Table 1, control messages (CM) can also contain other elements, such as the Ranged Device Management List. Some elements of the Ranged Device Management List's element format are shown in Table 2 below. Table 2 As shown in Table 2, the range measurement device management list can include a range role, a range slot index, an address, a scheduled UWB message, a stop range, and a reserved slot.

[0071] Specifically, time-domain resource information is carried through control messages (CM), which can be included in the ranging device management list, for example, indicated by the ranging time slot index in Table 2. In related technologies, for example... Figure 5A As shown, the ranging time slot index can indicate si1 to si6, and in this embodiment, the ranging time slot index can also indicate si7.

[0072] In one embodiment, the control message includes a ranging device management list, which includes a Scheduled UWB Message carrying identification information to indicate the identifier of the target device transmitting a signal on the second channel.

[0073] In one embodiment, the identifier of the CSM that the target device needs to send can also be indicated by the planned UWB message in Table 2, so that the target device can send the CSM corresponding to the identifier in Si7. For example, the identifier corresponding to the CSM can be added to the identifier of the message in the related technology, so that the terminal can determine that the received information is the CSM transmitted by the target device based on the identifier.

[0074] For example, the UBW message ID corresponding to a message can be shown in Table 3 below: Table 3 As shown in Table 3, the identifiers corresponding to messages such as RIM, RRM, RFM, and CM are displayed. In this embodiment, the identifier 0x7 can be added to the table to represent CSM.

[0075] Figure 7 This is a schematic flowchart illustrating yet another angle determination method according to embodiments of the present disclosure. Figure 7 As shown, the terminal is equipped with at least a first antenna and a second antenna, and determining the angle from the target device to the terminal based on the first signal and the second signal includes: In step S701, a first phase difference is determined for receiving the first signal transmitted by the target device through the first antenna and the second antenna; and a second phase difference is determined for receiving the signal transmitted by the target device through the first antenna and the second antenna. In step S702, the difference between the first phase difference and the second phase difference is calculated; In step S703, the angle from the target device to the terminal is determined based on the difference.

[0076] In one embodiment, the terminal can receive the signal transmitted by the target device through the first antenna and the second antenna in the first channel, and obtain the first phase difference of the signals received by the two antennas respectively.

[0077] When the distance between the first antenna and the second antenna is greater than half the wavelength corresponding to the first channel (i.e., half the wavelength of the signal transmitted on the first channel), there will be problems in calculating the angle based on the first phase difference, for example, when calculating the AOA. This is because when the distance between the first antenna and the second antenna is greater than half the wavelength, the received phase difference between the two antennas is not unique within half-space (±90°). This results in a non-monotonic relationship between the first phase difference and the AOA, leading to multiple AOAs being calculated based on the first phase difference, making it impossible to accurately determine the AOA.

[0078] Figure 8 This is a schematic diagram illustrating the relationship between AOA and phase difference according to an embodiment of the present disclosure.

[0079] like Figure 8 As shown, for example, the first channel is channel 5 (CH5), with a corresponding frequency of 6489.6MHz. When the distance between the first antenna and the second antenna is greater than half the wavelength corresponding to CH5 (which can be calculated based on the corresponding frequency), for example, it is equal to one wavelength.

[0080] In this case, the phase difference between the phase of the signal transmitted by the target device received by the first antenna at CH5 and the phase of the signal transmitted by the target device received by the second antenna at CH5 is determined. For example, the phase difference is calculated by the PDOA (Phase Difference of Arrival) algorithm. The calculated phase difference may exceed 180°, for example, 195°.

[0081] However, since the phase difference calculated by the chip in the current terminal is between -180° and 180° (as shown in Figure 2), for a phase difference of 195°, the output will be 15°. But 15° and 195° correspond to different AOAs, which means that the phase difference of 15° will correspond to two AOAs, one of which is the AOA when the phase difference is 15°, and the other is the AOA when the phase difference is 195°.

[0082] It is evident that, based on the current method of determining the phase difference, when the distance between the first antenna and the second antenna is greater than half a wavelength, the output phase difference may differ from the actual phase difference. For example, if the actual phase difference is 195°, the output phase difference may be 15°. This results in the relationship between the phase difference and the AOA being non-monotonic, making it difficult to accurately determine the AOA.

[0083] Figure 8The diagram shows the correspondence between the phase difference of the signals received by the first and second antennas from the target device on the second channel and the AOA (Aspect Ratio). For example, the second channel is channel 9 (CH9), corresponding to a frequency of 7987.2 MHz. Figure 8 It can be seen that when the distance between the first antenna and the second antenna is greater than half the wavelength corresponding to CH9, the phase difference between the phase of the signal transmitted by the target device received by the first antenna at CH9 and the phase of the signal transmitted by the target device received by the second antenna at CH9, and the relationship with AOA is not monotonic.

[0084] However, the relationship between the difference between the first phase difference and the second phase difference and the AOA is monotonic, for example... Figure 8 The curves corresponding to CH5-CH9 are shown. That is, each AOA uniquely corresponds to one of the aforementioned differences. Therefore, by determining the angle from the target device to the terminal based on the aforementioned differences, an angle can be accurately determined.

[0085] According to embodiments of this disclosure, a signal transmitted by a target device can first be received on a first channel to determine a first phase difference between the signals received via a first antenna and a second antenna. Then, the system switches to a second channel to receive the signal again to determine a second phase difference between the signals received via the first antenna and the second antenna. The difference between the first and second phase differences is then calculated to determine the angle from the target device to the terminal, such as the angle of attack (AOA). Since the relationship between the difference and the angle from the target device to the terminal is monotonic, a single angle, i.e., the angle from the target device to the terminal, can be accurately determined based on the difference, rather than determining multiple angles.

[0086] It should be noted that the first channel and the second channel are not limited to CH5 and CH9 mentioned above. For example, they can also be channel 6 (CH6), channel 8 (CH8), etc., where CH6 corresponds to a frequency of 6988.8MHz and CH8 corresponds to a frequency of 7488.0MHz. That is, in one embodiment, the first frequency corresponding to the first channel and the second frequency corresponding to the second channel include at least one of the following: 6489.6MHz, 6988.8MHz, 7488.0MHz, 7987.2MHz.

[0087] Figure 9 This is a schematic flowchart illustrating yet another angle determination method according to embodiments of the present disclosure. Figure 9 As shown, determining the angle from the target device to the terminal based on the difference includes: In step S901, the actual phase difference corresponding to the difference is determined based on the correlation between the difference and the actual phase difference; In step S902, the angle from the target device to the terminal is determined based on the actual phase difference.

[0088] In one embodiment, although there is a one-to-one correspondence between the difference and the angle from the target device to the terminal, currently, the calculation of the angle from the target device to the terminal, such as calculating the AOA, is mainly based on the actual phase difference between the signals received by the first antenna and the second antenna from the target device in the first channel. For example, the calculation formula is: Δφ=(360° / λ)dcosθ; Where Δφ is the actual phase difference, λ is the wavelength corresponding to the first channel, d is the distance difference (which can be an absolute value) between the target device and the first and second antennas, and θ is the angle. Therefore, θ can be calculated from Δφ.

[0089] The difference value corresponds one-to-one with the actual phase difference. For example, when the actual phase difference is 195°, the difference value is 'a', and when the actual phase difference is 15°, the difference value is 'b'. 'a' and 'b' are not equal. Therefore, when the distance between the first antenna and the second antenna is greater than half the wavelength corresponding to the first channel, even if the calculated first phase difference is not accurate (e.g., the output first phase difference is 15° while the actual phase difference is 195°), the actual phase difference can still be accurately determined based on the difference value.

[0090] Therefore, in this embodiment, the actual phase difference corresponding to the difference can be determined first based on the correlation between the difference and the actual phase difference, and then the angle from the target device to the terminal can be determined based on the actual phase difference, for example, by calculating according to the above formula.

[0091] Figure 10 This is a schematic flowchart illustrating a signal transmission method according to an embodiment of the present disclosure. The signal transmission method can be applied to a target device, which can be any device capable of communicating with the terminal in the above embodiments, including but not limited to mobile phones, tablets, wearable devices, personal computers, and other electronic devices.

[0092] like Figure 10 As shown, the signal transmission method may include the following steps: In step S1001, control information is sent by the receiving terminal on the first channel; In step S1002, the signal is switched to the second channel to be transmitted according to the channel switching information carried in the control information; The target device transmits a first signal to the terminal on the first channel and a second signal to the terminal on the second channel, so that the terminal can determine the angle from the target device to the terminal based on the first signal and the second signal.

[0093] It should be noted that the operation of transmitting the first signal to the terminal on the first channel can be performed before or after receiving control information; similarly, the operation of transmitting the second signal to the terminal on the second channel can be performed before or after receiving control information. The specific execution order can be set as needed.

[0094] In one embodiment, when a terminal switches to the second channel to receive signals transmitted by a target device, both the terminal and the target device need to switch to the second channel.

[0095] In order to enable the target device to switch to the second channel, when the terminal performs bidirectional ranging on the target device on the first channel, it can carry channel switching information in the CM sent to the target device, and instruct the target device to switch to the second channel to transmit signals through the channel switching information.

[0096] This allows the target device, after performing bidirectional ranging with the terminal on the first channel (e.g., after sending a result report message RRRM to the terminal), to switch to the second channel to transmit signals to the terminal based on channel switching information. Therefore, it eliminates the need to send a separate message to the target device instructing it to switch to the second channel, thus saving communication resources.

[0097] In one embodiment, the first frequency corresponding to the first channel and the second frequency corresponding to the second channel include at least one of the following: 6489.6MHz, 6988.8MHz, 7488.0MHz, 7987.2MHz.

[0098] In one embodiment, the channel switching information is carried in the reserved bits of the control message.

[0099] In related technologies, control messages may include parameters such as Ultra-Wideband Message ID (UWB message ID), Reserved bits, Message control, and Stride length, where the Reserved bits can be 4 bits.

[0100] As shown in Table 1, this embodiment can further add channel switching information to the control message. The channel switching information can be carried in the reserved bits. For example, if 3 bits in the reserved bits are occupied, then 1 bit can be left in the reserved bits.

[0101] For example, a channel switching information of 0 indicates that the channel switch is disabled; a channel switching information of 1 indicates that the channel has been switched to channel 5 (CH5); a channel switching information of 2 indicates that the channel has been switched to channel 6 (CH6); a channel switching information of 3 indicates that the channel has been switched to channel 8 (CH8); and a channel switching information of 4 indicates that the channel has been switched to channel 9 (CH9).

[0102] In one embodiment, the channel switching information is used to indicate at least one of the following: Channel switching is disabled; Switch to the target channel.

[0103] As shown in Table 1, the channel switching information can indicate the target channel that the target device needs to switch to, i.e., the second channel, and can also indicate that the channel switch is disabled. For example, when the channel switching information is 0, it indicates that the channel switch is disabled. This can control whether the target device can perform channel switching, so as to prevent the target device from accidentally switching to other channels and causing problems with the terminal sending and receiving signals from the target device.

[0104] Figure 11 This is a schematic flowchart illustrating another signal transmission method according to embodiments of the present disclosure. Figure 11 As shown, the switching to transmit signals on the second channel includes: In step S1101, based on the time-domain resource information carried in the control message, the system switches to the second channel to transmit the signal within the target time-domain resource.

[0105] In one embodiment, when a terminal instructs a target device to communicate, it needs to specify both the frequency domain resources for communication and the time domain resources for communication. Channel switching information can instruct the target device to switch to a second channel for communication; the second channel corresponds to the frequency domain resources.

[0106] Based on this, this embodiment further carries time-domain resource information in the control message to instruct the target device to switch to the second channel to transmit signals within the target time-domain resources. Thus, on the one hand, the terminal can switch to the second channel to receive the signal transmitted by the target device within the target time-domain resources, and on the other hand, the target device can switch to the second channel to transmit signals to the terminal within the target time-domain resources, so as to ensure that the terminal can receive the signal transmitted by the target device on the second channel within the target time-domain resources, thereby determining the second phase difference.

[0107] In one embodiment, the time-domain resource information is carried in the ranging device management list of the control message.

[0108] In addition to the elements shown in Table 1, control messages (CM) can also contain other elements, such as the Ranged Device Management List. Some elements of the Ranged Device Management List element format can be as shown in Table 2 above.

[0109] The range measurement device management list can include the range role, range slot index, address, scheduled UWB message, stop range, and reserved slot.

[0110] Specifically, time-domain resource information is carried through control messages (CM), which can be included in the ranging device management list, for example, indicated by the ranging time slot index in Table 2. In related technologies, for example... Figure 5A As shown, the ranging time slot index can indicate si1 to si6, and in this embodiment, the ranging time slot index can also indicate si7.

[0111] In one embodiment, the method further includes: The identifier for transmitting a signal on the second channel is determined based on the control message; The control message includes a ranging device management list, which includes a Scheduled UWB Message. The Scheduled UWB Message carries identification information to indicate the identifier of the target device transmitting a signal on the second channel.

[0112] In one embodiment, the identifier of the CSM that the target device needs to send can also be indicated by the planned UWB message in Table 2, so that the target device can send the CSM corresponding to the identifier in Si7. For example, the identifier corresponding to the CSM can be added to the identifier of the message in the related technology, so that the terminal can determine that the received information is the CSM transmitted by the target device based on the identifier.

[0113] For example, the UBW message ID corresponding to a message can be as shown in Table 3 above. As shown in Table 3, the identifiers corresponding to messages such as RIM, RRM, RFM, and CM are shown. In this embodiment, the identifier 0x7 can be added to the table to represent CSM.

[0114] Figure 12 This is a schematic flowchart illustrating yet another signal transmission method according to embodiments of the present disclosure. Figure 12As shown, the method further includes: In step S1201, during the process of the terminal performing bidirectional ranging on the target device on the first channel, the first signal is transmitted to the terminal on the first channel.

[0115] In one embodiment, to determine the angle, it is necessary to determine the difference between a first phase difference and a second phase difference, and then determine the angle based on the difference. To determine the difference, the terminal first needs to receive the signal transmitted by the target device on a first channel, and then switch to a second channel to receive the signal transmitted by the target device.

[0116] Currently, terminals typically determine the first phase difference during bidirectional ranging of the target device. Therefore, in this embodiment, the terminal can be configured to determine the first phase difference during bidirectional ranging of the target device on the first channel, without needing to determine the first phase difference in a separate process.

[0117] Figure 13 This is a schematic flowchart illustrating yet another signal transmission method according to embodiments of the present disclosure. Figure 13 As shown, the switching to transmit signals on the second channel includes: In step S1301, after the terminal performs bidirectional ranging on the target device on the first channel, it switches to the second channel to transmit the second signal to the target device.

[0118] According to embodiments of this disclosure, for example Figure 5B As shown, the target device can determine the target time domain resource as si7 based on the time domain resource information. Then, the target device can switch to the second channel (e.g., CH9) on si7 to transmit signals to the terminal, such as CSM.

[0119] Accordingly, during the transmission and reception of signals from si1 to si6, it is not necessary to switch to the second channel. After the terminal and the target device complete a complete two-way ranging process (e.g., the operations corresponding to si1 to si6) on the first channel, they can switch to the second channel for communication without changing the current two-way ranging process, which facilitates the expansion and implementation of this embodiment.

[0120] Corresponding to the aforementioned embodiments of the angle determination method, this disclosure also provides embodiments of the angle determination device.

[0121] Figure 14 This is a schematic block diagram illustrating an angle determination device according to an embodiment of the present disclosure. The angle determination device can be applied to a terminal, including but not limited to electronic devices such as mobile phones, tablets, wearable devices, and personal computers.

[0122] In one embodiment, the terminal can use ultra-wideband technology to measure the distance to the target device and the angle between the target device and the terminal. For example, it can measure the angle of incidence from the target device to the terminal, also known as the angle of arrival (AOA).

[0123] In one embodiment, the terminal is provided with at least a first antenna and a second antenna, and the terminal can measure the angle through the first antenna and the second antenna.

[0124] like Figure 14 As shown, the angle determining device may include: Transmitting module 1401 is configured to send a control message to a target device on a first channel, wherein the control message carries at least channel switching information to instruct the target device to transmit a signal on a second channel; The processing module 1402 is configured to determine the angle from the target device to the terminal based on a first signal and a second signal, wherein the first signal transmitted by the target device is received on the first channel, and the second signal transmitted by the target device is received on the second channel.

[0125] In one embodiment, the channel switching information is carried in the reserved bits of the control message.

[0126] In one embodiment, the channel switching information is used to indicate at least one of the following: channel switching de-enabled; target channel to which switching is initiated.

[0127] In one embodiment, the control message also carries time-domain resource information to instruct the target device to switch to the second channel to transmit signals within the target time-domain resources.

[0128] In one embodiment, the apparatus further includes a receiving module configured to switch to a second channel within the target time domain resources to receive signals transmitted by the target device.

[0129] In one embodiment, the time-domain resource information is carried in the ranging device management list of the control message.

[0130] In one embodiment, the control message includes a ranging device management list, which includes a Scheduled UWB Message carrying identification information to indicate the identifier of the target device transmitting a signal on the second channel.

[0131] In one embodiment, the apparatus further includes: performing bidirectional ranging on the target device on the first channel, wherein the first signal transmitted by the target device is received during the bidirectional ranging process.

[0132] In one embodiment, the processing module is further configured to perform bidirectional ranging on the target device on the first channel, and then receive a second signal transmitted by the target device on the second channel.

[0133] In one embodiment, the first frequency corresponding to the first channel and the second frequency corresponding to the second channel include at least one of the following: 6489.6MHz, 6988.8MHz, 7488.0MHz, and 7987.2MHz.

[0134] In one embodiment, the terminal is provided with at least a first antenna and a second antenna, and the processing module is configured to: determine a first phase difference of receiving a first signal transmitted by the target device through the first antenna and the second antenna; determine a second phase difference of receiving a signal transmitted by the target device through the first antenna and the second antenna; calculate the difference between the first phase difference and the second phase difference; and determine the angle from the target device to the terminal based on the difference.

[0135] In one embodiment, the processing module is configured to determine the actual phase difference corresponding to the difference based on the correlation between the difference and the actual phase difference; and to determine the angle from the target device to the terminal based on the actual phase difference.

[0136] Figure 15 This is a schematic block diagram illustrating a signal transmitting device according to an embodiment of the present disclosure. The signal transmitting method can be applied to a target device, which can be any device capable of communicating with the terminal in the above embodiments, including but not limited to mobile phones, tablets, wearable devices, personal computers, and other electronic devices.

[0137] like Figure 15 As shown, the signal transmitting device may include: The receiving module 1501 is configured to receive control information sent by the terminal on the first channel; The transmitting module 1502 is configured to switch to the second channel to transmit signals according to the channel switching information carried in the control information; The target device transmits a first signal to the terminal on the first channel and a second signal to the terminal on the second channel, so that the terminal can determine the angle from the target device to the terminal based on the first signal and the second signal.

[0138] In one embodiment, the channel switching information is carried in the reserved bits of the control message.

[0139] In one embodiment, the channel switching information is used to indicate at least one of the following: channel switching de-enabled; target channel to which switching is initiated.

[0140] In one embodiment, the transmitting module is configured to switch to the second channel to transmit a signal within a target time domain resource based on the time domain resource information carried in the control message.

[0141] In one embodiment, the time-domain resource information is carried in the ranging device management list of the control message.

[0142] In one embodiment, the apparatus further includes: a processing module configured to determine an identifier for transmitting a signal on the second channel based on the control message; The control message includes a ranging device management list, which includes a Scheduled UWB Message. The Scheduled UWB Message carries identification information to indicate the identifier of the target device transmitting a signal on the second channel.

[0143] In one embodiment, the transmitting module is further configured to transmit the first signal to the terminal on the first channel during the process of the terminal performing bidirectional ranging on the target device on the first channel.

[0144] In one embodiment, the transmitting module is configured to transmit the second signal to the target device on the second channel after the terminal performs bidirectional ranging on the target device on the first channel.

[0145] In one embodiment, the first frequency corresponding to the first channel and the second frequency corresponding to the second channel include at least one of the following: 6489.6MHz, 6988.8MHz, 7488.0MHz, and 7987.2MHz.

[0146] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments of the relevant methods, and will not be elaborated upon here.

[0147] For the device embodiments, since they basically correspond to the method embodiments, the relevant parts can be referred to in the description of the method embodiments. The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separate, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected to achieve the purpose of this disclosure according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0148] Figure 16 This is a schematic diagram of an electronic device according to an embodiment of the present disclosure.

[0149] Embodiments of this disclosure also provide an electronic device 1600, including: a first antenna 1601 and a second antenna 1602, and a processor 1603; a memory 1604 for storing processor-executable instructions; wherein the processor 1603 is configured to implement the angle determination method described in any of the above embodiments.

[0150] Figure 17 This is a schematic diagram of an electronic device according to an embodiment of the present disclosure.

[0151] Embodiments of this disclosure also provide an electronic device 1700, comprising: a processor 1701; and a memory 1702 for storing processor-executable instructions; wherein the processor is configured to implement the signal transmission method described in any of the above embodiments.

[0152] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon that, when executed by a processor, implements the steps in the angle determination method described in any of the above embodiments.

[0153] Embodiments of this disclosure also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the signal transmission method described in any of the above embodiments.

[0154] Figure 18 This is a schematic block diagram illustrating an apparatus 1800 for angle determination and / or signal transmission according to embodiments of the present disclosure. For example, apparatus 1800 may be a mobile phone, computer, digital broadcasting terminal, messaging transceiver, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0155] Reference Figure 18The device 1800 may include one or more of the following components: a processing component 1802, a memory 1804, a power supply component 1806, a multimedia component 1808, an audio component 1810, an input / output (I / O) interface 1812, a sensor component 1814, and a communication component 1816.

[0156] Processing component 1802 typically controls the overall operation of device 1800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 1802 may include one or more processors 1820 to execute instructions to complete all or part of the steps of the aforementioned angle determination method and / or signal transmission method. Furthermore, processing component 1802 may include one or more modules to facilitate interaction between processing component 1802 and other components. For example, processing component 1802 may include a multimedia module to facilitate interaction between multimedia component 1808 and processing component 1802.

[0157] Memory 1804 is configured to store various types of data to support the operation of device 1800. Examples of this data include instructions for any application or method operating on device 1800, contact data, phonebook data, messages, pictures, videos, etc. Memory 1804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0158] Power supply component 1806 provides power to various components of device 1800. Power supply component 1806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to device 1800.

[0159] Multimedia component 1808 includes a screen that provides an output interface between the device 1800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1808 includes a front-facing camera and / or a rear-facing camera. When the device 1800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0160] Audio component 1810 is configured to output and / or input audio signals. For example, audio component 1810 includes a microphone (MIC) configured to receive external audio signals when device 1800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 1804 or transmitted via communication component 1816. In some embodiments, audio component 1810 also includes a speaker for outputting audio signals.

[0161] I / O interface 1812 provides an interface between processing component 1802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0162] Sensor assembly 1814 includes one or more sensors for providing status assessments of various aspects of device 1800. For example, sensor assembly 1814 may detect the on / off state of device 1800, the relative positioning of components such as the display and keypad of device 1800, changes in position of device 1800 or a component of device 1800, the presence or absence of user contact with device 1800, the orientation or acceleration / deceleration of device 1800, and temperature changes of device 1800. Sensor assembly 1814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1814 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0163] Communication component 1816 is configured to facilitate wired or wireless communication between device 1800 and other devices. Device 1800 can access wireless networks based on communication standards, such as WiFi, 2G or 3G, 4G LTE, 5G NR, or combinations thereof. In one exemplary embodiment, communication component 1816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0164] In an exemplary embodiment, the apparatus 1800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the angle determination method and / or signal transmission method described in any of the above embodiments.

[0165] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1804 including instructions, which can be executed by a processor 1820 of the device 1800 to complete the aforementioned angle determination method and / or signal transmission method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0166] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the following claims.

[0167] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this disclosure is limited only by the appended claims.

Claims

1. A method of angle determination, characterized by, Applicable to a terminal, wherein the terminal is provided with at least a first antenna and a second antenna, the method includes: A control message is sent to the target device on the first channel, wherein the control message carries at least channel switching information to instruct the target device to transmit a signal on the second channel; Determine a first phase difference for receiving a first signal transmitted by the target device through the first antenna and the second antenna; determine a second phase difference for receiving a signal transmitted by the target device through the first antenna and the second antenna, wherein the first signal transmitted by the target device is received in the first channel and the second signal transmitted by the target device is received in the second channel; Calculate the difference between the first phase difference and the second phase difference; The angle from the target device to the terminal is determined based on the difference.

2. The method according to claim 1, characterized in that, The channel switching information is carried in the reserved bits of the control message.

3. The method according to claim 1, characterized in that, The channel switching information is used to indicate at least one of the following: Channel switching is disabled; Switch to the target channel.

4. The method according to claim 1, characterized in that, The control message also carries time-domain resource information, which is used to instruct the target device to switch to the second channel to transmit signals within the target time-domain resources.

5. The method according to claim 4, characterized in that, The method further includes: Within the target time domain resources, switch to the second channel to receive the signal transmitted by the target device.

6. The method according to claim 4, characterized in that, The time-domain resource information is carried in the ranging device management list of the control message.

7. The method according to claim 1, characterized in that, The control message includes a ranging device management list, which includes a Scheduled UWB Message. The Scheduled UWB Message carries identification information to indicate the identifier of the target device transmitting a signal on the second channel.

8. The method according to claim 1, characterized in that, The method further includes: Two-way ranging is performed on the target device on the first channel, wherein the first signal transmitted by the target device is received during the two-way ranging process.

9. The method according to claim 8, characterized in that, The method further includes: After performing bidirectional ranging on the target device on the first channel, the second signal transmitted by the target device is received on the second channel.

10. The method according to any one of claims 1 to 9, characterized in that, The first frequency corresponding to the first channel and the second frequency corresponding to the second channel include at least one of the following: 6489.6MHz, 6988.8MHz, 7488.0MHz, 7987.2MHz.

11. The method according to claim 1, characterized in that, Determining the angle from the target device to the terminal based on the difference includes: Based on the correlation between the difference and the actual phase difference, determine the actual phase difference corresponding to the difference; The angle from the target device to the terminal is determined based on the actual phase difference.

12. A signal transmission method, characterized in that, The method applicable to the target device includes: The terminal receives control information sent by the first channel, and the terminal is equipped with at least a first antenna and a second antenna. Based on the channel switching information carried in the control information, the signal is switched to the second channel for transmission; The target device transmits a first signal to the terminal on the first channel and a second signal to the terminal on the second channel, so that the terminal can determine a first phase difference in receiving the first signal transmitted by the target device through the first antenna and the second antenna; determine a second phase difference in receiving the signal transmitted by the target device through the first antenna and the second antenna; calculate the difference between the first phase difference and the second phase difference; and determine the angle from the target device to the terminal based on the difference.

13. The method according to claim 12, characterized in that, The channel switching information is carried in the reserved bits of the control information.

14. The method according to claim 12, characterized in that, The channel switching information is used to indicate at least one of the following: Channel switching is disabled; Switch to the target channel.

15. The method according to claim 12, characterized in that, The switching to transmit signals on the second channel includes: Based on the time-domain resource information carried in the control information, the system switches to the second channel to transmit the signal within the target time-domain resources.

16. The method according to claim 15, characterized in that, The time-domain resource information is carried in the ranging device management list of the control message.

17. The method according to claim 12, characterized in that, The method further includes: The identifier for transmitting a signal on the second channel is determined based on the control information; The control message includes a ranging device management list, which includes a Scheduled UWB Message. The Scheduled UWB Message carries identification information to indicate the identifier of the target device transmitting a signal on the second channel.

18. The method according to claim 12, characterized in that, The method further includes: During the process of the terminal performing bidirectional ranging on the target device on the first channel, the first signal is transmitted to the terminal on the first channel.

19. The method according to claim 18, characterized in that, The switching to transmit signals on the second channel includes: After the terminal performs bidirectional ranging on the target device on the first channel, it switches to the second channel to transmit the second signal to the target device.

20. The method according to any one of claims 12 to 19, characterized in that, The first frequency corresponding to the first channel and the second frequency corresponding to the second channel include at least one of the following: 6489.6MHz, 6988.8MHz, 7488.0MHz, 7987.2MHz.

21. An angle determining device, characterized in that, Applicable to a terminal, wherein the terminal is provided with at least a first antenna and a second antenna, the device includes: The transmitting module is configured to send a control message to a target device on a first channel, wherein the control message carries at least channel switching information to instruct the target device to transmit a signal on a second channel; The processing module is configured to: determine a first phase difference of receiving a first signal transmitted by the target device through the first antenna and the second antenna; determine a second phase difference of receiving a signal transmitted by the target device through the first antenna and the second antenna; calculate the difference between the first phase difference and the second phase difference; and determine the angle from the target device to the terminal based on the difference, wherein the first signal transmitted by the target device is received in the first channel, and the second signal transmitted by the target device is received in the second channel.

22. A signal transmitting device, characterized in that, The apparatus suitable for the target device includes: The receiving module is configured to receive control information sent by a terminal in a first channel, wherein the terminal is provided with at least a first antenna and a second antenna. The transmitting module is configured to switch to the second channel to transmit signals according to the channel switching information carried in the control information; The target device transmits a first signal to the terminal on the first channel and a second signal to the terminal on the second channel, so that the terminal can determine a first phase difference in receiving the first signal transmitted by the target device through the first antenna and the second antenna; determine a second phase difference in receiving the signal transmitted by the target device through the first antenna and the second antenna; calculate the difference between the first phase difference and the second phase difference; and determine the angle from the target device to the terminal based on the difference.

23. An electronic device, characterized in that, include: First antenna, second antenna, and processor; Memory used to store processor-executable instructions; The processor is configured to implement the angle determination method according to any one of claims 1 to 11.

24. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to implement the signal transmission method according to any one of claims 12 to 20.

25. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps in the angle determination method according to any one of claims 1 to 11.

26. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the program implements the steps of the signal transmission method according to any one of claims 12 to 20.

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