An angle rejection filtering method for electromagnetic wave angle measurement

Abstract

Embodiments of the present application relate to the technical field of electromagnetic wave angle measurement, and particularly relate to an angle rejection filtering method for electromagnetic wave angle measurement, comprising: obtaining an angle measurement range and an angle measurement accuracy of an electromagnetic wave angle measurement system, quantizing the angle measurement range into a plurality of quantization intervals based on the angle measurement accuracy, and assigning a unique number to each quantization interval; quantizing each measurement angle measured by the electromagnetic wave angle measurement system in a current measurement task based on the angle measurement accuracy, determining the quantization interval into which each measurement angle falls, and taking the number of the quantization interval into which each measurement angle falls as quantization information corresponding to each measurement angle; based on the quantization information, determining a target interval, obtaining the number of measurement angles falling into the target interval, and obtaining each measurement angle falling into the target interval; and calculating the average value of each measurement angle falling into the target interval as a final measurement angle. The method effectively improves the stability and accuracy of electromagnetic wave angle measurement.

Description

Technical Field

[0001] The embodiments of this application relate to the field of electromagnetic wave angle measurement technology, and in particular to an angle rejection filtering method for electromagnetic wave angle measurement. Background Technology

[0002] Electromagnetic wave angle measurement, also known as radar angle measurement, is a technique that uses electromagnetic waves to measure angles. It primarily utilizes the rectilinear propagation characteristics of electromagnetic waves and the directivity of radar antennas. Various methods can be used to measure electromagnetic wave angles, but most employ either phase-based or amplitude-based methods. Phase-based methods utilize the phase difference between echo signals received by multiple antennas, such as the two-antenna phase method, the three-antenna phase method, and the multi-baseline angle measurement method. Amplitude-based methods utilize the variation in amplitude of the echo signals received by the antennas, such as the maximum signal method, the equal signal method, the amplitude comparison method, and the sum-difference method.

[0003] However, the inventors of this application have discovered that under conditions of low signal-to-noise ratio in the measurement environment and the influence of natural phenomena such as reflection and refraction, the amplitude and phase of the signal received by the measuring equipment fluctuate greatly. This leads to the appearance of outliers in the measured angles, resulting in an unstable angle measurement process and low angle measurement accuracy, which has a significant adverse impact on subsequent exploration tasks. Summary of the Invention

[0004] The purpose of this application is to provide an angle rejection filtering method for electromagnetic wave angle measurement. By eliminating outliers and smoothing the angle, the stability of electromagnetic wave angle measurement is improved, the accuracy of the measured angle is increased, and thus accurate basic data is provided for subsequent exploration tasks.

[0005] To address the aforementioned technical problems, embodiments of this application propose an angle rejection filtering method for electromagnetic wave angle measurement, comprising the following steps: obtaining the angle measurement range and angle measurement accuracy of the electromagnetic wave angle measurement system; based on the angle measurement accuracy, quantizing the angle measurement range into several quantization intervals, and assigning a unique number to each quantization interval; based on the angle measurement accuracy, quantizing each measurement angle measured by the electromagnetic wave angle measurement system in the current measurement task, determining the quantization interval into which each measurement angle falls, and using the number of the quantization interval into which each measurement angle falls as the quantization information corresponding to each measurement angle; wherein, the electromagnetic wave angle measurement system measures several measurement angles in one measurement task; based on the quantization information, determining a target interval, obtaining the number of measurement angles falling into the target interval, and each measurement angle falling into the target interval; calculating the average value of each measurement angle falling into the target interval, and using the average value as the final measurement angle of the electromagnetic wave angle measurement system for the current measurement task and outputting it.

[0006] Embodiments of this application also propose an angle rejection filtering system for electromagnetic wave angle measurement. This system includes an interval quantization module, a measurement angle quantization module, an outlier rejection module, and a smoothing filtering module. The interval quantization module is used to acquire the angle measurement range and accuracy of the electromagnetic wave angle measurement system. Based on the angle measurement accuracy, the angle measurement range is quantized into several quantization intervals, and each quantization interval is assigned a unique number. The measurement angle quantization module is used to quantize each measurement angle measured by the electromagnetic wave angle measurement system in the current measurement task based on the angle measurement accuracy, thereby determining each measurement angle. The measurement system calculates the quantization intervals into which each measurement angle falls, and assigns the quantization interval number to each measurement angle as the corresponding quantization information. The electromagnetic wave angle measurement system measures several angles in a single measurement task. The outlier removal module determines the target interval based on the quantization information, obtains the number of measurement angles falling into the target interval, and the number of each measurement angle falling into the target interval. The smoothing filter module calculates the average value of each measurement angle falling into the target interval, and outputs the average value as the final measurement angle for the current measurement task by the electromagnetic wave angle measurement system.

[0007] Embodiments of this application also propose an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform an angle rejection filtering method for electromagnetic wave angle measurement as described above.

[0008] Embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, implements an angle rejection filtering method for electromagnetic wave angle measurement as described above.

[0009] This application proposes an angle rejection filtering method for electromagnetic wave angle measurement. First, based on the angle measurement accuracy of the electromagnetic wave angle measurement system, the angle measurement range of the system is quantized into several quantization intervals and assigned a unique number. Electromagnetic wave angle measurement systems with different angle measurement accuracies and ranges correspond to different quantization intervals. This design makes subsequent angle rejection filtering more suitable for the actual situation of the current electromagnetic wave angle measurement system. Next, each measured angle in the current measurement task is also quantized, determining the quantization interval into which each angle falls. The number of the quantization interval into which each angle falls is used as the quantization information corresponding to each angle. Based on the quantization information, a target interval is determined, and measured angles in other intervals are discarded. This process is the angle outlier rejection process, which removes angle measurement errors caused by reflection, refraction, and low signal-to-noise ratio. Finally, the measured angles falling into the target interval are obtained, and the average value of each measured angle falling into the target interval is calculated. This average value is used as the final measured angle for the current measurement task and output. This process is the angle smoothing filtering process, which smooths the measured angles within the accuracy range. By eliminating outliers and smoothing angles, the stability of electromagnetic wave angle measurements was improved, the accuracy of the measured angles was increased, and thus accurate basic data was provided for subsequent exploration tasks.

[0010] Optionally, before quantizing the measured angles obtained by the electromagnetic wave angle measurement system in the current measurement task based on the angle measurement accuracy, the method further includes: establishing a first one-dimensional array and a second one-dimensional array, both of length M, and initializing the first one-dimensional array and the second one-dimensional array after the electromagnetic wave angle measurement system is powered on; wherein, M is an integer greater than 1; quantizing the measured angles obtained by the electromagnetic wave angle measurement system in the current measurement task based on the angle measurement accuracy, determining the quantization interval into which each measured angle falls, and respectively using the number of the quantization interval into which each measured angle falls as the quantization information corresponding to each measured angle, includes: obtaining each measured angle obtained by the electromagnetic wave angle measurement system in the current measurement task, storing each measured angle in the first one-dimensional array and the second one-dimensional array. In the first one-dimensional array; when the first one-dimensional array is full, if a new measurement angle is obtained, the first element of the first one-dimensional array is deleted, the remaining elements are shifted forward one position, and the newly obtained measurement angle is stored in the Mth position of the first one-dimensional array; based on the angle measurement accuracy, each measurement angle stored in the first one-dimensional array is quantized to determine the quantization interval into which each measurement angle falls, and the number of the quantization interval into which each measurement angle falls is used as the quantization information corresponding to each measurement angle and stored in the second one-dimensional array; when the second one-dimensional array is full, if a new quantization information is obtained, the first element of the second one-dimensional array is deleted, the remaining elements are shifted forward one position, and the newly obtained quantization information is stored in the Mth position of the second one-dimensional array. The use of the one-dimensional array is actually a sliding window operation. By sliding the window, it is ensured that at most M measurement angles participate in the angle rejection filtering. This design ensures both the real-time performance and the scientific nature of the angle rejection filtering.

[0011] Optionally, before determining the target interval based on the quantization information, obtaining the number of measurement angles falling into the target interval, and the measurement angles falling into the target interval, the method further includes: based on the quantization information stored in the second one-dimensional array, counting the number of measurement angles falling into each quantization interval, and establishing a two-dimensional array, storing the number of measurement angles falling into each quantization interval and the measurement angles themselves in the two-dimensional array; wherein, in the two-dimensional array, each quantization interval can contain at most M measurement angles. The use of the two-dimensional array can intuitively determine the number of measurement angles falling into each quantization interval, facilitating the subsequent determination of the target interval.

[0012] Optionally, determining the target interval based on the quantization information includes: finding the quantization interval with the most falling measurement angles in the two-dimensional array, and determining the quantization interval with the most falling measurement angles as the target interval. The most falling measurement angles indicate that most measurement angles are concentrated in this one quantization interval, and the measurement angles falling within this quantization interval are the most reasonable and closest to the true value. Therefore, selecting the quantization interval with the most falling measurement angles as the target interval helps improve the speed and effectiveness of angle rejection filtering.

[0013] Optionally, determining the target interval based on the quantization information includes: finding the quantization intervals in the two-dimensional array that fall into the range with the most, second most, and third most measurement angles, and determining these quantization intervals as the target intervals. When the true value is at the boundary between two quantization intervals, then the measurement angles falling into these two quantization intervals are reasonable. To increase the amount of data and the error tolerance, selecting the quantization intervals that fall into the range with the most, second most, and third most measurement angles as the target intervals can further improve the scientificity and rationality of angle rejection filtering.

[0014] Optionally, the method further includes: when the number of measured angles measured by the electromagnetic wave angle measurement system in the current measurement task is less than M, only the measured angles are stored in the first one-dimensional array without quantization; when the number of measured angles measured by the electromagnetic wave angle measurement system in the current measurement task reaches M, based on the angle measurement accuracy, the measured angles stored in the first one-dimensional array are quantized to determine the quantization interval into which each measured angle falls, and the number of the quantization interval into which each measured angle falls is used as the quantization information corresponding to each measured angle and stored in the second one-dimensional array. To ensure a better filtering effect after removing outliers, the first M-1 measured angles can be filtered first, and the filtering and final measured angle can be output only after the Mth measured angle is obtained. This design gives the filtering a processing delay of M-1 times, which helps to improve the smoothness of the filtering.

[0015] Optionally, based on the angle measurement accuracy, the angle measurement range can be quantized into several quantization intervals using the following formula:

[0016]

[0017] Where range represents the angle measurement range, α represents the angle measurement accuracy, ceil(·) is the floor function, and N represents the number of quantization intervals. Attached Figure Description

[0018] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, and these illustrative descriptions do not constitute a limitation on the embodiments.

[0019] Figure 1 This is a flowchart of an angle rejection filtering method for electromagnetic wave angle measurement proposed in one embodiment of this application;

[0020] Figure 2 This is a schematic diagram of an angle rejection filtering system for electromagnetic wave angle measurement proposed in another embodiment of this application;

[0021] Figure 3 This is a schematic diagram of the structure of an electronic device proposed in another embodiment of this application. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the various embodiments of this application will be described in detail below with reference to the accompanying drawings. However, those skilled in the art will understand that many technical details have been provided in the various embodiments of this application to help readers better understand this application. However, the technical solutions claimed in this application can be implemented even without these technical details and various changes and modifications based on the following embodiments. The division of the various embodiments below is for the convenience of description and should not constitute any limitation on the specific implementation of this application. The various embodiments can be combined with and referenced by each other without contradiction.

[0023] One embodiment of this application proposes an angle rejection filter for electromagnetic wave angle measurement, which can be applied to electronic devices, wherein the electronic device can be a terminal or a server. In this embodiment and the following embodiments, the electronic device is described using a server as an example. The implementation details of the angle rejection filter method for electromagnetic wave angle measurement proposed in this embodiment are described below. The following content is only for the convenience of understanding and is not necessary for implementing this solution.

[0024] The specific process of the angle elimination filtering method for electromagnetic wave angle measurement proposed in this embodiment can be described as follows: Figure 1 As shown, it includes:

[0025] Step 101: Obtain the angle measurement range and angle measurement accuracy of the electromagnetic wave angle measurement system. Based on the angle measurement accuracy, quantize the angle measurement range into several quantization intervals and assign a unique number to each quantization interval.

[0026] In the specific implementation, the server first determines the electromagnetic wave angle measurement system that needs to be filtered for angle extraction, obtains the angle measurement range and angle measurement accuracy α of the electromagnetic wave angle measurement system, and the server can quantize the angle measurement range into several quantization intervals based on the angle measurement accuracy α, and assign a unique number to each quantization interval.

[0027] In one example, the server quantizes the angle measurement range into several quantization intervals based on the angle measurement accuracy, which can be achieved using the following formula:

[0028]

[0029] Where range represents the angle measurement range, α represents the angle measurement accuracy, ceil(·) is the floor function, and N represents the number of quantization intervals, which can be used as the basis for numbering the quantization intervals. For example, the first quantization interval can be marked as number 0, and the Nth quantization interval can be marked as number N-1.

[0030] In one example, the electromagnetic wave angle measurement system has an angle measurement range of [0, 360) degrees and an angle measurement accuracy of 6 degrees. The angle measurement range is quantized into 60 quantization intervals, namely quantization interval 0 to quantization interval 59. The angle range of [0, 6) degrees with 3 degrees as the center angle is quantized to quantization interval 0.

[0031] Step 102: Based on the angle measurement accuracy, quantize each measurement angle measured by the electromagnetic wave angle measurement system in the current measurement task, determine the quantization interval in which each measurement angle falls, and use the number of the quantization interval in which each measurement angle falls as the quantization information corresponding to each measurement angle.

[0032] In the specific implementation, after the server quantizes the angle measurement range into several quantization intervals, it can also quantize each measurement angle measured by the electromagnetic wave angle measurement system in the current measurement task based on the angle measurement accuracy of the electromagnetic wave angle measurement system, determine the quantization interval into which each measurement angle falls, and use the number of the quantization interval into which each measurement angle falls as the quantization information corresponding to each measurement angle.

[0033] It is worth noting that the electromagnetic wave angle measurement system will measure several angles in a single measurement task. These angles do not arrive at the server all at once, but rather arrive at the server gradually as the measurement task progresses.

[0034] In one example, before quantizing the measured angles obtained by the electromagnetic wave angle measurement system in the current measurement task based on the system's angular measurement accuracy, the server can establish a first one-dimensional array and a second one-dimensional array, both of length M (M being an integer greater than 1). After the electromagnetic wave angle measurement system is powered on, the first and second one-dimensional arrays are initialized, meaning the values ​​stored in them are cleared. When quantizing the measured angles obtained by the electromagnetic wave angle measurement system in the current measurement task based on its angular measurement accuracy, each measured angle is stored in the first one-dimensional array. Then, based on the system's angular measurement accuracy, the measured angles stored in the first one-dimensional array are quantized, determining the quantization interval into which each measured angle falls. The number of the quantization interval into which each measured angle falls is then used as the corresponding quantization information and stored in the second one-dimensional array.

[0035] It is worth noting that when the first one-dimensional array is full, if a new measurement angle is obtained, the first element of the first one-dimensional array is deleted, the remaining elements are shifted forward one position, and the newly obtained measurement angle is stored in the Mth position of the first one-dimensional array. When the second one-dimensional array is full, if a new quantization information is obtained, the first element of the second one-dimensional array is deleted, the remaining elements are shifted forward one position, and the newly obtained quantization information is stored in the Mth position of the second one-dimensional array.

[0036] Understandably, the use of a one-dimensional array is actually a sliding window operation. By using a sliding window, it is ensured that at most M measurement angles participate in the angle elimination filtering. This design ensures both the real-time performance and the scientific nature of the angle elimination filtering.

[0037] In one example, the server creates a first one-dimensional array DOA_DATA[M] and a second one-dimensional array DOA_CNT[M], both of length M. The first one-dimensional array DOA_DATA[M] is used to store the measured angles obtained by the electromagnetic wave angle measurement system, and the second one-dimensional array DOA_CNT[M] is used to store the quantization information corresponding to the measured angles.

[0038] For DOA_DATA[M], once it is full, each new measurement angle will be stored... The server needs to perform the following operations: set DOA_DATA[0] = DOA_DATA[1], DOA_DATA[1] = DOA_DATA[2], ..., DOA_DATA[M-2] = DOA_DATA[M-1].

[0039] Newly Arrived Measurement Angle The corresponding quantization information is θ. For DOA_CNT[M], when it is full, the server needs to perform the following operation for each new quantization information θ, that is, let DOA_CNT[0] = DOA_CNT[1], DOA_CNT[1] = DOA_CNT[2], ..., DOA_CNT[M-2] = DOA_CNT[M-1], DOA_CNT[M-1] = θ.

[0040] In one example, when the number of angles measured by the electromagnetic wave angle measurement system in the current measurement task is less than M, the server only stores each measured angle in the first one-dimensional array without quantizing the measured angles. When the number of angles measured by the electromagnetic wave angle measurement system in the current measurement task reaches M, the server then quantizes each measured angle stored in the first one-dimensional array based on the angle measurement accuracy of the electromagnetic wave angle measurement system, determines the quantization interval into which each measured angle falls, and stores the number of the quantization interval into which each measured angle falls as the quantization information corresponding to each measured angle in the second one-dimensional array.

[0041] It is worth noting that, in order to ensure a good filtering effect after removing outliers, the server does not filter the first M-1 measured angles. Instead, it filters and outputs the final measured angle only after the Mth measured angle is obtained. This design results in a processing delay of M-1 times for filtering, which helps to improve the smoothness of the filtering.

[0042] Step 103: Based on the quantification information, determine the target interval, obtain the number of measurement angles falling into the target interval, and each measurement angle falling into the target interval.

[0043] In the specific implementation, after the server obtains the quantization information corresponding to each measurement angle, it can determine the target interval based on the quantization information, obtain the number of measurement angles falling into the target interval, and each measurement angle falling into the target interval.

[0044] In one example, before determining the target interval based on quantization information and obtaining the number of measurement angles falling within the target interval, and the individual measurement angles falling within the target interval, the server can first use the quantization information stored in the second one-dimensional array to count the number of measurement angles falling within each quantization interval, and then create a two-dimensional array to store the number of measurement angles falling within each quantization interval and the measurement angles themselves. In this two-dimensional array, each quantization interval can contain at most M measurement angles. Using the two-dimensional array allows for a direct determination of the number of measurement angles falling within each quantization interval, facilitating the subsequent determination of the target interval.

[0045] In one example, the server creates and initializes a two-dimensional array DOA_UNIT_DATA[N][M], where dimension N represents the quantization interval and dimension M represents the number of measurement angles within the quantization interval. Based on the quantization information stored in the second one-dimensional array, the server counts the number of measurement angles falling into each quantization interval and caches the number of measurement angles falling into each quantization interval along with the measurement angles themselves in DOA_UNIT_DATA[N][M].

[0046] In one example, the server can find the quantization interval that falls most frequently within the measurement angle in the two-dimensional array DOA_UNIT_DATA[N][M], denoted as n. max , will n max As the target interval, n max The number of measurement angles that fall into the middle, and the readings of each measurement angle that falls into the middle, are ready for use.

[0047] It is understandable that the measurement angles falling into the most ranges indicate that most measurement angles are concentrated in this quantization range. Measurement angles falling into this quantization range are the most reasonable and closest to the true value. Therefore, selecting the quantization range with the most measurement angles falling into the most ranges as the target range helps to improve the speed and effect of angle elimination filtering.

[0048] In one example, the server can search for the quantization intervals with the most, second most, and third most measurement angles in the two-dimensional array DOA_UNIT_DATA[N][M], determine the quantization intervals with the most, second most, and third most measurement angles as the target interval, and read out the number of measurement angles falling in the target interval and each measurement angle falling in for later use.

[0049] It is understandable that when the true value is at the boundary between two quantization intervals, the measurement angles falling into these two quantization intervals are reasonable. In order to increase the amount of data and the error tolerance, the quantization intervals that fall into the most, second most, and third most measurement angles are selected as the target intervals, which can further improve the scientificity and rationality of angle elimination filtering.

[0050] Step 104: Calculate the average value of each measurement angle falling within the target interval, and output the average value as the final measurement angle of the electromagnetic wave angle measurement system for the current measurement task.

[0051] In a specific implementation, after the server obtains the number of measurement angles falling into the target interval and each measurement angle falling into the target interval, it can calculate the average value of each measurement angle falling into the target interval, and use the average value as the final measurement angle of the electromagnetic wave angle measurement system for the current measurement task and output it.

[0052] In one example, the electromagnetic wave angle measurement system has an angle measurement range of [0, 360) degrees and an angle measurement accuracy of 6 degrees. The angle measurement range is quantized into 60 quantization intervals, from quantization interval 0 to quantization interval 59. The length of both the first and second one-dimensional arrays is 20. The measured angles obtained by the electromagnetic wave angle measurement system are: 340 degrees, 10 degrees, 11 degrees, 20 degrees, 10 degrees, 9 degrees, 2 degrees, 15 degrees, 7 degrees, 8 degrees, 330 degrees, 1 degree, 8 degrees, 10 degrees, 9 degrees, 7 degrees, 20 degrees, 30 degrees, 9 degrees, and 21 degrees, with corresponding quantization information of 56, 1, 1, 3, 1, 1, 0, 2, 1, 1, 54, 0, 1, 1, 1, 1, 3, 5, 1, and 3. The server stores the measured angles obtained by the electromagnetic wave angle measurement system in the first one-dimensional array and the corresponding quantization information in the second one-dimensional array. After statistical accumulation, the number of measurement angles falling into quantization interval 1 was the highest, with 11 angles. The server read these 11 measurement angles as 10 degrees, 11 degrees, 10 degrees, 9 degrees, 7 degrees, 8 degrees, 8 degrees, 10 degrees, 9 degrees, 7 degrees, and 9 degrees. The average value of these 11 measurement angles was taken as 8.9 degrees. The server used 8.9 degrees as the final measurement angle of the electromagnetic wave angle measurement system for the current measurement task and output it.

[0053] In this embodiment, firstly, based on the angle measurement accuracy of the electromagnetic wave angle measurement system, the angle measurement range of the system is quantized into several quantization intervals and assigned a unique number. Electromagnetic wave angle measurement systems with different angle measurement accuracies and ranges correspond to different quantization intervals. This design makes subsequent angle rejection filtering more suitable for the actual situation of the current electromagnetic wave angle measurement system. Next, each measured angle in the current measurement task is also quantized, determining the quantization interval into which each angle falls. The number of the quantization interval into which each angle falls is used as the quantization information corresponding to each angle. Based on the quantization information, the target interval is determined, and measured angles in other intervals are discarded. This process is the angle outlier rejection process, which removes angle measurement errors caused by reflection, refraction, and low signal-to-noise ratio. Finally, the measured angles falling into the target interval are obtained, and the average value of each measured angle falling into the target interval is calculated. This average value is used as the final measured angle for the current measurement task and output. This process is the angle smoothing filtering process, which smooths the measured angles within the accuracy range. By eliminating outliers and smoothing angles, the stability of electromagnetic wave angle measurements was improved, the accuracy of the measured angles was increased, and thus accurate basic data was provided for subsequent exploration tasks.

[0054] The steps of the various methods described above are only for clarity. In practice, they can be combined into one step or some steps can be split into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this application. Adding insignificant modifications or introducing insignificant designs to the algorithm or process, but without changing the core design of the algorithm and process, are also within the scope of protection of this application.

[0055] Another embodiment of this application proposes an angle rejection filtering system for electromagnetic wave angle measurement. The implementation details of this angle rejection filtering system for electromagnetic wave angle measurement are described below. The following details are for ease of understanding and are not essential for implementing this solution. A schematic diagram of the angle rejection filtering system for electromagnetic wave angle measurement proposed in this embodiment can be seen as follows: Figure 2 As shown, the angle rejection filtering system 20 includes an interval quantization module 201, a measurement angle quantization module 202, an outlier rejection module 203, and a smoothing filtering module 204.

[0056] The interval quantization module 201 is used to obtain the angle measurement range and angle measurement accuracy of the electromagnetic wave angle measurement system 30. Based on the measured angle accuracy, the angle measurement range is quantized into several quantization intervals, and each quantization interval is assigned a unique number.

[0057] The angle measurement quantization module 202 is used to quantify each measurement angle measured by the electromagnetic wave angle measurement system 30 in the current measurement task based on the angle measurement accuracy, determine the quantization interval into which each measurement angle falls, and use the number of the quantization interval into which each measurement angle falls as the quantization information corresponding to each measurement angle. The electromagnetic wave angle measurement system 30 measures several measurement angles in one measurement task.

[0058] The outlier removal module 203 is used to determine the target interval based on the quantization information, obtain the number of measurement angles falling into the target interval, and each measurement angle falling into the target interval.

[0059] The smoothing filter module 204 is used to calculate the average value of each measurement angle falling into the target interval, and output the average value as the final measurement angle of the electromagnetic wave angle measurement system 30 for the current measurement task.

[0060] It is not difficult to see that this embodiment is a system embodiment corresponding to the above method embodiments, and this embodiment can be implemented in conjunction with the above method embodiments. The relevant technical details and effects mentioned in the above method embodiments are still valid in this embodiment, and will not be repeated here to reduce repetition. Accordingly, the relevant technical details mentioned in this embodiment can also be applied to the above method embodiments.

[0061] It is worth mentioning that all modules involved in this embodiment are logical modules. In practical applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. Furthermore, to highlight the innovative aspects of this application, this embodiment does not introduce units that are not closely related to solving the technical problems proposed in this application; however, this does not mean that other units are absent in this embodiment.

[0062] Another embodiment of this application provides an electronic device, such as Figure 3 As shown, it includes: at least one processor 401; and a memory 402 communicatively connected to the at least one processor 401; wherein the memory 402 stores instructions executable by the at least one processor 401, the instructions being executed by the at least one processor 401 to enable the at least one processor 401 to perform an angle rejection filtering method for electromagnetic wave angle measurement as described in the above-described method embodiments.

[0063] The memory and processor are connected via a bus, which can include any number of interconnecting buses and bridges, connecting various circuits of one or more processors and memories. The bus can also connect various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and will not be described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over the wireless medium via an antenna, which further receives data and transmits it to the processor.

[0064] The processor manages the bus and general processing, and also provides various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory is used to store data used by the processor during operation.

[0065] Another embodiment of this application relates to a computer-readable storage medium storing a computer program. When executed by a processor, the computer program can implement an angle rejection filtering method for electromagnetic wave angle measurement as described in the above-described method embodiments.

[0066] That is, those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. This program is stored in a storage medium and includes several instructions to cause a device (which may be a microcontroller, chip, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0067] Those skilled in the art will understand that the above embodiments are specific embodiments for implementing this application, and in practical applications, various changes can be made to them in form and detail without departing from the spirit and scope of this application.

Claims

1. An angle rejection filtering method for electromagnetic wave angle measurement, characterized in that, include: The angle measurement range and angle measurement accuracy of the electromagnetic wave angle measurement system are obtained. Based on the angle measurement accuracy, the angle measurement range is quantized into several quantization intervals, and each quantization interval is assigned a unique number. Based on the aforementioned angle measurement accuracy, the electromagnetic wave angle measurement system quantizes each measured angle in the current measurement task, determines the quantization interval into which each measured angle falls, and assigns the number of the quantization interval into which each measured angle falls as the quantization information corresponding to each measured angle; wherein, the electromagnetic wave angle measurement system measures several measured angles in one measurement task. Based on the quantification information, a target interval is determined, and the number of measurement angles falling into the target interval and each measurement angle falling into the target interval are obtained. Calculate the average value of each measurement angle falling within the target interval, and use the average value as the final measurement angle of the electromagnetic wave angle measurement system for the current measurement task and output it.

2. The angle rejection filtering method for electromagnetic wave angle measurement as described in claim 1, characterized in that, Before quantifying the measured angles obtained by the electromagnetic wave angle measurement system in the current measurement task based on the angle measurement accuracy, the method further includes: A first one-dimensional array and a second one-dimensional array, both of length M, are established, and the first one-dimensional array and the second one-dimensional array are initialized after the electromagnetic wave angle measurement system is powered on; where M is an integer greater than 1. Based on the angle measurement accuracy, the electromagnetic wave angle measurement system quantizes each measured angle in the current measurement task, determines the quantization interval into which each measured angle falls, and assigns the number of the quantization interval into which each measured angle falls as the quantization information corresponding to each measured angle, including: The electromagnetic wave angle measurement system obtains each measurement angle in the current measurement task and stores each measurement angle in the first one-dimensional array. When the first one-dimensional array is full, if a new measurement angle is obtained, the first element in the first one-dimensional array is deleted, the remaining elements are shifted forward one position, and the newly obtained measurement angle is stored in the Mth position in the first one-dimensional array. Based on the angle measurement accuracy, each measured angle stored in the first one-dimensional array is quantized to determine the quantization interval into which each measured angle falls. The number of the quantization interval into which each measured angle falls is used as the quantization information corresponding to each measured angle and stored in the second one-dimensional array. When the second one-dimensional array is full, if a new quantization information is obtained, the first element in the second one-dimensional array is deleted, the remaining elements are shifted forward by one position, and the newly obtained quantization information is stored in the Mth position in the second one-dimensional array.

3. The angle rejection filtering method for electromagnetic wave angle measurement as described in claim 2, characterized in that, Before determining the target interval based on the quantization information, obtaining the number of measurement angles falling within the target interval, and each measurement angle falling within the target interval, the method further includes: Based on the quantization information stored in the second one-dimensional array, the number of measurement angles falling into each quantization interval is counted, and a two-dimensional array is established to store the number of measurement angles falling into each quantization interval and the measurement angles themselves in the two-dimensional array; wherein, in the two-dimensional array, each quantization interval can fall into at most M measurement angles.

4. The angle rejection filtering method for electromagnetic wave angle measurement as described in claim 3, characterized in that, Determining the target interval based on the quantified information includes: In the two-dimensional array, find the quantization interval that falls into the measurement angle most frequently, and determine the quantization interval that falls into the measurement angle most frequently as the target interval.

5. The angle rejection filtering method for electromagnetic wave angle measurement as described in claim 3, characterized in that, Determining the target interval based on the quantified information includes: In the two-dimensional array, find the quantization intervals that fall into the most, second most, and third most measurement angles, and determine the quantization intervals that fall into the most, second most, and third most measurement angles as the target intervals.

6. The angle rejection filtering method for electromagnetic wave angle measurement as described in claim 2, characterized in that, The method further includes: When the number of measured angles measured by the electromagnetic wave angle measurement system in the current measurement task is less than M, each measured angle is only stored in the first one-dimensional array, and the measured angle is not quantized. When the electromagnetic wave angle measurement system measures M angles in the current measurement task, it quantizes each measurement angle stored in the first one-dimensional array based on the angle measurement accuracy, determines the quantization interval into which each measurement angle falls, and stores the number of the quantization interval into which each measurement angle falls as the quantization information corresponding to each measurement angle in the second one-dimensional array.

7. The angle rejection filtering method for electromagnetic wave angle measurement as described in any one of claims 1 to 6, characterized in that, Based on the angle measurement accuracy, the angle measurement range is quantized into several quantization intervals using the following formula: Where range represents the angle measurement range, α represents the angle measurement accuracy, ceil(·) is the floor function, and N represents the number of quantization intervals.

8. An angle rejection filtering system for electromagnetic wave angle measurement, characterized in that, The system includes an interval quantization module, a measurement angle quantization module, an outlier removal module, and a smoothing filter module. The interval quantization module is used to obtain the angle measurement range and angle measurement accuracy of the electromagnetic wave angle measurement system. Based on the angle measurement accuracy, the angle measurement range is quantized into several quantization intervals, and each quantization interval is assigned a unique number. The measurement angle quantization module is used to quantify each measurement angle measured by the electromagnetic wave angle measurement system in the current measurement task based on the angle measurement accuracy, determine the quantization interval in which each measurement angle falls, and use the number of the quantization interval in which each measurement angle falls as the quantization information corresponding to each measurement angle. The electromagnetic wave angle measurement system measures several measurement angles in one measurement task. The outlier removal module is used to determine the target interval based on the quantization information, obtain the number of measurement angles falling into the target interval, and each measurement angle falling into the target interval. The smoothing filter module is used to calculate the average value of each measurement angle falling into the target interval, and to output the average value as the final measurement angle of the electromagnetic wave angle measurement system for the current measurement task.

9. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enables the at least one processor to perform an angle rejection filtering method for electromagnetic wave angle measurement as described in any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements an angle rejection filtering method for electromagnetic wave angle measurement as described in any one of claims 1 to 7.

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