Signal direction finding method, system, storage medium and electronic device

Abstract

The present disclosure relates to the field of radio monitoring, and in particular to a signal direction finding method, system, storage medium and electronic device. The method includes: based on an N-element directional antenna array, collecting radio signals in space to obtain a composite radio signal, wherein N is greater than or equal to 2; based on a single-channel receiver, receiving the composite radio signal, and performing signal conversion on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal; based on the baseband signal, calculating the array signal parameters of the N-element directional antenna array, the array signal parameters include the array element amplitude of each array element in the N-element directional antenna array and the phase difference between two array elements; according to the array signal parameters, determining the incoming wave direction of the radio signal in space. By combining the N-element directional antenna array with a single-channel receiver, the sensitivity is improved, the mutual coupling effect is reduced, the system architecture is simplified and the cost is reduced, providing a new solution for signal direction finding.

Description

Technical Field

[0001] The present disclosure relates to the field of radio monitoring, and in particular to a signal direction finding method, system, storage medium and electronic equipment. Background Art

[0002] Signal direction finding technology has always attracted extensive attention as a key technology in many fields such as wireless communication, radar detection, and sonar positioning. Signal direction finding is not only related to the stability and security of the communication system, but also directly affects the accuracy and efficiency of radar detection.

[0003] Therefore, with the continuous development of science and technology, the complexity of the signal environment is increasing. Especially in a dense signal environment, how to accurately and efficiently identify and locate the signal source has become an urgent problem to be solved. Summary of the invention

[0004] The main purpose of the present disclosure is to provide a signal direction finding method, system, storage medium and electronic device, aiming to solve the technical problems of poor direction finding accuracy and anti-interference ability in the prior art.

[0005] To achieve the above object, the present disclosure proposes a signal direction finding method, comprising:

[0006] Based on an N-element directional antenna array, radio signals in space are collected to obtain a composite radio signal, where N is greater than or equal to 2;

[0007] Based on a single-channel receiver, the composite radio signal is received, and signal conversion is performed on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal;

[0008] Based on the baseband signal, calculate array signal parameters of the N-element directional antenna array, wherein the array signal parameters include array element amplitudes of each array element in the N-element directional antenna array and phase differences between each two array elements;

[0009] The arrival direction of the radio signal in space is determined according to the array signal parameters.

[0010] Optionally, the collecting of radio signals in space based on an N-element directional antenna array to obtain a composite radio signal includes:

[0011] Based on an N-element directional antenna array, radio signals in space are collected to obtain at least two array element signals;

[0012] The at least two array element signals are subjected to phase shift processing and then combined to obtain a composite radio signal.

[0013] Optionally, performing phase shift processing on the at least two array element signals and then combining them to obtain a composite radio signal includes:

[0014] In a current time slice, using an N-to-2 electronic switch, select a first array element group from the N-element directional antenna array, the first array element group includes a first array element and a second array element, and the first array element and the second array element are any two array elements in the N-element directional antenna array;

[0015] Acquire signals received by two array elements in the first array element group to obtain a first array element signal and a second array element signal;

[0016] Performing a phase shift operation on the first array element signal to obtain a first target array element signal;

[0017] Inputting the first target array element signal and the second array element signal into a combiner simultaneously to obtain a first combined signal output by the combiner;

[0018] The composite radio signal is determined according to the first combined signal.

[0019] Optionally, determining the composite radio signal according to the first combined signal includes:

[0020] Switching to the next time slice corresponding to the current time slice;

[0021] In the next time slice, using an N-to-2 electronic switch, select a second array element group from the N-element directional antenna array;

[0022] Determining a second combined signal based on the second array element group;

[0023] Determining the composite radio signal according to the first combined signal and the second combined signal;

[0024] wherein the second array element group includes a third array element and a fourth array element; or

[0025] The second array element group includes any one of the third array element and the fourth array element, and any one of the first array element and the second array element;

[0026] The third array element and the fourth array element are any two array elements in the N-element directional antenna array except the first array element and the second array element.

[0027] Optionally, the determining a second combined signal based on the second array element group includes:

[0028] Acquire signals received by two array elements in the second array element group to obtain a third array element signal and a fourth array element signal;

[0029] Performing a phase shift operation on the third array element signal to obtain a second target array element signal;

[0030] The second target array element signal and the fourth array element signal are simultaneously input into a combiner to obtain a second combined signal output by the combiner.

[0031] Optionally, performing a phase shift operation on the first array element signal to obtain a first target array element signal includes:

[0032] Obtaining a preset first phase shift and a phase shift difference, wherein the phase shift difference is a phase difference between the phase shift phase when each phase shift is performed and the phase shift phase when the last phase shift is performed;

[0033] Determining a target phase shift number corresponding to the first array element signal according to the first phase shift phase and the phase shift phase difference;

[0034] Based on the first phase shift, the target phase shift number, and the phase shift phase difference, a phase shift operation is performed on the first array element signal to obtain the first target array element signal.

[0035] Optionally, when the phase shift phase difference is 90 degrees, the target phase shift times is three or four times.

[0036] Optionally, the calculating, based on the baseband signal, an array signal parameter of the N-element directional antenna array includes:

[0037] Acquire an amplitude parameter of IQ data corresponding to the first array element signal;

[0038] The IQ data is obtained by synthesizing a phase-shifted array element signal corresponding to the first array element signal and the second array element signal, and the phase-shifted array element signal is obtained by performing a phase shift operation on the first array element signal;

[0039] Calculating a phase difference between the first array element signal and the second array element signal according to the amplitude parameter;

[0040] A first amplitude of the first array element and a second amplitude of the second array element are calculated according to the phase difference.

[0041] Optionally, determining the arrival direction of the radio signal in space according to the array signal parameter includes:

[0042] Performing amplitude comparison direction finding according to the array element amplitude of each array element in the N-element directional antenna array to obtain a rough direction finding result of the radio signal, wherein the rough direction finding result includes a rough measured incoming wave direction of the radio signal;

[0043] Determining a signal search range for fine direction finding according to the coarse direction finding result;

[0044] Fine direction finding is performed according to the coarse direction finding result, the phase difference between two array elements and the signal search range to obtain the incoming direction of the radio signal.

[0045] Optionally, performing amplitude comparison direction finding according to the array element amplitude of each array element in the N-element directional antenna array to obtain a coarse direction finding result of the radio signal includes:

[0046] Determine the array element with the largest amplitude in the N-element directional antenna array;

[0047] Mapping the position of the array element with the largest amplitude to a preset direction finding range width to obtain a relative position corresponding to the array element with the largest amplitude;

[0048] According to the relative position, a rough estimated incoming direction of the radio signal is determined.

[0049] Optionally, determining a signal search range for fine direction finding according to the coarse direction finding result includes:

[0050] Determining the center position of the search range according to the rough direction finding result;

[0051] Determining an angle parameter for expanding a search range according to the direction finding range width and the number of array elements of the N-element directional antenna array;

[0052] Based on the center position and the angle parameter, a signal search range for precise direction finding is determined.

[0053] Optionally, the N-element directional antenna array includes a uniform circular array, a linear array, a planar array and an irregular array;

[0054] The main lobes of the directional antennas in the N-element directional antenna array face the same or different directions.

[0055] In addition, to achieve the above objectives, the present disclosure also provides a signal direction finding system, including:

[0056] An N-element directional antenna array is used to collect radio signals in space, the radio signals coming from different directions or specific directions, wherein N is greater than or equal to 2;

[0057] A radio signal processing device, connected to the N-element directional antenna array, for performing signal processing on the radio signal to obtain a composite radio signal corresponding to the radio signal;

[0058] a single-channel receiver connected to the radio signal processing device and used to perform signal conversion on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal;

[0059] The signal direction finding device is used to determine the arrival direction of the radio signal in space based on the baseband signal.

[0060] Optionally, the radio signal processing device includes:

[0061] An N-to-2 electronic switch connected to the N-element directional antenna array and used to select a first array element signal and a second array element signal from the radio signals collected by the N-element directional antenna array;

[0062] a phase shifter, connected to the N-to-2 electronic switch, and configured to perform a phase shift operation on the first array element signal to obtain a first target array element signal;

[0063] A combiner is connected to the N-to-2 electronic switch and the phase shifter respectively, and is used to combine the second array element signal and the first target array element signal to obtain the composite radio signal.

[0064] Optionally, the signal direction finding device comprises:

[0065] A first calculation module is used to calculate array signal parameters of the N-element directional antenna array based on the baseband signal, wherein the array signal parameters include an array element amplitude of each array element in the N-element directional antenna array and a phase difference between two array elements;

[0066] The second calculation module is used to calculate the arrival direction of the radio signal according to the array signal parameters.

[0067] In addition, to achieve the above objectives, the present disclosure also provides a computer-readable storage medium, on which a computer program is stored, and a processor executes the computer program to implement the above method.

[0068] In addition, to achieve the above-mentioned purpose, the present disclosure also provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-mentioned method.

[0069] Compared with the prior art, the technical solution described in this application has the following beneficial effects:

[0070] On the one hand, under the same radiation power, directional antennas have lower peak sidelobe ratios and stronger directional pointing than omnidirectional antennas. The method described in the present application is based on an N-element directional antenna array to collect radio signals in space and obtain a composite radio signal, so that the method can more effectively focus on signals in a specific direction and suppress interference from other directions, thereby improving the sensitivity and accuracy of direction finding. At the same time, the directional gain effect of directional antennas in space enables the system to maintain good signal reception capabilities at a longer distance, expanding the application range of the direction finding system. At the same time, the mutual coupling effect between array elements is significantly reduced compared to the omnidirectional antenna array, thereby reducing the direction finding error caused by mutual coupling and improving the direction finding accuracy and reliability of the system.

[0071] On the other hand, the method described in the present application is based on a single-channel receiver, which receives a composite radio signal and performs signal conversion on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal, and then calculates the array signal parameters of the N-element directional antenna array based on the baseband signal, and finally calculates the incoming direction of the radio signal based on the array signal parameters. That is, the use of a single-channel receiver to replace the traditional multi-channel receiver greatly simplifies the system architecture, reduces the size and weight of the equipment, and makes the system more portable and easy to deploy. At the same time, the use of a single-channel receiver also significantly reduces the equipment cost, which is conducive to the popularization and application of direction finding technology.

[0072] That is to say, the method described in this application adopts a signal direction finding method combining an N-element directional antenna array and a single-channel receiver, which shows significant technical progress in enhancing directivity, improving sensitivity, reducing mutual coupling effects, simplifying system architecture and reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0073] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0074] Figure 1 A schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present disclosure;

[0075] Figure 2 A schematic diagram of a flow chart of a signal direction finding method involved in an embodiment of the present disclosure;

[0076] Figure 3 A structural block diagram of a signal direction finding system involved in an embodiment of the present disclosure;

[0077] Figure 4 The present invention is a structural block diagram of a signal direction finding device involved in an embodiment of the present disclosure.

[0078] The realization of the objectives, functional features and advantages of the present disclosure will be further described in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0079] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present disclosure.

[0080] Reference Figure 1 , Figure 1 The figure is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present disclosure.

[0081] Typically, the device comprises: at least one processor 301, a memory 302, and a signal direction finding program stored in the memory 302 and executable on the processor 301, wherein the signal direction finding program is configured to implement the steps of the signal direction finding method as described above.

[0082] The processor 301 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 301 may be implemented in at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 301 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a CPU (Central Processing Unit); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 301 may be integrated with a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the display screen. The processor 301 may also include an AI (Artificial Intelligence) processor, which is used to process operations related to the signal direction finding method, so that the signal direction finding method model can be trained and learned autonomously to improve efficiency and accuracy.

[0083] The memory 302 may include one or more storage media, which may be non-transitory. The memory 302 may also include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In some embodiments, the non-transitory storage medium in the memory 302 is used to store at least one instruction, which is used to be executed by the processor 301 to implement the signal direction finding method provided in the method embodiment of the present disclosure.

[0084] In some embodiments, the terminal may further optionally include: a communication interface 303 and at least one peripheral device. The processor 301, the memory 302 and the communication interface 303 may be connected via a bus or a signal line. Each peripheral device may be connected to the communication interface 303 via a bus, a signal line or a circuit board. Specifically, the peripheral device includes: at least one of a radio frequency circuit 304, a display screen 305 and a power supply 306.

[0085] The communication interface 303 may be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 301 and the memory 302. In some embodiments, the processor 301, the memory 302, and the communication interface 303 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 301, the memory 302, and the communication interface 303 may be implemented on a separate chip or circuit board, which is not limited in this embodiment.

[0086] The radio frequency circuit 304 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 304 communicates with the communication network and other communication devices through electromagnetic signals. The radio frequency circuit 304 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 304 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, and the like. The radio frequency circuit 304 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes, but is not limited to: a metropolitan area network, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 304 may also include circuits related to NFC (Near Field Communication), which is not limited in the present disclosure.

[0087] The display screen 305 is used to display the UI (User Interface). The UI may include graphics, text, icons, videos, and any combination thereof. When the display screen 305 is a touch display screen, the display screen 305 also has the ability to collect touch signals on the surface or above the surface of the display screen 305. The touch signal can be input to the processor 301 as a control signal for processing. At this time, the display screen 305 can also be used to provide virtual buttons and / or virtual keyboards, also known as soft buttons and / or soft keyboards. In some embodiments, the display screen 305 can be one, the front panel of the electronic device; in other embodiments, the display screen 305 can be at least two, respectively arranged on different surfaces of the electronic device or in a folding design; in some embodiments, the display screen 305 can be a flexible display screen, arranged on a curved surface or a folding surface of the electronic device. Even, the display screen 305 can also be set to a non-rectangular irregular shape, that is, a special-shaped screen. The display screen 305 can be made of materials such as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode, organic light-emitting diode).

[0088] The power supply 306 is used to power various components in the electronic device. The power supply 306 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When the power supply 306 includes a rechargeable battery, the rechargeable battery can support wired charging or wireless charging. The rechargeable battery can also be used to support fast charging technology. Those skilled in the art will understand that Figure 1 The structure shown in the figure does not constitute a limitation of the device, and may include more or less components than shown in the figure, or combine certain components, or arrange the components differently.

[0089] In addition, the embodiment of the present disclosure further proposes a storage medium, on which a signal direction finding program is stored, and when the signal direction finding program is executed by a processor, the steps of the signal direction finding method described above are implemented. Therefore, it will not be described in detail here. In addition, the description of the beneficial effects of adopting the same method will not be described in detail. For technical details not disclosed in the storage medium embodiment involved in the present disclosure, please refer to the description of the method embodiment of the present disclosure. As an example, the program instructions can be deployed to be executed on one device, or on multiple devices located at one location, or on multiple devices distributed at multiple locations and interconnected by a communication network.

[0090] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the above-mentioned program can be stored in a storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, the above-mentioned storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0091] In related technologies, omnidirectional antenna arrays are usually used in combination with multi-channel receivers to achieve accurate sampling and positioning of spatial signals. This solution uses the spatial resolution capability of the antenna array and combines it with signal processing technology to identify and determine the direction of the signal source in a complex electromagnetic environment. The omnidirectional antenna array is simple in design and can receive signals from all directions, providing a wealth of signal samples for multi-channel receivers. It is a basic and widely used method in direction finding technology.

[0092] Although the direction finding system of omnidirectional antenna array combined with multi-channel receiver has shown certain practicality in practice, it still has significant technical limitations.

[0093] First, the signal gain of omnidirectional antenna arrays is generally small, which means that when receiving long-distance or weak signals, the system's direction finding sensitivity is low, making it difficult to capture useful signal information, affecting the accuracy and reliability of direction finding.

[0094] Secondly, although the introduction of multi-channel receivers improves the flexibility and accuracy of signal processing, it also brings high equipment costs, large size and excessive weight, which limit the popularity and application of this technology in portable and mobile application scenarios.

[0095] In addition, in the design of omnidirectional antenna arrays, electromagnetic interference occurs between adjacent antenna units in the array. This interference will change the radiation and reception characteristics of the antenna units, thereby affecting the beamforming effect and direction finding performance of the entire array. Specifically, mutual coupling may increase the error in the direction finding algorithm, causing the direction finding results to deviate from the actual signal source position, thereby reducing the accuracy and stability of the direction finding.

[0096] Therefore, in the development of direction-finding technology that pursues higher accuracy and wider applicability, how to solve problems such as low signal gain of omnidirectional antenna arrays, high cost of multi-channel receivers, and mutual coupling between array elements has become an important direction of current research.

[0097] In view of this, the present disclosure provides a signal direction finding method, system, storage medium and electronic device to solve the above technical problems.

[0098] Reference Figure 2 , Figure 2 The present invention is a flow chart of a signal direction finding method according to an embodiment of the present invention, comprising the following steps:

[0099] Step S11: Based on an N-element directional antenna array, radio signals in space are collected to obtain a composite radio signal, where N is greater than or equal to 2.

[0100] Step S12: Based on the single-channel receiver, the composite radio signal is received, and signal conversion is performed on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal.

[0101] Step S13: Calculate array signal parameters of the N-element directional antenna array based on the baseband signal. The array signal parameters include the array element amplitude of each array element in the N-element directional antenna array and the phase difference between any two array elements.

[0102] Step S14: Determine the arrival direction of the radio signal in space according to the array signal parameters.

[0103] In a possible manner, based on an N-element directional antenna array, radio signals in space are collected to obtain composite radio signals, including:

[0104] Based on an N-element directional antenna array, radio signals in space are collected to obtain at least two array element signals;

[0105] After phase shifting processing is performed on at least two array element signals, a combination processing is performed to obtain a composite radio signal.

[0106] For example, the N-element directional antenna array in the present disclosure can be arranged at corresponding positions according to actual needs so as to cover and distinguish radio signals from different directions. Each antenna (or "array element") has a certain directivity and can receive radio waves in the direction it points to. Therefore, each array element can collect radio signals in space to obtain at least two array element signals, which may come from different directions and have different frequencies and phases.

[0107] Since the signals received by different array elements may have different phase differences, it is necessary to perform phase shifting processing on these signals to eliminate or adjust these phase differences. The specific parameters of the phase shifting processing can be determined according to the geometric layout of the array, the incident direction of the signal, and the desired beamforming effect, and the embodiments of the present disclosure are not limited to this.

[0108] After the phase shifting, the phase of the array element signal has been adjusted and can be combined into a single composite radio signal. This can be achieved by using a signal adder or similar circuit to add all the array element signals. For example, all the array element signals after phase shifting are input into a combiner, and the combiner outputs the superposition result of all signals, that is, the composite radio signal.

[0109] In a possible manner, at least two array element signals are subjected to phase shift processing and then combined to obtain a composite radio signal, including:

[0110] In the current time slice, a first array element group is selected from the N-element directional antenna array by using an N-to-2 electronic switch, the first array element group includes a first array element and a second array element, and the first array element and the second array element are any two array elements in the N-element directional antenna array;

[0111] Acquire signals received by two array elements in the first array element group to obtain a first array element signal and a second array element signal;

[0112] Performing a phase shift operation on the first array element signal to obtain a first target array element signal;

[0113] Inputting the first target array element signal and the second array element signal into the combiner at the same time to obtain a first combined signal output by the combiner;

[0114] A composite radio signal is determined according to the first combined signal.

[0115] For example, the present disclosure adopts a time rotation method, that is, in different time slices, two different array element combinations are selected for signal processing. The advantage of this method is that all possible array element combinations can be traversed, so as to receive and process signals more comprehensively. In each time slice, the N-to-2 electronic switch selects two uncombined array elements from the N array elements for receiving signals; for example, in the current time slice, the first array element and the second array element are selected; in the next time slice, the first array element and the third array element are selected; in the next time slice, the third array element and the fourth array element are selected, etc.

[0116] In order to achieve a certain specific relationship in phase between the first array element signal and the second array element signal, such as to enhance or suppress signals in certain directions, a phase shift operation may be performed on the first array element signal received by the first array element. The first array element signal after phase shift is called the first target array element signal.

[0117] In order to combine the first array element signal and the second array element signal into one signal, the first target array element signal and the second array element signal after phase shifting are simultaneously input into the combiner to obtain a first combined signal. The combining process may include signal addition, subtraction or other forms of combination, which will not be described in detail in this disclosure.

[0118] In order to obtain signal information from different directions more comprehensively, after obtaining multiple array element combination signals in multiple time slices, they are integrated, that is, a composite radio signal can be determined based on the first combined signal output by the combiner. The composite radio signal refers to the collection of signals received and processed by different array element combinations in multiple time slices.

[0119] It is worth noting that after the first array element group is determined, the array element signal for phase shift operation is randomly selected, so the second array element signal can also be phase shifted to adjust its phase, thereby achieving a certain specific relationship in phase with the first array element signal.

[0120] It can be seen that the present application adopts the time-shifting mode, utilizes an N-element directional antenna array to receive radio signals, and finally generates a composite radio signal by selecting different array element combinations, phase shifting operations, and combining processes. This improves the flexibility and comprehensiveness of signal reception, and helps to better analyze and process radio signals from different directions.

[0121] In a possible manner, determining a composite radio signal according to the first combined signal includes:

[0122] Switch to the next time slice corresponding to the current time slice;

[0123] In the next time slice, a second array element group is selected from the N-element directional antenna array using an N-to-2 electronic switch;

[0124] Determining a second combined signal based on the second array element group;

[0125] determining a composite radio signal according to the first combined signal and the second combined signal;

[0126] wherein the second array element group includes a third array element and a fourth array element; or

[0127] The second array element group includes any one of the third array element and the fourth array element, and any one of the first array element and the second array element, wherein the third array element and the fourth array element are any two array elements other than the first array element and the second array element in the N-element directional antenna array.

[0128] It should be understood that in a time-rotating slice system, after the current time slice is processed, the system will automatically switch to the next time slice and continue until all array element combinations are processed to ensure that each time slice can be traversed.

[0129] Therefore, in order to obtain maximum information, in the next time slice, the N-to-2 electronic switch will work again to reselect two array elements from the N-element directional antenna array as the second array element group. These two array elements can be previously unused or include one of the previously used elements, so as to process all possible array element combinations in the array element array, that is, to avoid reusing the same array element combination.

[0130] Similar to the generation of the first combined signal, the third array element signal is processed as necessary (such as phase shift, amplification, etc.), and then the processed third array element signal and the fourth array element signal are simultaneously input into the combiner. The combiner combines the two signals into a second combined signal according to a predetermined rule (such as addition, subtraction, weighted sum, etc.).

[0131] The composite radio signal is obtained based on the combined signals generated in all time slices. In this case, there are already two signals corresponding to two time slices, namely the first combined signal and the second combined signal. In a more complex multi-time slice system, there will be more combined signals. For example, if a system is divided into N time slices, N combined signals will be obtained in the end.

[0132] The determination of the composite radio signal may include one or more of the following steps:

[0133] Signal accumulation: All combined signals are accumulated to obtain a total signal strength or characteristic.

[0134] Signal processing: Further signal processing is performed on the accumulated signal, such as filtering, denoising, feature extraction, etc.

[0135] Signal analysis: Analyze and process the signal after it has been processed to extract useful information, such as the direction, strength, and frequency of the signal.

[0136] The method for determining the composite radio signal may vary depending on the application scenario. In practical applications, it can be adjusted according to the actual situation to select the most appropriate strategy according to the needs. The embodiments of the present disclosure are not limited to this.

[0137] In a possible manner, determining a second combined signal based on the second array element group includes:

[0138] Acquire signals received by two array elements in the second array element group to obtain a third array element signal and a fourth array element signal;

[0139] Performing a phase shift operation on the third array element signal to obtain a second target array element signal;

[0140] The second target array element signal and the fourth array element signal are simultaneously input into the combiner to obtain a second combined signal output by the combiner.

[0141] For example, based on the second array element group, the process of determining the second combined signal also includes performing phase shift processing on a signal in the second array element group, and combining the phase-shifted signal with another signal. For details, reference may be made to the processing process of the first array element group, which will not be described in detail here.

[0142] In a possible manner, performing a phase shift operation on the first array element signal to obtain a first target array element signal includes:

[0143] Obtaining a preset first phase shift and a phase shift difference, wherein the phase shift difference is a phase difference between the phase shift phase during each phase shift and the phase shift phase during the last phase shift;

[0144] Determining a target phase shift number corresponding to the first array element signal according to the first phase shift phase and the phase shift phase difference;

[0145] Based on the first phase shift, the target phase shift number and the phase shift difference, a phase shift operation is performed on the first array element signal to obtain a first target array element signal.

[0146] For example, the first phase shift phase may be a reference phase set when the first array element signal performs a phase shift operation, and is used to determine the starting point of the phase shift of all array element signals. It may be a randomly determined fixed value, or may be dynamically calculated according to a specific algorithm or application scenario. The phase shift phase difference is the phase difference between the phase shift phase when each phase shift is performed and the phase shift phase when the last phase shift is performed. The target phase shift number depends on the first phase shift phase and the phase shift phase difference. Therefore, the target phase shift number may be obtained by calculation based on the first phase shift phase and the phase shift phase difference.

[0147] In a possible manner, when the phase shift difference is 90 degrees, the target phase shift times is three or four times.

[0148] For example, in the present disclosure, the multiple phase shift phases can be , , …, , the phase shift difference is 90°, so it satisfies , , …, , in degrees, a total phase shift of times, the calculation can be determined or , after each phase shift, it needs to be synthesized with the signal received by another array element to obtain an IQ data stream. If the number of selections of the N-to-2 electronic switch is times, you need to collect IQ data for each time slice.

[0149] In a possible manner, the array signal parameters of the N-element directional antenna array are calculated based on the baseband signal, including:

[0150] Obtaining amplitude parameters of IQ data corresponding to the first array element signal;

[0151] The IQ data is obtained by synthesizing the phase-shifted array element signal corresponding to the first array element signal and the second array element signal, and the phase-shifted array element signal is obtained by performing a phase shift operation on the first array element signal;

[0152] The phase difference between the first array element signal and the second array element signal is calculated according to the amplitude parameter;

[0153] According to the phase difference, a first amplitude of the first array element and a second amplitude of the second array element are calculated.

[0154] For example, the target phase shift times is 3 times and the phase shift phase is , , ,and , For example, according to the signal vector synthesis, it can be deduced that:

[0155]

[0156] in, For array element With array element The phase difference between the two, the amplitude parameters of IQ data include , , , respectively, array elements The received signal is phase-shifted , , , and then with the array element The amplitude of the IQ data obtained after synthesizing the received signal. Based on the above calculation formula, according to the known , , , it can be calculated .

[0157] Calculate the phase difference After that, the following two-variable equations can be derived:

[0158]

[0159] Solving the two-variable equation system, we can get the array element The amplitude And array element The amplitude .

[0160] in, i , jis the array element number, and , the received signal amplitude of all array elements can be expressed as , N is the number of array elements.

[0161] In a possible manner, the arrival direction of the radio signal in space is determined according to the array signal parameters, including:

[0162] A rough direction finding result of the radio signal is obtained by performing amplitude comparison direction finding according to the array element amplitude of each array element in the N-element directional antenna array. The rough direction finding result includes the rough direction of the radio signal.

[0163] According to the coarse direction finding results, determine the signal search range for fine direction finding;

[0164] Based on the coarse direction finding results, the phase difference between each array element and the signal search range, precise direction finding is performed to obtain the incoming direction of the radio signal.

[0165] For example, amplitude direction finding is to determine the rough direction of the signal based on the difference in signal amplitudes received by different array elements. When a signal is incident from a certain direction, the signal amplitudes received by each array element will be different due to the wave path difference (i.e., the difference in path lengths for the signal to reach different array elements).

[0166] Specifically, the amplitude of the signal received by each array element is first measured and recorded. Then, by comparing these amplitude values, the rough direction of the signal can be inferred. Usually, the array element (or a group of array elements) with the largest signal amplitude points to the direction of the signal.

[0167] In a possible manner, performing amplitude comparison direction finding according to the array element amplitude of each element in the N-element directional antenna array to obtain a coarse direction finding result of the radio signal includes:

[0168] Determine the element with the largest amplitude in an N-element directional antenna array;

[0169] Mapping the position of the array element with the largest amplitude to the preset direction finding range width to obtain the relative position corresponding to the array element with the largest amplitude;

[0170] Based on the relative position, the rough incoming direction of the radio signal is determined.

[0171] Precise direction finding is usually based on the phase difference direction finding method, which uses the phase difference of the signal received between two array elements to calculate the direction of the signal. The phase difference is related to the direction of the signal, the array element spacing and the signal wavelength.

[0172] For example, the amplitude comparison direction finding method can be used to perform coarse direction finding, that is, the array element amplitude obtained by the above calculation is used. By comparison, we get , that is, determine the element with the largest amplitude in the N-element directional antenna array, and then map the position of the element with the largest amplitude to the preset direction finding range width On the top, the relative position of the array element with the largest amplitude is obtained, which can be expressed as:

[0173]

[0174] in, i is the array element number with the largest array element amplitude, is the direction finding range width, N is the number of array elements ( N ≥2).

[0175] In this way, the rough direction of the radio signal can be determined based on the relative position of the array element with the largest amplitude.

[0176] It should be understood that the coarse direction finding result gives a rough direction of the radio signal, but the accuracy is limited, and further fine direction finding is needed to improve the accuracy. Specifically, the coarse direction finding result can be used as the center to set a reasonable angle range as the signal search range. Therefore, in a possible way, according to the coarse direction finding result, the signal search range for fine direction finding is determined, including:

[0177] According to the coarse direction finding results, determine the center position of the search range;

[0178] Determine an angle parameter for expanding the search range according to the direction finding range width and the number of elements of the N-element directional antenna array;

[0179] Based on the center position and angle parameters, the signal search range for precise direction finding is determined.

[0180] For example, the relative position corresponding to the array element with the largest amplitude may be determined as the center position of the search range, that is:

[0181]

[0182] Then, according to the directional range width and the number of elements in the N-element directional antenna array, the angle parameter used to expand the search range is determined. x 1. x 2, which can be expressed as:

[0183]

[0184] In this way, the signal search range for precise direction finding can be expressed as:

[0185]

[0186] For example, if the direction finding range is 0°~359°, then ,x 1. x 2 can be determined based on actual conditions.

[0187] Then, the obtained rough direction finding result and the phase difference between two array elements are used to perform precise direction finding within the above-determined signal search range. Specifically, a direction finding algorithm such as a correlation interferometer or an array spectrum can be used for precise direction finding, which is not specifically limited in the embodiments of the present disclosure. Among them, the numbers of the array elements with larger array element amplitudes can be expressed as , , , . . . (number of array elements ≥ 2). In precise direction finding, only array elements , , , . . . , the pairwise phase difference of these array elements is , , ,…that’s it.

[0188] In a possible manner, the N-element directional antenna array includes a uniform circular array, a linear array, a planar array, and an irregular array;

[0189] The main lobes of the directional antennas in an N-element directional antenna array face the same or different directions.

[0190] For example, a uniform circular array consists of N directional antennas evenly distributed on the same circle. This array has omnidirectional coverage and can simplify some calculations by using the rotational symmetry of the array. When finding the direction, it can provide higher angular resolution and better reception capability for signals from different directions.

[0191] A linear array is a system where N directional antennas are arranged in a straight line. This array has the strongest directivity in a specific direction (such as the direction perpendicular to the array axis), but has weaker reception capabilities in other directions. Linear arrays are suitable for scenarios where high directivity is required and the direction of the signal source is roughly known.

[0192] The planar array consists of multiple antenna elements arranged on a two-dimensional plane and can be regarded as an extension of the linear array. The planar array can provide all-round coverage and higher angular resolution, and is suitable for scenarios that require simultaneous monitoring of multiple directions or three-dimensional spatial positioning.

[0193] There is no fixed pattern for the distribution of antenna elements in irregular arrays, and they can be flexibly arranged according to specific application requirements. This type of array may have unique advantages in specific scenarios, such as reducing mutual coupling effects and improving reception capabilities in specific directions.

[0194] In an N-element directional antenna array, the main lobes of the directional antennas can face the same or different directions. If the main lobes of all antennas face the same direction, the entire array will have the strongest receiving capability in this direction, which is suitable for scenarios where the approximate direction of the signal source is known.

[0195] If the main lobe of a directional antenna faces different directions, the array will be able to receive signals from multiple directions at the same time, but the reception capacity in each direction may be different. This configuration is suitable for scenarios where multiple directions need to be monitored or wide-angle scanning is required.

[0196] Different types of N-element directional antenna arrays and different main lobe direction configurations will directly affect the performance of signal direction finding. For example, a uniform circular array may be more suitable for scenarios that require omnidirectional coverage and high angular resolution, while a linear array may be more suitable for scenarios where the direction of the signal source is roughly known and high directivity is required.

[0197] The mutual coupling effect between directional antennas in the array is also affected by the array type and antenna configuration. By optimizing the array layout and antenna design, the mutual coupling effect can be reduced and the direction finding accuracy can be improved.

[0198] In summary, choosing the appropriate N-element directional antenna array type and configuration is crucial to achieving efficient and accurate signal direction finding.

[0199] Figure 3 FIG. 1 is a structural block diagram of a signal direction finding system involved in the embodiment of the present disclosure. Figure 3 As shown, the signal direction finding system includes:

[0200] An N-element directional antenna array is used to collect radio signals in space, the radio signals come from different directions or a specific direction, where N is greater than or equal to 2;

[0201] A radio signal processing device, connected to the N-element directional antenna array, for performing signal processing on the radio signal to obtain a composite radio signal corresponding to the radio signal;

[0202] A single-channel receiver, connected to the radio signal processing device, is used to perform signal conversion on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal;

[0203] A signal direction finding device is used to determine the arrival direction of a radio signal in space based on a baseband signal.

[0204] Through this signal direction-finding system, an N-element directional antenna array is used to accurately capture radio signals from different or specific directions, and a radio signal processing device is used to efficiently process the composite RF signal. Subsequently, a single-channel receiver converts the RF signal into a baseband signal, which significantly simplifies the system architecture and reduces costs. Ultimately, the signal direction-finding device accurately determines the incoming direction of the radio signal in space based on the processed baseband signal, achieving an efficient, accurate and cost-effective signal direction-finding technology effect.

[0205] In a possible manner, the radio signal processing device includes:

[0206] An N-to-2 electronic switch connected to the N-element directional antenna array and used to select a first array element signal and a second array element signal from radio signals collected by the N-element directional antenna array;

[0207] A phase shifter, connected to the N-to-2 electronic switch, for performing a phase shift operation on the first array element signal;

[0208] The combiner is connected to the N-to-2 electronic switch and the phase shifter respectively, and is used to combine the second array element signal with the first target array element signal output by the phase shifter to obtain a composite radio signal.

[0209] Through this radio signal processing device, two signals in the N-element directional antenna array are flexibly selected through an N-to-2 electronic switch, one of the signals is phase-adjusted using a phase shifter, and the adjusted signal is combined with the other signal through a combiner to generate a composite radio signal. This process effectively simplifies the signal preprocessing steps, while retaining the phase difference information between the signals, providing high-quality RF signals for subsequent direction finding, and improving the overall performance and accuracy of the signal direction finding system.

[0210] Reference Figure 4 , Figure 4 This is a structural block diagram of a signal direction finding device involved in an embodiment of the present disclosure. Based on the same inventive concept as the above embodiment, the device includes:

[0211] A first calculation module 10 is used to calculate array signal parameters of the N-element directional antenna array based on the baseband signal, wherein the array signal parameters include an array element amplitude of each array element in the N-element directional antenna array and a phase difference between two array elements;

[0212] The second calculation module 20 is used to calculate the arrival direction of the radio signal according to the array signal parameters.

[0213] Optionally, the signal direction finding device further includes a control module, and the control module is used to:

[0214] Sending a signal receiving instruction to an N-element directional antenna array, so as to collect radio signals in space based on the N-element directional antenna array to obtain a composite radio signal, wherein N is greater than or equal to 2;

[0215] And a signal conversion instruction is sent to the single-channel receiver, so that the composite radio signal is received based on the single-channel receiver, and the composite radio signal is converted to obtain a baseband signal corresponding to the composite radio signal.

[0216] It should be noted that, since the steps executed by the device of this embodiment are the same as the steps of the aforementioned method embodiment, its specific implementation method and the technical effects that can be achieved can refer to the aforementioned embodiment and will not be repeated here.

[0217] In addition, in one embodiment, an embodiment of the present disclosure further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory, and the computer program implements the steps of the method in the aforementioned embodiment when executed by the processor.

[0218] In addition, in one embodiment, an embodiment of the present disclosure further provides a computer storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method in the aforementioned embodiment are implemented.

[0219] In some embodiments, the computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, flash memory, magnetic surface memory, optical disk, or CD-ROM; or various devices including one or any combination of the above memories. The computer may be various computing devices including intelligent terminals and servers.

[0220] In some embodiments, executable instructions may be in the form of a program, software, software module, script or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine or other unit suitable for use in a computing environment.

[0221] As an example, executable instructions may, but need not, correspond to a file in a file system, may be stored as part of a file storing other programs or data, such as in one or more scripts in a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (e.g., files storing one or more modules, subroutines, or code portions).

[0222] By way of example, executable instructions may be deployed to be executed on one computing device, or on multiple computing devices located at one site, or on multiple computing devices distributed across multiple sites and interconnected by a communication network.

[0223] It should be noted that, in this article, the terms "include", "may include" or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0224] The serial numbers of the above-mentioned embodiments of the present disclosure are only for description and do not represent the advantages or disadvantages of the embodiments.

[0225] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present disclosure, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory / random access memory, a magnetic disk, or an optical disk), and includes a number of instructions for enabling a multimedia terminal device (which can be a mobile phone, a computer, a television receiver, or a network device, etc.) to execute the methods described in each embodiment of the present disclosure.

[0226] The above descriptions are only optional embodiments of the present disclosure, and are not intended to limit the patent scope of the present disclosure. All equivalent structural transformations made using the contents of the present disclosure and the drawings under the inventive concept of the present disclosure, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present disclosure.

Claims

1. A signal direction finding method, characterized in that: Applied to signal direction finding systems, including: Based on an N-element directional antenna array, radio signals in space are collected to obtain at least two array element signals; the at least two array element signals are subjected to phase shift processing and then combined to obtain a composite radio signal; wherein N is greater than or equal to 2; the at least two array element signals are subjected to phase shift processing and then combined to obtain a composite radio signal, including: in a current time slice, using an N-to-2 electronic switch, selecting a first array element group from the N-element directional antenna array, the first array element group including a first array element and a second array element, the first array element and the second array element being any two array elements in the N-element directional antenna array; acquiring signals received by two array elements in the first array element group to obtain a first array element signal and a second array element signal; performing a phase shift operation on the first array element signal to obtain a first target array element signal; inputting the first target array element signal and the second array element signal into a combiner at the same time to obtain a first combined signal output by the combiner; determining the composite radio signal according to the first combined signal; Based on a single-channel receiver, the composite radio signal is received, and signal conversion is performed on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal; Based on the baseband signal, the array signal parameters of the N-element directional antenna array are calculated, and the array signal parameters include the array element amplitude of each array element in the N-element directional antenna array and the phase difference between two array elements; the calculation of the array signal parameters of the N-element directional antenna array based on the baseband signal includes: obtaining the amplitude parameter of IQ data corresponding to the first array element signal; wherein the IQ data is obtained by synthesizing the phase-shifted array element signal corresponding to the first array element signal and the second array element signal, and the phase-shifted array element signal is obtained by performing a phase shift operation on the first array element signal; according to the amplitude parameter, the phase difference between the first array element signal and the second array element signal is calculated; according to the phase difference, a first amplitude of the first array element and a second amplitude of the second array element are calculated; According to the array element amplitude of each array element in the N-element directional antenna array, amplitude comparison direction finding is performed to obtain a coarse direction finding result of the radio signal, and the coarse direction finding result includes a coarse direction of the incoming wave of the radio signal; the amplitude comparison direction finding is performed according to the array element amplitude of each array element in the N-element directional antenna array to obtain the coarse direction finding result of the radio signal, including: determining the array element with the largest amplitude in the N-element directional antenna array; mapping the position of the array element with the largest amplitude to a preset direction finding range width to obtain the relative position corresponding to the array element with the largest amplitude; determining the coarse direction finding result of the radio signal according to the relative position; Measure the direction of incoming waves; determine a signal search range for fine direction finding according to the coarse direction finding result; the signal search range for fine direction finding according to the coarse direction finding result comprises: determining a center position of the search range according to the coarse direction finding result; determining an angle parameter for extending the search range according to the width of the direction finding range and the number of elements of the N-element directional antenna array; determining a signal search range for fine direction finding based on the center position and the angle parameter; and performing fine direction finding according to the coarse direction finding result, the phase difference between each two elements and the signal search range to obtain the direction of incoming waves of the radio signal.

2. The method according to claim 1, characterized in that The step of determining the composite radio signal according to the first combined signal comprises: Switching to the next time slice corresponding to the current time slice; In the next time slice, using an N-to-2 electronic switch, select a second array element group from the N-element directional antenna array; Determining a second combined signal based on the second array element group; Determining the composite radio signal according to the first combined signal and the second combined signal; wherein the second array element group includes a third array element and a fourth array element; or The second array element group includes any one of the third array element and the fourth array element, and any one of the first array element and the second array element; The third array element and the fourth array element are any two array elements in the N-element directional antenna array except the first array element and the second array element.

3. The method according to claim 2, characterized in that The determining a second combined signal based on the second array element group includes: Acquire signals received by two array elements in the second array element group to obtain a third array element signal and a fourth array element signal; Performing a phase shift operation on the third array element signal to obtain a second target array element signal; The second target array element signal and the fourth array element signal are simultaneously input into a combiner to obtain a second combined signal output by the combiner.

4. The method according to claim 1, characterized in that: The performing a phase shift operation on the first array element signal to obtain a first target array element signal includes: Obtaining a preset first phase shift and a phase shift difference, wherein the phase shift difference is a phase difference between the phase shift phase when each phase shift is performed and the phase shift phase when the last phase shift is performed; Determining a target phase shift number corresponding to the first array element signal according to the first phase shift phase and the phase shift phase difference; Based on the first phase shift, the target phase shift number, and the phase shift phase difference, a phase shift operation is performed on the first array element signal to obtain the first target array element signal.

5. The method according to claim 4, characterized in that When the phase shift phase difference is 90 degrees, the target phase shift times is three or four times.

6. The method according to any one of claims 1 to 5, characterized in that: The N-element directional antenna array includes a uniform circular array, a linear array, a planar array and an irregular array; The main lobes of the directional antennas in the N-element directional antenna array face the same or different directions.

7. A signal direction finding system, characterized in that: include: An N-element directional antenna array is used to collect radio signals in space based on the N-element directional antenna array to obtain at least two array element signals; After performing phase shift processing on the at least two array element signals, a combination processing is performed to obtain a composite radio signal; wherein N is greater than or equal to 2; the step of performing phase shift processing on the at least two array element signals and a combination processing to obtain a composite radio signal comprises: in a current time slice, using an N-to-2 electronic switch, selecting a first array element group from the N-element directional antenna array, the first array element group comprising a first array element and a second array element, the first array element and the second array element being any two array elements in the N-element directional antenna array; acquiring signals received by two array elements in the first array element group to obtain a first array element signal and a second array element signal; performing phase shift operation on the first array element signal to obtain a first target array element signal; inputting the first target array element signal and the second array element signal into a combiner at the same time to obtain a first combined signal output by the combiner; determining the composite radio signal according to the first combined signal; A radio signal processing device, connected to the N-element directional antenna array, for performing signal processing on the radio signal to obtain a composite radio signal corresponding to the radio signal; a single-channel receiver connected to the radio signal processing device and used to perform signal conversion on the composite radio signal to obtain a baseband signal corresponding to the composite radio signal; A signal direction finding device, used for calculating array signal parameters of the N-element directional antenna array based on the baseband signal, wherein the array signal parameters include the array element amplitude of each array element in the N-element directional antenna array and the phase difference between each two array elements; the calculating the array signal parameters of the N-element directional antenna array based on the baseband signal includes: obtaining the amplitude parameter of IQ data corresponding to the first array element signal; wherein the IQ data is obtained by synthesizing the phase-shifted array element signal corresponding to the first array element signal and the second array element signal, and the phase-shifted array element signal is obtained by performing a phase shift operation on the first array element signal; calculating the phase difference between the first array element signal and the second array element signal according to the amplitude parameter; calculating the first amplitude of the first array element and the second amplitude of the second array element according to the phase difference; performing amplitude comparison direction finding according to the array element amplitude of each array element in the N-element directional antenna array to obtain a coarse direction finding result of the radio signal, wherein the coarse direction finding result includes a coarse direction finding result of the radio signal Measure the direction of the incoming wave; perform amplitude comparison direction finding according to the array element amplitude of each array element in the N-element directional antenna array to obtain the rough direction finding result of the radio signal, including: determine the array element with the largest amplitude in the N-element directional antenna array; map the position of the array element with the largest amplitude to a preset direction finding range width to obtain the relative position corresponding to the array element with the largest amplitude; determine the rough measured direction of the incoming wave of the radio signal according to the relative position; determine the signal search range for fine direction finding according to the rough direction finding result; determine the signal search range for fine direction finding according to the rough direction finding result, including: determine the center position of the search range according to the rough direction finding result; determine the angle parameter for expanding the search range according to the direction finding range width and the number of array elements in the N-element directional antenna array; determine the signal search range for fine direction finding based on the center position and the angle parameter; perform fine direction finding according to the rough direction finding result, the phase difference between two array elements and the signal search range to obtain the direction of the incoming wave of the radio signal.

8. The system according to claim 7, characterized in that The radio signal processing device comprises: An N-to-2 electronic switch connected to the N-element directional antenna array and used to select a first array element signal and a second array element signal from the radio signals collected by the N-element directional antenna array; a phase shifter, connected to the N-to-2 electronic switch, and configured to perform a phase shift operation on the first array element signal to obtain a first target array element signal; A combiner is connected to the N-to-2 electronic switch and the phase shifter respectively, and is used to combine the second array element signal and the first target array element signal to obtain the composite radio signal.

9. The system according to claim 8, characterized in that The signal direction finding device comprises: A first calculation module is used to calculate array signal parameters of the N-element directional antenna array based on the baseband signal, wherein the array signal parameters include an array element amplitude of each array element in the N-element directional antenna array and a phase difference between two array elements; The second calculation module is used to calculate the arrival direction of the radio signal according to the array signal parameters.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 5.

11. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 5.

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