Positioning system, positioning method, electronic equipment and storage medium

Abstract

The invention relates to a positioning system, a positioning method, electronic equipment and a storage medium. The positioning system comprises an antenna array which comprises a first antenna unit, a second antenna unit and a third antenna unit, and the first antenna unit, the second antenna unit and the third antenna unit are used for detecting positioning signals sent by a positioning target; and the receiving chip is used for receiving the positioning signals detected by the first antenna unit, the second antenna unit and the third antenna unit, and determining the direction angle of a positioning target based on the phase difference of the positioning signals detected between every two of the first antenna unit, the second antenna unit and the third antenna unit. According to the invention, the direction angle of any positioning target in the horizontal plane can be determined.

Description

Technical Field

[0001] The present disclosure relates to the field of antenna technology, and in particular to a positioning system, a positioning method, an electronic device and a storage medium. Background Art

[0002] Compared with traditional narrowband systems, ultra-wideband systems have the advantages of strong penetration, low power consumption, good anti-multipath effect, high security, low system complexity, and the ability to provide precise positioning accuracy. Therefore, ultra-wideband technology can be applied to the positioning, tracking and navigation of indoor stationary or moving objects and people, and can provide very precise positioning accuracy.

[0003] In the related technology, ultra-wide band (UWB) positioning technology is used to measure the target distance by calculating the flight time (Time of flight ToF), and the target direction is measured by calculating the angle of arrival (Angle-of-Arrival, AoA). The inverse cosine function is used to obtain the target direction angle based on the positioning signal wavelength and the distance between the two antennas. The positioning range of the horizontal plane is less than 180 degrees. Summary of the invention

[0004] In order to overcome the problems existing in the related art, the present disclosure provides a positioning system, a positioning method, an electronic device and a storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a positioning system is provided, comprising: an antenna array, comprising a first antenna unit, a second antenna unit and a third antenna unit, wherein the first antenna unit, the second antenna unit and the third antenna unit are used to detect a positioning signal emitted by a positioning target; a receiving chip, used to receive the positioning signals detected by the first antenna unit, the second antenna unit and the third antenna unit, and determine a target direction angle of the positioning target based on the following method: respectively determining a phase difference of the positioning signal detected between the first antenna unit, the second antenna unit and the third antenna unit, to obtain a first phase difference, a second phase difference and a third phase difference; determining a target phase difference and a reference phase difference among the first phase difference, the second phase difference and the third phase difference, the target phase difference being one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference being other phase differences among the first phase difference, the second phase difference and the third phase difference except the target phase difference; determining the target direction angle of the positioning target according to the target phase difference and the reference phase difference.

[0006] In one implementation, the first antenna unit, the second antenna unit, and the third antenna unit are arranged in a triangle.

[0007] In one embodiment, the antenna array includes a first sub-antenna array, a second sub-antenna array and a third sub-antenna array, the first sub-antenna array includes the first antenna unit and the second antenna unit, the second sub-antenna array includes the second antenna unit and the third antenna unit, and the third sub-antenna array includes the first antenna unit and the third antenna unit; the first phase difference is the phase difference of the positioning signal detected by the second antenna unit and the first antenna unit included in the first sub-antenna array, the second phase difference is the phase difference of the positioning signal detected by the third antenna unit and the second antenna unit included in the second sub-antenna array, and the third phase difference is the phase difference of the positioning signal detected by the third antenna unit and the first antenna unit included in the third sub-antenna array; the receiving chip determines the target phase difference among the first phase difference, the second phase difference and the third phase difference in the following manner: based on the magnitude relationship between the first phase difference, the second phase difference and the third phase difference and the zero phase, determine the first target phase difference and the second target phase difference; the receiving chip determines the target direction angle of the positioning target according to the target phase difference and the reference phase difference in the following manner: based on the magnitude relationship between the first reference phase difference and the zero phase, and the a first target phase difference, determining a first target direction angle, and determining a second target direction angle according to a magnitude relationship between a second reference phase difference and zero phase, and the second target phase difference; determining a target direction angle of the positioning target based on the first target direction angle and the second target direction angle; wherein the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, and the second target phase difference is the third phase difference. phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference;Or the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; Or the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference. ;

[0008] In one embodiment, the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of a positioning direction angle, the confidence interval being an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range; the receiving chip determines the target direction angle of the positioning target based on the first target direction angle and the second target direction angle in the following manner: determining the confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determining the confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference; in response to one of the first target direction angle and the second target direction angle being in the confidence interval of the corresponding target sub-antenna array, determining the target direction angle in the confidence interval as the target direction angle of the positioning target; in response to the first target direction angle and the second target direction angle not being in the corresponding confidence interval, or the first target direction angle and the second target direction angle being in the corresponding confidence interval, determining the average direction angle of the first target direction angle and the second target direction angle as the target direction angle of the positioning target.

[0009] According to a second aspect of an embodiment of the present disclosure, a positioning method is provided, the method comprising: detecting a positioning signal respectively through a first antenna unit, a second antenna unit and a third antenna unit included in an antenna array, the positioning signal being emitted by a positioning target; determining the phase difference of the positioning signal detected between the first antenna unit, the second antenna unit and the third antenna unit respectively, to obtain a first phase difference, a second phase difference and a third phase difference; determining a target phase difference and a reference phase difference among the first phase difference, the second phase difference and the third phase difference, the target phase difference being one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference being other phase differences among the first phase difference, the second phase difference and the third phase difference except the target phase difference; determining a target direction angle of the positioning target according to the target phase difference and the reference phase difference.

[0010] In one embodiment, among the first phase difference, the second phase difference and the third phase difference, determining the target phase difference includes: determining the first target phase difference and the second target phase difference based on the magnitude relationship between the first phase difference, the second phase difference and the third phase difference and the zero phase; determining the target direction angle of the positioning target according to the target phase difference and the reference phase difference includes: determining the first target direction angle according to the magnitude relationship between the first reference phase difference and the zero phase, and the first target phase difference, and determining the second target direction angle according to the magnitude relationship between the second reference phase difference and the zero phase, and the second target phase difference; determining the second target direction angle based on the first target direction angle and the second Target direction angle, determining the target direction angle of the positioning target; wherein, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is greater than zero phase. less than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, and the first target direction angle is determined according to the second phase difference Determine that the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, and the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference;Or the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference. ;

[0011] In one embodiment, the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of the positioning direction angle, the confidence interval being an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range; determining the target direction angle of the positioning target based on the first target direction angle and the second target direction angle includes: determining the confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determining the confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference; in response to one of the first target direction angle and the second target direction angle being in the confidence interval of the corresponding target sub-antenna array, determining the target direction angle in the confidence interval as the target direction angle of the positioning target; in response to the first target direction angle and the second target direction angle not being in the corresponding confidence interval, or the first target direction angle and the second target direction angle being in the corresponding confidence interval, determining the average direction angle of the first target direction angle and the second target direction angle as the target direction angle of the positioning target.

[0012] According to a third aspect of an embodiment of the present disclosure, a positioning device is provided, comprising: a detection unit, configured to respectively detect a positioning signal through a first antenna unit, a second antenna unit and a third antenna unit included in an antenna array, wherein the positioning signal is emitted by a positioning target; a determination unit, configured to respectively determine a phase difference between the first antenna unit, the second antenna unit and the third antenna unit when the positioning signal is detected in pairs, to obtain a first phase difference, a second phase difference and a third phase difference; and a processing unit, configured to determine a target phase difference and a reference phase difference among the first phase difference, the second phase difference and the third phase difference, wherein the target phase difference is one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference is other phase differences among the first phase difference, the second phase difference and the third phase difference except the target phase difference, and a target direction angle of the positioning target is determined according to the target phase difference and the reference phase difference.

[0013] In one embodiment, the processing unit determines the target phase difference among the first phase difference, the second phase difference and the third phase difference in the following manner: based on the magnitude relationship between the first phase difference, the second phase difference and the third phase difference and the zero phase, the first target phase difference and the second target phase difference are determined; the processing unit determines the target direction angle of the positioning target according to the target phase difference and the reference phase difference in the following manner: based on the magnitude relationship between the first reference phase difference and the zero phase, and the first target phase difference, the first target direction angle is determined, and based on the magnitude relationship between the second reference phase difference and the zero phase, and the second target phase difference, the second target direction angle is determined; based on the The first target direction angle and the second target direction angle are used to determine the target direction angle of the positioning target; wherein the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, and the first target direction angle is determined according to the third phase difference The second target phase difference is determined by two phase differences, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, and the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference;Or the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference. ;

[0014] In one embodiment, the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of the positioning direction angle, and the confidence interval is an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range; the processing unit determines the target direction angle of the positioning target based on the first target direction angle and the second target direction angle in the following manner: determine the confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determine the confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference; in response to one of the first target direction angle and the second target direction angle being in the confidence interval of the corresponding target sub-antenna array, determine the target direction angle in the confidence interval as the target direction angle of the positioning target; in response to the first target direction angle and the second target direction angle not being in the corresponding confidence interval, or the first target direction angle and the second target direction angle being in the corresponding confidence interval, determine the average direction angle of the first target direction angle and the second target direction angle as the target direction angle of the positioning target.

[0015] According to a fourth aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: an antenna array; and a processor, configured to execute the positioning method described in the second aspect or any one of the second aspects based on the antenna array.

[0016] In one implementation, the antenna array includes a first antenna unit, a second antenna unit, and a third antenna unit; the first antenna unit, the second antenna unit, and the third antenna unit are arranged in an equilateral triangle.

[0017] According to a fifth aspect of an embodiment of the present disclosure, a storage medium is provided, in which instructions are stored. When the instructions in the storage medium are executed by a processor, the processor is enabled to execute the positioning method described in the second aspect or any one of the embodiments of the second aspect.

[0018] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: the positioning signal emitted by the positioning target is detected by the first antenna unit, the second antenna unit and the third antenna unit included in the antenna array. The positioning signal detected by the first antenna unit, the second antenna unit and the third antenna unit is received by the receiving chip, and the phase difference of the positioning signal detected between the multiple antenna units is determined, and the direction angle of the positioning target is determined based on the phase difference. Through the present disclosure, the direction angle of any positioning target in the horizontal plane can be determined.

[0019] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0021] Figure 1 It is a schematic diagram showing a method for determining a target direction angle according to an exemplary embodiment of the present disclosure.

[0022] Figure 2 It is a schematic diagram of an algorithm for determining a target direction angle according to an exemplary embodiment of the present disclosure.

[0023] Figure 3 It is a schematic diagram of an antenna for determining a target direction angle according to an exemplary embodiment of the present disclosure.

[0024] Figure 4 is a block diagram of an omnidirectional system according to an exemplary embodiment.

[0025] Figure 5A and Figure 5B The figure is a schematic diagram showing the radiation direction of a monopole antenna according to an exemplary embodiment.

[0026] Figure 6 A block diagram of an antenna array is shown according to an exemplary embodiment.

[0027] Figure 7 It is a schematic diagram of a positioning system according to an exemplary embodiment of the present disclosure.

[0028] Figure 8 is a schematic diagram of an antenna array according to an exemplary embodiment.

[0029] Fig. 9 The figure is a flowchart of a positioning method according to an exemplary embodiment.

[0030] Fig.10 The invention is a flowchart showing a method for determining a first target phase difference and a second target phase difference according to an exemplary embodiment.

[0031] Fig.11 The present invention is a flowchart of a method for determining a target direction angle of a positioning target according to an exemplary embodiment.

[0032] Fig.12 It is a schematic diagram showing a coordinate system established based on an antenna array according to an exemplary embodiment.

[0033] Figure 13A-13C The figure is a schematic diagram showing a range of directional angle values ​​corresponding to a target phase difference according to an exemplary embodiment.

[0034] Fig.14 The present invention is a flowchart of a method for determining a target direction angle of a positioning target according to yet another exemplary embodiment.

[0035] Fig.15 The diagram is a schematic diagram showing confidence intervals corresponding to different sub-antenna arrays according to an exemplary embodiment.

[0036] Fig.16 The diagram is a schematic diagram showing a corresponding relationship among an antenna array, a confidence interval, and a detection range according to an exemplary embodiment.

[0037] Fig.17 It is a block diagram showing a positioning method according to an exemplary embodiment of the present disclosure.

[0038] Fig.18 The figure is a block diagram of a positioning device according to an exemplary embodiment.

[0039] Fig.19 It is a block diagram of a device for positioning according to an exemplary embodiment. DETAILED DESCRIPTION

[0040] Here, exemplary embodiments will be described in detail, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure.

[0041] The positioning method provided by the embodiments of the present disclosure is applied to a scenario in which an electronic device determines the direction angle of a positioning target in any direction based on a positioning system.

[0042] This technical solution belongs to the ultra-wideband positioning system, and can also be extended to other positioning systems that use target reflection signals or target transmission signals to measure azimuth angles, such as radar, Bluetooth positioning, WiFi positioning, etc. Compared with traditional narrowband systems, ultra-wideband systems have the advantages of strong penetration, low power consumption, good anti-multipath effect, high security, low system complexity, and the ability to provide precise positioning accuracy. Therefore, ultra-wideband technology can be applied to the positioning, tracking and navigation of indoor stationary or moving objects and people, and can provide very precise positioning accuracy.

[0043] In the related technology, based on the Ultra Wide Band (UWB) positioning technology, the target distance is measured by calculating the flight time, and the target azimuth is measured by calculating the arrival wave incident angle. There are two estimation methods for measuring the target azimuth by calculating the arrival wave incident angle, namely, Time Difference of Arrival (TDOA) and Phase Difference of Arrival (PDOA). The arrival time difference estimates the direction angle based on the time difference of the arrival waves, and the arrival phase difference estimates the direction angle based on the phase difference of the arrival waves. The arrival phase difference has higher estimation accuracy. Therefore, in actual engineering applications, ultra-wideband systems often use the arrival phase difference method to estimate the direction angle of the positioning target.

[0044] The arrival phase difference estimation method is as follows: Figure 1 As shown in the figure: the distance between antenna A and antenna B is d, the line between the centers of antenna A and antenna B is set as the X-axis, the direction perpendicular to the X-axis is the Y-axis, and the target object is far away from antenna A and antenna B. Therefore, the electromagnetic wave signal emitted by the target object can be approximated as a plane wave at antenna A and antenna B. Assuming that the angle between the incident wave direction and the Y-axis is θ, it is easy to see that the incident wave reaches antenna B first, and then reaches antenna A after a delay. The path difference is p. Obviously, p = d·cos(θ). The arrival phase difference between the two antennas A and B is Therefore, the target direction angle can be obtained Based on the phase difference between the target direction angle θ and the signal reaching the antenna The expression, combined with Figure 2The schematic diagram of the algorithm for determining the target direction angle includes The corresponding arccosine function curve shows that in order to ensure that θ and There is a one-to-one mapping relationship, which must satisfy the target direction angle θ∈(0±kπ, π±kπ), d<λ / 2, and k is an integer. If θ exceeds this range, phase ambiguity occurs, that is, the same phase difference Corresponding to multiple target phase angles θ, it is impossible to determine the actual target phase angle. In addition, the effective range of the algorithm for obtaining the target direction angle based on the above positioning method is 180 degrees, so the traditional positioning system uses patch antennas for positioning. Patch antennas are directional antennas, and the lobe width of their horizontal plane radiation pattern is less than 180 degrees, that is, the range of receiving positioning signals is less than 180 degrees. Figure 3 As shown in the schematic diagram of the antenna for determining the target direction angle, three patch antennas are placed on the vertical plane, arranged along the X direction and the Z direction respectively, which can achieve horizontal and elevation positioning. However, since the positioning range of the horizontal plane is less than 180 degrees, 360-degree omnidirectional positioning cannot be achieved. In summary, the defects of antenna design and positioning algorithm determine that the positioning system based on patch antennas can only achieve 180-degree half-space positioning.

[0045] In view of this, the present disclosure proposes a positioning system, which uses an antenna array composed of three antenna units, receives target signals of the positioning target through the antenna units, and determines the target direction angle of the positioning target within a 360-degree range on the plane based on the received positioning signal through a receiving chip.

[0046] Figure 4 is a block diagram of a positioning system 100 according to an exemplary embodiment. Figure 4 , the system includes an antenna array 101 and a receiving chip 102.

[0047] The antenna array 101 is used to detect the positioning signal sent by the positioning target.

[0048] The antenna array 101 includes an antenna array consisting of a first antenna unit, a second antenna unit and a third antenna unit, and the first antenna unit, the second antenna unit and the third antenna unit are arranged in an equilateral triangle.

[0049] The receiving chip 102 is used to receive the positioning signals detected by the first antenna unit, the second antenna unit and the third antenna unit, and determine the target direction angle of the positioning target based on the following method:

[0050] The phase differences of the positioning signals detected between the first antenna unit, the second antenna unit and the third antenna unit are determined respectively to obtain the first phase difference, the second phase difference and the third phase difference. Among the first phase difference, the second phase difference and the third phase difference, the target phase difference and the reference phase difference are determined, the target phase difference is one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference is the other phase difference among the first phase difference, the second phase difference and the third phase difference except the target phase difference. According to the target phase difference and the reference phase difference, the target direction angle of the positioning target is determined.

[0051] In the embodiment of the present disclosure, the positioning system is used to locate the target direction angle of any positioning target in the plane space, so the radiation range of the antenna array constituting the omnidirectional antenna positioning system is 360 degrees, which is used to receive omnidirectional positioning signals, and the antenna units constituting the antenna array are omnidirectional antennas. In one embodiment, the antenna array is formed using a monopole antenna, such as Figure 5A and Figure 5B As shown in the horizontal radiation pattern and vertical radiation pattern of the monopole antenna, the horizontal radiation range of the monopole antenna is 360 degrees, and the lobe zero point of the vertical radiation pattern appears in the vertical direction, which can be used to receive positioning signals sent by any positioning target within a 360-degree range.

[0052] In the embodiments of the present disclosure, the gain fluctuation of the horizontal plane radiation pattern of the antenna subunit is made less than 6 dB, thereby ensuring the reception effect of the antenna unit in receiving the positioning signal.

[0053] In the present disclosure, Figure 6 The block diagram of the antenna array is shown in Figure 2. Figure 7 From the schematic diagram of the positioning system shown, it can be seen that the antenna array is an antenna array composed of a first antenna unit A1, a second antenna unit A2 and a third antenna unit A3. The three antenna units are combined in pairs, and the antenna array can be considered to be composed of three sub-antenna arrays. The sub-antenna arrays include: a first sub-antenna array, a second sub-antenna array and a third sub-antenna array; the first sub-antenna array includes the first antenna unit A1 and the second antenna unit A2; the second sub-antenna array includes the second antenna unit A2 and the third antenna unit A3; the third sub-antenna array includes the first antenna unit A1 and the third antenna unit A3.

[0054] In the embodiment of the present disclosure, the first phase difference is determined based on the positioning signal phase (A1) received by the first antenna unit A1 and the positioning signal phase (A2) received by the second antenna unit A2. Right now The second phase difference is determined based on the positioning signal phase (A2) received by the second antenna unit A2 and the positioning signal phase (A3) received by the third antenna unit A3. Right now The third phase difference is determined based on the positioning signal phase (1) received by the first antenna unit A1 and the positioning signal phase (A3) received by the third antenna unit A3. Right now

[0055] In the disclosed embodiment, the receiving chip includes a radio frequency unit and a baseband unit. The radio frequency unit is used to receive a positioning signal from an antenna array; the baseband unit is used to determine a target direction angle of a positioning target based on a built-in positioning method and the positioning signal received by the radio frequency unit.

[0056] In the disclosed embodiment, the positioning system uses an antenna array composed of three antenna units to obtain positioning signals sent by positioning targets in any direction within a 360-degree range on the horizontal plane. The receiving chip is used to obtain the positioning signals received by the three antenna units, and the direction angle of the positioning target can be calculated based on the positioning signals combined with the built-in positioning algorithm. The direction angle of any positioning target on the horizontal plane can be realized.

[0057] In the embodiment of the present disclosure, the omnidirectional fixed antenna array is composed of three antenna units, and the three antenna units are arranged in a specific manner to achieve omnidirectional positioning of the positioning target. The embodiment of the present disclosure hereinafter describes the sub-antenna array constituting the antenna array.

[0058] In one implementation of the disclosed embodiment, the first antenna unit, the second antenna unit and the third antenna unit are arranged in a triangle.

[0059] In the present disclosure, Figure 8 As shown in the schematic diagram of the antenna array, the three antenna units that constitute the antenna array are arranged in an equilateral triangle, the angle between each two sub-antenna arrays is 60 degrees, and the distance between them is less than half the wavelength.

[0060] In the embodiment of the present disclosure, each sub-antenna array constituting the antenna array is responsible for determining the target direction angle within a certain angle range. To ensure the consistency of different sub-arrays during measurement, that is, having the same or similar detection range and detection accuracy, the first antenna unit, the second antenna unit and the third antenna unit constituting the antenna array are arranged in a triangle.

[0061] In the disclosed embodiment, different sub-antenna arrays correspond to different detection ranges and phase differences, and different antenna sub-arrays are referenced to each other. The detection range where the target direction angle is located can be determined by the positive or negative phase difference corresponding to each sub-array, that is, the relationship between the phase difference and the zero phase. The target direction angle of the positioned target can be further determined based on the phase difference corresponding to the detection range. The disclosed embodiment below describes a method for the receiving chip to determine the target phase difference used to calculate the target direction angle based on the phase difference corresponding to each sub-antenna array.

[0062] In one implementation of the embodiment of the present disclosure, the antenna array includes a first sub-antenna array, a second sub-antenna array and a third sub-antenna array, the first sub-antenna array includes a first antenna unit and a second antenna unit, the second sub-antenna array includes a second antenna unit and a third antenna unit, and the third sub-antenna array includes a first antenna unit and a third antenna unit.

[0063] The first phase difference is the phase difference between the positioning signals detected by the second antenna unit and the first antenna unit included in the first sub-antenna array, the second phase difference is the phase difference between the positioning signals detected by the third antenna unit and the second antenna unit included in the second sub-antenna array, and the third phase difference is the phase difference between the positioning signals detected by the third antenna unit and the first antenna unit included in the third sub-antenna array.

[0064] The receiving chip determines the target phase difference and the reference phase difference among the first phase difference, the second phase difference and the third phase difference in the following manner: based on the magnitude relationship between the first phase difference, the second phase difference and the third phase difference and the zero phase, the first target phase difference and the second target phase difference are determined.

[0065] The receiving chip determines the target direction angle of the positioning target according to the target phase difference and the reference phase difference in the following manner: the first target direction angle is determined according to the magnitude relationship between the first reference phase difference and the zero phase, and the first target phase difference, and the second target direction angle is determined according to the magnitude relationship between the second reference phase difference and the zero phase, and the second target phase difference. The target direction angle of the positioning target is determined based on the first target direction angle and the second target direction angle.

[0066] Among them, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, and the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference ; or the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, and the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference.

[0067] In the disclosed embodiment, the receiving chip determines the direction angle of the positioning target based on the phase difference generated by each sub-antenna array constituting the antenna array receiving the positioning signal sent by the positioning target. Each sub-antenna array can eliminate the calculation ambiguity of the azimuth estimation value of its own array based on the phase difference information of other arrays, thereby generating a unique azimuth angle judgment within a 360-degree range.

[0068] In the disclosed embodiment, the effective measurement range of a single sub-antenna array is only 180 degrees. However, one of the three sub-antenna arrays is used as the target antenna array, and the other two are used as reference antenna arrays. The detection range of the positioning target phase angle is determined based on the reference phase difference generated by the received positioning signal of the reference array. Each sub-antenna array corresponds to a different detection range, and the detection range is less than 180 degrees and is within the measurement range of the target antenna array. By making the three sub-antenna arrays constituting the antenna array serve as reference arrays and target arrays for each other, the target direction angle of the positioning target in any direction in the horizontal plane can be determined.

[0069] In the disclosed embodiment, the direction with a phase angle difference of 90 degrees from the straight line where the sub-antenna array is located is taken as zero phase, the receiving chip has pre-set the positive direction of the sub-antenna array, and the direction in which one antenna unit constituting the sub-antenna array points to another antenna unit is taken as the positive direction, the phase difference with a phase angle difference of less than 90 degrees from the positive direction is set to a phase difference less than zero phase, and the phase difference with a phase angle difference of more than 90 degrees from the positive direction is set to a phase difference greater than zero phase.

[0070] In the disclosed embodiment, the positive or negative nature of the phase difference, that is, the magnitude relationship between the phase difference and the zero phase, can be determined based on the timing of the positioning signals received by the two antenna units constituting the sub-antenna array. Taking the first antenna unit A1 and the second antenna unit A2 constituting the first sub-antenna array as an example, it can be preset that when the first antenna unit A1 receives the positioning signal first, the phase difference is negative, that is, the phase difference is less than the zero phase; when the second antenna unit A2 receives the positioning signal first, the phase difference is positive, that is, the phase difference is greater than the zero phase.

[0071] In the embodiment of the present disclosure, different sub-antenna arrays have corresponding confidence intervals, and the target direction angle of the positioning target is determined based on the direction angle detected by the sub-antenna array and the corresponding confidence interval. The following embodiment of the present disclosure describes a method for determining the target direction angle based on the confidence interval.

[0072] In one implementation of the disclosed embodiment, the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of the positioning direction angle, and the confidence interval is an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range. The receiving chip determines the target direction angle of the positioning target based on the first target direction angle and the second target direction angle in the following manner: determine the confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determine the confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference. In response to one of the first target direction angle and the second target direction angle being in the confidence interval of the corresponding target sub-antenna array, the target direction angle in the confidence interval is determined as the target direction angle of the positioning target. In response to the first target direction angle and the second target direction angle not being in the corresponding confidence interval, or the first target direction angle and the second target direction angle being in the corresponding confidence interval, the mean direction angle of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

[0073] In the disclosed embodiment, the positioning direction angle that the sub-antenna array can detect is the detection range of the sub-antenna array. Different sub-antenna arrays have corresponding detection ranges and confidence intervals, and the detection range is greater than the confidence interval. The selection of the confidence interval follows the following two principles: (1) Multiple confidence intervals do not overlap with each other and the sum of the angle ranges of multiple confidence intervals is 360, ensuring that the target direction angle of the positioning target at any angle in the plane space is detected and avoiding the detection of multiple target direction angles. (2) The direction angle obtained within the confidence interval has a higher accuracy. For a single sub-antenna array, the closer to the center of the detection range, the more accurate the detection result. Therefore, the confidence interval of a single sub-antenna array is the central area of ​​the detection range of the sub-antenna array, and the central angle of the detection range is the central angle of the corresponding confidence interval.

[0074] In the embodiments of the present disclosure, the detection ranges corresponding to different sub-antenna arrays overlap with each other, so when locating a target through the antenna array, different sub-antenna arrays will respectively obtain the angle values ​​of the located target, and due to the mechanical error of the antenna array, the angle values ​​respectively obtained by different antenna arrays will have certain errors. Different sub-antenna arrays have corresponding confidence intervals, and there is a corresponding relationship between the antenna array, the detection range of the antenna array, the confidence interval of the antenna array, and the direction angle detected by the antenna array. If the direction angle detected by the antenna array is in the confidence interval corresponding to the antenna array, it indicates that the direction angle detected by the antenna array is accurate. Based on the corresponding relationship between the confidence interval of the antenna array and the direction angle detected by the antenna array, the target direction angle of the located target can be determined. The following embodiments of the present disclosure illustrate the method for determining the target direction angle of the present disclosure.

[0075] In one implementation of the disclosed embodiment, the receiving chip determines the target direction angle of the positioning target according to the relationship between the first target direction angle and the corresponding confidence interval, and the relationship between the second target direction angle and the corresponding confidence interval in the following manner: in response to the presence of a direction angle in the corresponding confidence interval in the first target direction angle and the second target direction angle, the target direction angle of the positioning target is determined based on the direction angle in the corresponding confidence interval in the first target direction angle and the second target direction angle; in response to the fact that both the first target direction angle and the second target direction angle are not in the corresponding confidence interval, the average of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

[0076] In the disclosed embodiment, under normal circumstances, the direction angles of the positioning target detected by different antenna arrays will all be in the confidence interval corresponding to the same antenna array. At this time, only one of the direction angles of the positioning target detected by different antenna arrays will be in the corresponding confidence interval. At this time, the direction angle in the corresponding confidence interval can be taken as the target direction angle. When the direction angle of the positioning target is near the dividing line of different confidence intervals, the direction angles of the positioning target detected by different antenna arrays will be distributed on both sides of the confidence interval dividing line, that is, the direction angles of the positioning target detected by different antenna arrays will be in different confidence intervals, and there will be a situation where the direction angles of the positioning target detected by different antenna arrays are all in the corresponding confidence interval or the direction angles of the positioning target detected by different antenna arrays are not in the confidence interval. At this time, the average of the direction angles of the positioning target detected by different antenna arrays is taken to obtain the target direction angle of the positioning target.

[0077] It is understandable that there will be a certain error between the different first target direction angles and second target direction angles obtained based on different sub-antenna arrays, but the error value will not be too large. In the case where the error value is too large, the obtained target direction angle is regarded as abnormal data, and is not stored or calculated, and the signal is re-collected and positioned. In the embodiment of the present disclosure, the positioning algorithm built into the receiving chip can be regarded as a positioning method, which can determine the target direction angle of the positioning target based on the positioning signal received by the antenna units constituting the antenna array. The following embodiments of the present disclosure illustrate the positioning method of the present disclosure applied to the above-mentioned positioning system.

[0078] Fig. 9 A flowchart of a positioning method is shown according to an exemplary embodiment. Fig. 9 The method includes step S101 and step S104.

[0079] In step S101, positioning signals are detected respectively by a first antenna unit, a second antenna unit and a third antenna unit included in an antenna array.

[0080] Among them, the positioning signal is sent by the positioning target.

[0081] In step S102, phase differences of positioning signals detected between the first antenna unit, the second antenna unit and the third antenna unit are determined respectively to obtain a first phase difference, a second phase difference and a third phase difference.

[0082] In step S103 , a target phase difference and a reference phase difference are determined among the first phase difference, the second phase difference, and the third phase difference.

[0083] The target phase difference is one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference is the other phase difference among the first phase difference, the second phase difference and the third phase difference except the target phase difference.

[0084] In step S104, the target direction angle of the positioning target is determined according to the target phase difference and the reference phase difference.

[0085] In the disclosed embodiment, the direction angle of the positioning target is determined based on the phase difference generated by each sub-antenna array constituting the antenna array receiving the positioning signal sent by the positioning target. Each sub-antenna array can eliminate the calculation ambiguity of the azimuth estimation value of its own array according to the phase difference information of other arrays, thereby generating a unique azimuth angle judgment within a 360-degree range.

[0086] The following embodiments of the present disclosure further illustrate the application of the present disclosure to the above-mentioned method for determining the target direction angle.

[0087] Fig.10FIG. 1 is a flow chart showing a method for determining a first target phase difference and a second target phase difference according to an exemplary embodiment. Fig.10 As shown, the method includes step S201 and step S202.

[0088] In step S201, the magnitude relationship between the first phase difference, the second phase difference and the third phase difference and the zero phase is determined.

[0089] In step S202, based on the magnitude relationship between the first phase difference, the second phase difference, and the third phase difference and the zero phase, a first target phase difference and a second target phase difference are determined.

[0090] In the disclosed embodiment, the three sub-antenna arrays constituting the antenna array all have corresponding detection ranges and phase differences for detecting the target direction angle within the corresponding detection ranges. Based on the phase delay of the positioning signal received by each antenna unit, the phase difference corresponding to each sub-antenna array can be determined, and the magnitude relationship between each phase difference and the zero phase can be determined, thereby determining the detection range where the positioning target is located and the phase difference used to calculate the target direction angle, and finally determining the target direction angle of the positioning target.

[0091] Fig.11 FIG. 1 is a flow chart showing a method for determining a target direction angle of a positioning target according to an exemplary embodiment. Fig.11 As shown, the method includes step S301 and step S302.

[0092] In step S301, a first target direction angle is determined based on the magnitude relationship between the first reference phase difference and the zero phase and the first target phase difference, and a second target direction angle is determined based on the magnitude relationship between the second reference phase difference and the zero phase and the second target phase difference.

[0093] In step S302, a target direction angle of the positioning target is determined based on the first target direction angle and the second target direction angle.

[0094] Among them, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, and the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference ; or the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, and the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference.

[0095] In the embodiment of the present disclosure, the first target phase difference and the second target phase difference are in a parallel relationship, representing different phase differences used respectively when calculating the direction angle, and the expression relationship between the two can be interchanged. For example, "the first target phase difference is the first phase difference, and the second target phase difference is the second phase difference" can also be expressed as "the first target phase difference is the second phase difference, and the second target phase difference is the first phase difference". Similarly, the expression relationship between the first reference phase difference and the second reference phase difference can also be interchanged, but there is a corresponding relationship between the target phase difference and the reference phase difference. When performing the expression transformation, the target phase difference and the reference phase difference must be expressed and interchanged at the same time.

[0096] In the embodiment of the present disclosure, the first target phase difference and the second target phase difference are both phase differences used to detect the target direction angle. When the target phase difference is the first phase difference, the first / second target direction angle of the positioning target is determined in the following manner:

[0097] when,

[0098]

[0099]

[0100] in, is the first phase difference corresponding to the first sub-antenna array, is the second phase difference corresponding to the second sub-antenna array, is the third phase difference corresponding to the third sub-antenna array, θ1 is the first phase difference detected based on the first sub-antenna array when the reference phase difference is the second phase difference and the third phase difference The first / second target direction angle is determined by the corresponding formula.

[0101] The present disclosure describes the method for determining the first target direction angle / the second target direction angle in conjunction with an exemplary embodiment. Fig.12 As shown in the schematic diagram of the coordinate system established based on the antenna array, combined with Fig.13A The target phase difference corresponds to the reference target direction angle value range as shown in the schematic diagram, with the straight line where the first sub-antenna array is located as the X-axis, and the direction from the first antenna unit in the first sub-antenna array to the second antenna unit as the positive direction. When the target direction angle of the positioning target is in the direction corresponding to the positive half axis of the X-axis, the corresponding first phase difference Greater than zero, that is, the first phase difference when the target direction angle of the positioning target is within the detection range of (270°, 90°) When the target direction angle of the positioning target is in the direction corresponding to the negative half axis of the X-axis, the corresponding first phase difference Less than zero, that is, the first phase difference when the target direction angle of the positioning target is within the detection range of (90°, 270°) Greater than zero phase. Similarly, taking the direction in which the second antenna unit in the second sub-antenna array points to the third antenna unit as the positive direction, it can be seen from the attached figure that the phase difference between the direction in which the second antenna unit points to the third antenna unit and the direction corresponding to the positive semi-axis of the X-axis is 120 degrees, and the phase difference between the direction in which the third antenna unit points to the first antenna unit and the direction corresponding to the positive semi-axis of the X-axis is 240 degrees. Based on the phase difference between the positive direction corresponding to the first sub-antenna array and the positive direction corresponding to the second sub-antenna array, it can be seen that for the second sub-antenna array, when the target direction angle of the positioning target is within the detection range of (30°, 210°), the first phase difference The first phase difference is greater than zero, when the target direction angle of the positioning target is within the detection range of (210°, 30°). Based on the phase difference between the positive direction corresponding to the first sub-antenna array and the positive direction corresponding to the third sub-antenna array, it can be known that for the third sub-antenna array, when the target direction angle of the positioning target is within the detection range of (150°, 330°), the first phase difference The first phase difference is greater than zero, when the target direction angle of the positioning target is within the detection range of (330°, 150°). Greater than zero.

[0102] In the disclosed embodiment, for the first sub-antenna array, the interval in which the target phase difference can be accurately obtained without phase ambiguity is (0°, 180°) or (180°, 360°), and by judging whether the phase difference corresponding to the second sub-antenna array and the third sub-antenna array is greater than zero phase, the detection range of the target phase can be judged. Fig.13A The target phase difference shown in is the first phase difference Schematic diagram of the target direction angle value range. If the positioning signal received by the antenna array meets the second phase difference is greater than zero phase, and the third phase difference is less than zero phase, the interval of the first / second target phase angle obtained by the first sub-antenna array is the intersection (30°, 150°) of (30°, 210°) and (330°, 150°); at this time, for the first sub-antenna, the basic formula for determining the target direction angle is:

[0103] In the embodiment of the present disclosure, if the second phase difference is satisfied Greater than zero phase, and the third phase difference If the phase angle is less than zero, the interval of the first / second target phase angle acquired by the first sub-antenna array is the intersection (210°, 30°) of (210°, 330°) and (150°, 330°). Based on the basic formula for determining the target direction angle Taking the opposite phase, the formula for determining the first / second target direction angle is:

[0104] It is understandable that if the second phase difference and the third phase difference At the same time, if the phase difference is greater than zero or less than zero, the detection range of the target phase can also be determined. and the third phase difference At the same time, the phase difference is greater than zero, and the corresponding detection range is the intersection of (30°, 210°) and (150°, 330°) (150°, 210°). It can be seen that the detection range is only 60°, while the second phase difference is satisfied. Greater than zero phase, and the third phase difference The interval corresponding to less than zero phase is (210°, 330°), and the detection range is 120°. In summary, the present disclosure determines the angle interval of the target direction angle of the positioning signal based on the intersection of the corresponding intervals when different reference phase differences are respectively greater than zero phase and less than zero phase.

[0105] In the embodiment of the present disclosure, the detection range that can be covered based on a single target phase difference and the corresponding reference phase difference is 240 degrees, which cannot fully cover the 360-degree range. Therefore, in the three sub-antenna arrays in the antenna array of the present disclosure, the correspondence between the antenna array corresponding to the reference phase difference and the antenna array corresponding to the target phase difference can be replaced, that is, the phase differences corresponding to the three sub-antenna arrays are the reference phase difference and the target phase difference. By judging the direction angle of the positioning target based on the corresponding target phase difference and reference phase difference of different groups, the direction angle of the positioning target in any direction within different 360-degree ranges can be obtained.

[0106] In the embodiment of the present disclosure, the first phase difference is the phase difference between the first sub-antenna array and the second sub-antenna array, that is, the phase difference between the direction of the second antenna unit pointing to the third antenna unit in the second sub-antenna array and the direction corresponding to the positive half axis of the X-axis is 120 degrees.

[0107] In the embodiment of the present disclosure, when the target phase difference is the second phase difference, the first / second target direction angle of the positioning target is determined in the following manner:

[0108] when

[0109]

[0110]

[0111] Wherein, θ2 is the second phase difference detected by the second sub-antenna array when the reference phase difference is the first phase difference and the third phase difference. The first / second target direction angle is determined by the corresponding formula.

[0112] In the present disclosure, Fig. 13B The target phase difference shown in is the second phase difference Schematic diagram of the target direction angle range, it can be seen that the first phase difference Greater than zero phase, and the third phase difference The phase less than zero indicates that the target direction angle is located in the intersection (330°, 90°) of (270°, 90°) and (330°, 150°). At this time, for the second sub-antenna, the basic formula for determining the target direction angle is: Based on the basic formula for determining the target direction angle The phase angle difference between the first and second antenna arrays The formula for determining the first / second target direction angle is

[0113] In the embodiment of the present disclosure, the first phase difference Greater than zero phase, and the third phase difference The phase less than zero indicates that the target direction angle is located in the intersection (150°, 270°) of (90°, 270°) and (150°, 330°). The phase angle difference between the first and second antenna arrays The formula for determining the first / second target direction angle is

[0114] In the embodiment of the present disclosure, when the target phase difference is the third phase difference, the first target / second target direction angle of the positioning target is determined in the following manner:

[0115] when

[0116]

[0117]

[0118] Wherein, θ3 is the third phase difference detected based on the first sub-antenna array when the reference phase difference is the first phase difference and the second phase difference. The first / second target direction angle is determined by the corresponding formula.

[0119] In the disclosed embodiment, the second phase difference is the phase difference between the first sub-antenna array and the third sub-antenna array, so the phase angle difference between the direction of the third antenna unit pointing to the first antenna unit in the third sub-antenna array and the direction corresponding to the positive half axis of the X-axis is 240 degrees, that is, like Fig. 13C The target phase difference shown in is a schematic diagram of the target direction angle value range of the third phase difference. It can be seen that the first phase difference is greater than zero phase, and the second phase difference Less than zero phase indicates that the target direction angle is located in the intersection (270°, 90°) and (210°, 30°). At this time, for the second sub-antenna, based on the basic formula for determining the target direction angle, The phase angle difference between the first and third antenna arrays The formula for determining the first / second target direction angle is

[0120] In the embodiment of the present disclosure, the first phase difference is less than zero phase, and the second phase difference A phase greater than zero indicates that the target direction angle is located in the intersection (90°, 270°) and (30°, 210°). At this time, for the second sub-antenna, based on the basic formula for determining the target direction angle, The phase angle difference between the first and third subarrays The formula for determining the first / second target direction angle is

[0121] In the disclosed embodiment, the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of the positioning direction angle, and the confidence interval is an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range. The target direction angle of the positioning target can be determined based on the relationship between the confidence interval and the first / second target direction angle.

[0122] The following embodiments of the present disclosure illustrate the method of determining the target direction angle based on the first target direction angle and the second target direction angle described above.

[0123] Fig.14 FIG. 1 is a flow chart of a method for determining a target direction angle of a positioning target according to another exemplary embodiment. Fig.14 As shown, the method includes step S401, step S402A and step S402B.

[0124] In step S401, a confidence interval corresponding to a target sub-antenna array corresponding to a first target phase difference is determined, and a confidence interval corresponding to a target sub-antenna array corresponding to a second target phase difference is determined.

[0125] In step S402A, in response to one of the first target direction angle and the second target direction angle being in the confidence interval of the corresponding target sub-antenna array, the target direction angle in the confidence interval is determined as the target direction angle of the positioning target.

[0126] In step S402B, in response to the first target direction angle and the second target direction angle being not in the corresponding confidence interval, or the first target direction angle and the second target direction angle being both in the corresponding confidence interval, the mean direction angle of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

[0127] Among them, step S402A and step S402B are alternative execution modes.

[0128] In the embodiment of the present disclosure, when any sub-antenna array is used as the target antenna array to obtain the target direction angle, the effective detection range is 240 degrees. Fig.15 Schematic diagram of the confidence intervals corresponding to different sub-antenna arrays shown and Fig.16 As shown in the schematic diagram of the corresponding relationship between the antenna array, the confidence interval, and the detection range, it can be seen that the direction angle of the positioning target can simultaneously meet the conditions of the angle range determined by the reference phase difference and the target phase difference of different groups. For example, in the detection range of (60°, 90°) in the figure, the first phase difference and the second phase difference As the target phase difference, the second target phase angle can be obtained respectively. Based on the possible errors in the measurement, a relatively accurate value needs to be selected as the final target direction angle. It can be understood that when determining the target direction angle based on the arccosine relationship between the distance between the antenna units, the phase difference and the target direction angle, the phase difference near the peak in the function image is more strongly correlated with the target direction angle, and the target direction angle obtained based on the arccosine function is more accurate. Based on the above principles, a confidence interval can be set for each sub-antenna array to accurately determine the target direction angle, and the confidence intervals corresponding to the sub-antenna arrays corresponding to the three sub-antenna arrays are used to measure the target direction angle within a 360-degree range.

[0129] In the embodiment of the present disclosure, taking the first sub-antenna array as an example, the intervals of the first / second target direction angles that can be obtained are (30°, 150°) and (210°, 330°). It can be seen from the figure that based on the first phase difference When determining the first / second target direction angle, the phase difference of 90° and 270° corresponding to the phase of the first sub-antenna array is more closely related to the target direction angle, and the obtained target direction angle is more accurate, so (60°, 120°) and (240°, 300°) are used as the confidence intervals corresponding to the first sub-antenna array. Similar to obtaining the confidence interval corresponding to the first sub-antenna array, combined with the phase difference between other sub-antenna arrays and the first sub-antenna array, the confidence intervals (0°, 60°) and (180°, 240°) corresponding to the second sub-antenna array can be determined, and the confidence intervals (120°, 180°) and (300°, 0°) corresponding to the third sub-antenna array can be determined. Based on the preset confidence intervals and the first / second target direction angles in the corresponding confidence intervals, the target direction angle where the positioning target is located can be determined.

[0130] In the embodiment of the present disclosure, under normal circumstances, the azimuths of the positioning target detected by different antenna arrays will all be in the confidence interval corresponding to the same antenna array. At this time, only one of the azimuths of the positioning target detected by different antenna arrays will be in the corresponding confidence interval. At this time, the azimuth in the corresponding confidence interval can be taken as the target azimuth. If one of the first target azimuth and the second target azimuth obtained is in the corresponding confidence interval, and the other is not in the corresponding confidence interval, then the first / second target azimuth in the corresponding confidence interval has accuracy, and the first / second target azimuth in the corresponding confidence interval is selected as the target azimuth of the positioning target. For example, when the first target azimuth determined based on the first phase difference is 65 degrees, the second target azimuth determined based on the second phase difference is 63 degrees. The confidence interval corresponding to the first sub-antenna array is (60°, 120°), and the confidence interval corresponding to the second sub-antenna array is (0°, 60°). At this time, the first target azimuth determined based on the first phase difference is in the corresponding confidence interval and has accuracy. However, the second target direction angle determined based on the second phase difference is not in the corresponding confidence interval, and is not accurate relative to the first target direction angle determined by the first phase difference that is in the corresponding confidence interval. Therefore, the first target direction angle of 65 degrees determined based on the first phase difference is used as the target direction angle of the positioning target.

[0131] In the disclosed embodiment, when the direction angle of the positioning target is near the dividing line between different confidence intervals, the direction angles of the positioning target detected by different antenna arrays will be distributed on both sides of the confidence interval dividing line, that is, the direction angles of the positioning target detected by different antenna arrays are respectively in different confidence intervals, and there will be a situation where the direction angles of the positioning target detected by different antenna arrays are all in the corresponding confidence interval or the direction angles of the positioning target detected by different antenna arrays are not in the confidence interval. At this time, the target direction angle of the positioning target is obtained by taking the average of the direction angles of the positioning target detected by different antenna arrays. For example: when the first target direction angle determined based on the first phase difference is 60.5 degrees, the second target direction angle determined based on the second phase difference is 59 degrees. The confidence interval corresponding to the first sub-antenna array is (60°, 120°), and the confidence interval corresponding to the second sub-antenna array is (0°, 60°). At this time, the first target direction angle determined based on the first phase difference is in the corresponding confidence interval and the second target direction angle determined based on the second phase difference is in the corresponding confidence interval, both of which are accurate. The average of the first target direction angle of 60.5 degrees and the second target direction angle of 59 degrees is used as the target direction angle of the positioning target. Similarly, when the first target direction angle determined based on the first phase difference is 59 degrees, the second target direction angle determined based on the second phase difference is 60.5 degrees. The confidence interval corresponding to the first sub-antenna array is (60°, 120°), and the confidence interval corresponding to the second sub-antenna array is (0°, 60°). At this time, the first target direction angle determined based on the first phase difference is in the corresponding confidence interval and the second target direction angle determined based on the second phase difference is not in the corresponding confidence interval, and neither of them is accurate. The average of the first target direction angle of 60.5 degrees and the second target direction angle of 59 degrees is used as the target direction angle of the positioning target.

[0132] It is understandable that there will be a certain error between the first target direction angle and the second target direction angle obtained based on different sub-antenna arrays, but the error value will not be too large. In the case where the error value is too large, the obtained target direction angle is regarded as abnormal data and is not stored.

[0133] In an embodiment of the present disclosure, three antenna units are used to form an antenna array and a receiving chip to form a positioning system, wherein the three antenna units can be divided into three sub-antenna arrays in groups of two, and the antenna array is used to detect the positioning signal emitted by the positioning target. The receiving chip has a built-in omnidirectional positioning algorithm for receiving the positioning signals detected by the first antenna unit, the second antenna unit, and the third antenna unit, and determining the target direction angle of the positioning target based on the phase difference corresponding to the positioning signal. In an exemplary embodiment of the present disclosure, a block diagram of the direction angle of the positioning target based on the positioning system is shown. Fig.17As shown in the block diagram of the positioning method in , the positioning method includes the following steps: determining the phase difference corresponding to each sub-antenna array, determining the detection range and determination method of the target direction angle based on the corresponding relationship between each phase difference and the zero phase, determining the target phase difference used for the target direction angle, determining multiple reference target direction angles by the direction angle determination method according to the phase difference corresponding to the detection range, and determining the target direction angle where the positioning target is located based on the corresponding relationship between the reference target direction angle and the confidence interval. In response to a single reference target direction angle being in the confidence interval, the reference target direction angle in the confidence interval is taken as the target direction angle; in response to multiple reference target direction angles being in the confidence interval, the average of the multiple reference target direction angles is the target direction angle; in response to multiple reference target direction angles not being in the confidence interval, the multiple reference target direction angles are the target direction angle. Through the present disclosure, the direction angle of any positioning target in the horizontal plane can be determined.

[0134] Based on the same concept, the embodiment of the present disclosure further provides a positioning device 200 .

[0135] It is understandable that the positioning device 200 provided in the embodiment of the present disclosure includes hardware structures and / or software modules corresponding to the execution of each function in order to realize the above functions. In combination with the units and algorithm steps of each example disclosed in the embodiment of the present disclosure, the embodiment of the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art may use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the technical solution of the embodiment of the present disclosure.

[0136] Fig.18 FIG. 2 is a block diagram of a positioning device 200 according to an exemplary embodiment. Fig.18 The device includes a detection unit 201 and a determination unit 202.

[0137] The detection unit 201 is used to detect the positioning signal respectively through the first antenna unit, the second antenna unit and the third antenna unit included in the antenna array.

[0138] Among them, the positioning signal is sent by the positioning target.

[0139] The determination unit 202 is used to respectively determine the phase difference of the positioning signal detected between the first antenna unit, the second antenna unit and the third antenna unit, and determine the target phase difference and the reference phase difference according to the magnitude relationship between the determined phase difference and the zero phase.

[0140] The target phase difference is one of the determined phase differences, the reference phase difference is another phase difference among the determined phase differences that is different from the target phase difference, and there is a corresponding relationship between the magnitude relationship between the determined phase difference and the zero phase, the target phase difference, and the reference phase difference.

[0141] The processing unit 203 is used to determine the second target direction angle of the positioning target based on the size relationship between the reference phase difference and the zero phase, and the first target direction angle, where the first target direction angle is the direction angle of the positioning target determined based on the target phase difference, and the target direction angle of the positioning target is determined according to the second target direction angle.

[0142] In one embodiment, the processing unit 203 determines the target phase difference among the first phase difference, the second phase difference, and the third phase difference in the following manner: based on the magnitude relationship between the first phase difference, the second phase difference, and the third phase difference and the zero phase, the first target phase difference and the second target phase difference are determined. The processing unit 203 determines the target direction angle of the positioning target according to the target phase difference and the reference phase difference in the following manner: based on the magnitude relationship between the first reference phase difference and the zero phase, and the first target phase difference, the first target direction angle is determined, and based on the magnitude relationship between the second reference phase difference and the zero phase, and the second target phase difference, the second target direction angle is determined. Based on the first target direction angle and the second target direction angle, the target direction angle of the positioning target is determined.Among them, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, and the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference ; or the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, and the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference.

[0143] In one embodiment, the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of the positioning direction angle, and the confidence interval is an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range. The processing unit 203 determines the target direction angle of the positioning target based on the first target direction angle and the second target direction angle in the following manner: determine the confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determine the confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference. In response to one of the first target direction angle and the second target direction angle being in the confidence interval of the corresponding target sub-antenna array, the target direction angle in the confidence interval is determined as the target direction angle of the positioning target. In response to the first target direction angle and the second target direction angle not being in the corresponding confidence interval, or the first target direction angle and the second target direction angle being in the corresponding confidence interval, the mean direction angle of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

[0144] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0145] Fig.19 3 is a block diagram of a positioning device 300 according to an exemplary embodiment. For example, the device 300 may be a mobile phone, a computer, a digital broadcast terminal, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, etc.

[0146] Reference Fig.19 , the device 300 may include one or more of the following components: a processing component 302 , a memory 304 , a power component 306 , a multimedia component 308 , an audio component 310 , an input / output (I / O) interface 312 , a sensor component 314 , and a communication component 316 .

[0147] The processing component 302 generally controls the overall operation of the device 300, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 302 may include one or more processors 320 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 302 may include one or more modules to facilitate the interaction between the processing component 302 and other components. For example, the processing component 302 may include a multimedia module to facilitate the interaction between the multimedia component 308 and the processing component 302.

[0148] The memory 304 is configured to store various types of data to support operations on the device 300. Examples of such data include instructions for any application or method operating on the device 300, contact data, phone book data, messages, pictures, videos, etc. The memory 304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0149] The power component 306 provides power to the various components of the device 300. The power component 306 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the device 300.

[0150] The multimedia component 308 includes a screen that provides an output interface between the device 300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 308 includes a front camera and / or a rear camera. When the device 300 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0151] The audio component 310 is configured to output and / or input audio signals. For example, the audio component 310 includes a microphone (MIC), and when the device 300 is in an operating mode, such as a call mode, a recording mode, and a speech recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 304 or sent via the communication component 316. In some embodiments, the audio component 310 also includes a speaker for outputting audio signals.

[0152] I / O interface 312 provides an interface between processing component 302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: a home button, a volume button, a start button, and a lock button.

[0153] The sensor assembly 314 includes one or more sensors for providing various aspects of the status assessment of the device 300. For example, the sensor assembly 314 can detect the open / closed state of the device 300, the relative positioning of components, such as the display and keypad of the device 300, the sensor assembly 314 can also detect the position change of the device 300 or a component of the device 300, the presence or absence of user contact with the device 300, the orientation or acceleration / deceleration of the device 300, and the temperature change of the device 300. The sensor assembly 314 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 314 can also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 314 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0154] The communication component 316 is configured to facilitate wired or wireless communication between the device 300 and other devices. The device 300 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 316 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 316 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0155] In an exemplary embodiment, the apparatus 300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the above method.

[0156] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 304 including instructions, and the instructions can be executed by the processor 320 of the device 300 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0157] It is to be understood that in the present disclosure, "plurality" refers to two or more than two, and other quantifiers are similar. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The singular forms "a", "the" and "the" are also intended to include plural forms, unless the context clearly indicates other meanings.

[0158] It is further understood that the terms "first", "second", etc. are used to describe various information, but such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other, and do not indicate a specific order or degree of importance. In fact, the expressions "first", "second", etc. can be used interchangeably. For example, without departing from the scope of the present disclosure, the first information can also be referred to as the second information, and similarly, the second information can also be referred to as the first information.

[0159] It will be further understood that the terms “center”, “longitudinal”, “lateral”, “front”, “back”, “up”, “down”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present embodiment and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation.

[0160] It can be further understood that, unless otherwise specified, “connection” includes a direct connection without other components between the two, and also includes an indirect connection with other components between the two.

[0161] It is further understood that, although the operations are described in a specific order in the drawings in the embodiments of the present disclosure, it should not be understood as requiring the operations to be performed in the specific order shown or in a serial order, or requiring the execution of all the operations shown to obtain the desired results. In certain environments, multitasking and parallel processing may be advantageous.

[0162] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modifications, uses or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure.

[0163] It should be understood that the present disclosure is not limited to the precise structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the scope of the appended claims.

Claims

1. A positioning system, characterized in that: include: An antenna array, comprising a first antenna unit, a second antenna unit and a third antenna unit, wherein the first antenna unit, the second antenna unit and the third antenna unit are used to detect a positioning signal sent by a positioning target; A receiving chip is used to receive the positioning signals detected by the first antenna unit, the second antenna unit and the third antenna unit, and determine the target direction angle of the positioning target based on the following method: Respectively determine the phase differences of the positioning signal detected between the first antenna unit, the second antenna unit and the third antenna unit, to obtain a first phase difference, a second phase difference and a third phase difference; Determine a target phase difference and a reference phase difference among the first phase difference, the second phase difference and the third phase difference, the target phase difference being one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference being the other phase difference among the first phase difference, the second phase difference and the third phase difference except the target phase difference; The target direction angle of the positioning target is determined according to the target phase difference and the reference phase difference.

2. The system according to claim 1, characterized in that The antenna array comprises a first sub-antenna array, a second sub-antenna array and a third sub-antenna array, the first sub-antenna array comprises the first antenna unit and the second antenna unit, the second sub-antenna array comprises the second antenna unit and the third antenna unit, and the third sub-antenna array comprises the first antenna unit and the third antenna unit; The first phase difference is a phase difference between the second antenna unit included in the first sub-antenna array and the phase difference of the positioning signal detected by the first antenna unit, the second phase difference is a phase difference between the third antenna unit included in the second sub-antenna array and the phase difference of the positioning signal detected by the second antenna unit, and the third phase difference is a phase difference between the third antenna unit included in the third sub-antenna array and the phase difference of the positioning signal detected by the first antenna unit; The receiving chip determines a target phase difference among the first phase difference, the second phase difference and the third phase difference in the following manner: Determine a first target phase difference and a second target phase difference based on a magnitude relationship between the first phase difference, the second phase difference, and the third phase difference and zero phase; The receiving chip determines the target direction angle of the positioning target according to the target phase difference and the reference phase difference in the following manner: Determine a first target direction angle according to a magnitude relationship between a first reference phase difference and zero phase, and the first target phase difference, and determine a second target direction angle according to a magnitude relationship between a second reference phase difference and zero phase, and the second target phase difference; Determining a target direction angle of the positioning target based on the first target direction angle and the second target direction angle; wherein the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or The second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or The third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or The third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or The first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or The first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference.

3. The system according to claim 2, characterized in that The first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of a positioning direction angle, the confidence interval being an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range; The receiving chip determines the target direction angle of the positioning target based on the first target direction angle and the second target direction angle in the following manner: Determine a confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determine a confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference; In response to one of the first target direction angle and the second target direction angle being in a confidence interval of a corresponding target sub-antenna array, determining the target direction angle in the confidence interval as the target direction angle of the positioning target; In response to the first target direction angle and the second target direction angle being not in the corresponding confidence interval, or the first target direction angle and the second target direction angle being both in the corresponding confidence interval, a mean direction angle of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

4. A positioning method, characterized in that: The method comprises: Detecting positioning signals respectively by using a first antenna unit, a second antenna unit and a third antenna unit included in the antenna array, wherein the positioning signals are sent by the positioning target; Respectively determine the phase differences of the positioning signal detected between the first antenna unit, the second antenna unit and the third antenna unit, to obtain a first phase difference, a second phase difference and a third phase difference; Determine a target phase difference and a reference phase difference among the first phase difference, the second phase difference and the third phase difference, the target phase difference being one of the first phase difference, the second phase difference and the third phase difference, and the reference phase difference being the other phase difference among the first phase difference, the second phase difference and the third phase difference except the target phase difference; The target direction angle of the positioning target is determined according to the target phase difference and the reference phase difference.

5. The method according to claim 4, characterized in that Determining a target phase difference among the first phase difference, the second phase difference, and the third phase difference includes: Determine a first target phase difference and a second target phase difference based on a magnitude relationship between the first phase difference, the second phase difference, and the third phase difference and zero phase; The step of determining a target direction angle of the positioning target according to the target phase difference and the reference phase difference comprises: Determine a first target direction angle according to a magnitude relationship between a first reference phase difference and zero phase, and the first target phase difference, and determine a second target direction angle according to a magnitude relationship between a second reference phase difference and zero phase, and the second target phase difference; Determining a target direction angle of the positioning target based on the first target direction angle and the second target direction angle; wherein the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or The second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or The third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or The third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or The first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or The first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference.

6. The method according to claim 5, characterized in that The first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of a positioning direction angle, wherein the confidence interval is an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range; The determining the target direction angle of the positioning target based on the first target direction angle and the second target direction angle includes: Determine a confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determine a confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference; In response to one of the first target direction angle and the second target direction angle being in a confidence interval of a corresponding target sub-antenna array, determining the target direction angle in the confidence interval as the target direction angle of the positioning target; In response to the first target direction angle and the second target direction angle being not in the corresponding confidence interval, or the first target direction angle and the second target direction angle being both in the corresponding confidence interval, a mean direction angle of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

7. A positioning device, characterized in that: The device comprises: A detection unit, configured to detect positioning signals respectively through a first antenna unit, a second antenna unit and a third antenna unit included in the antenna array, wherein the positioning signals are sent by the positioning target; a determining unit, configured to respectively determine phase differences of the positioning signal detected between the first antenna unit, the second antenna unit, and the third antenna unit, to obtain a first phase difference, a second phase difference, and a third phase difference; A processing unit is used to determine a target phase difference and a reference phase difference among the first phase difference, the second phase difference and the third phase difference, the target phase difference is one of the first phase difference, the second phase difference and the third phase difference, the reference phase difference is other phase differences among the first phase difference, the second phase difference and the third phase difference except the target phase difference, and determine a target direction angle of the positioning target according to the target phase difference and the reference phase difference.

8. The device according to claim 7, characterized in that The processing unit determines a target phase difference among the first phase difference, the second phase difference and the third phase difference in the following manner: Determine a first target phase difference and a second target phase difference based on a magnitude relationship between the first phase difference, the second phase difference, and the third phase difference and zero phase; The processing unit determines the target direction angle of the positioning target according to the target phase difference and the reference phase difference in the following manner: Determine a first target direction angle according to a magnitude relationship between a first reference phase difference and zero phase, and the first target phase difference, and determine a second target direction angle according to a magnitude relationship between a second reference phase difference and zero phase, and the second target phase difference; Determining a target direction angle of the positioning target based on the first target direction angle and the second target direction angle; wherein the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first phase difference is less than zero phase and the second phase difference is greater than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or The second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first phase difference is greater than zero phase and the second phase difference is less than zero phase, the first target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, the first target direction angle is determined according to the first phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the second phase difference, and the second target direction angle is determined according to the third phase difference; or The third phase difference is greater than zero phase and the first phase difference is less than zero phase, the second phase difference is less than zero phase and the third phase difference is greater than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the second reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or The third phase difference is less than zero phase and the first phase difference is greater than zero phase, the second phase difference is greater than zero phase and the third phase difference is less than zero phase, the first target phase difference is the second phase difference, the first reference phase difference is the first phase difference and the third phase difference, the first target direction angle is determined according to the second phase difference, the second target phase difference is the first phase difference, the first reference phase difference is the second phase difference and the third phase difference, and the second target direction angle is determined according to the first phase difference; or The first phase difference is greater than zero phase and the second phase difference is less than zero phase, the third phase difference is less than zero phase and the first phase difference is greater than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the second phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference; or The first phase difference is less than zero phase and the second phase difference is greater than zero phase, the third phase difference is greater than zero phase and the first phase difference is less than zero phase, the first target phase difference is the third phase difference, the first reference phase difference is the first phase difference and the second phase difference, the first target direction angle is determined according to the third phase difference, the second target phase difference is the third phase difference, the second reference phase difference is the first phase difference and the third phase difference, and the second target direction angle is determined according to the second phase difference.

9. The device according to claim 8, characterized in that The first sub-antenna array, the second sub-antenna array, and the third sub-antenna array each correspond to a confidence interval of a positioning direction angle, wherein the confidence interval is an angle range divided by the center of the positioning direction angle that can be detected by the corresponding sub-antenna array, and the angle range corresponding to all the confidence intervals corresponding to the first sub-antenna array, the second sub-antenna array, and the third sub-antenna array is an omnidirectional angle range; The processing unit determines the target direction angle of the positioning target based on the first target direction angle and the second target direction angle in the following manner: Determine a confidence interval corresponding to the target sub-antenna array corresponding to the first target phase difference, and determine a confidence interval corresponding to the target sub-antenna array corresponding to the second target phase difference; In response to one of the first target direction angle and the second target direction angle being in a confidence interval of a corresponding target sub-antenna array, determining the target direction angle in the confidence interval as the target direction angle of the positioning target; In response to the first target direction angle and the second target direction angle being not in the corresponding confidence interval, or the first target direction angle and the second target direction angle being both in the corresponding confidence interval, a mean direction angle of the first target direction angle and the second target direction angle is determined as the target direction angle of the positioning target.

10. An electronic device, characterized in that: include: Antenna arrays; A processor, configured to execute the positioning method described in any one of claims 4 to 6 based on the antenna array.

11. The electronic device according to claim 10, characterized in that: The antenna array comprises a first antenna unit, a second antenna unit and a third antenna unit; The first antenna unit, the second antenna unit and the third antenna unit are arranged in an equilateral triangle.

12. A storage medium, characterized in that: The storage medium stores instructions, and when the instructions in the storage medium are executed by a processor, the processor is enabled to execute the positioning method according to any one of claims 4 to 6.

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