Method and device for determining antenna arrival phase difference and antenna transmission phase difference

Abstract

The present invention discloses a method and device for determining an antenna arrival phase difference and an antenna transmission phase difference. The method for determining the antenna arrival phase difference includes: obtaining signals transmitted by the same antenna in at least three time periods, at least two time periods are received by different antennas; estimating the phase of the signals in each time period according to the signals obtained in each time period and calculating a plurality of combinations of phase differences, which include a first combination of a phase difference of at least one subsequent time period minus a phase of a previous time period and a second combination of a phase difference of at least one previous time period minus a phase of a subsequent time period; performing normalized weighted averaging on the phase differences of the plurality of combinations, with the sum of the weights being 1, to obtain the antenna arrival phase difference; the sum of the products of the weights of the phase differences of each first combination and the corresponding time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding time interval. The phase difference obtained based on the method of the present invention can improve the accuracy of AoA or AoD estimation.

Description

Technical Field

[0001] The present invention relates to the field of wireless system signal processing, and in particular to a method and a device for determining an antenna arrival phase difference and an antenna transmission phase difference. Background Art

[0002] The demand for spatial perception based on distance, angle and positioning and its applications are expanding day by day. Wireless system products including mobile phones, base stations, tags, remote controls, wearable devices, etc. are playing an increasingly important role in spatial perception.

[0003] Measuring the propagation signal AoA (Angle of Arrival) of the received signal through multiple antennas of wireless products is a key technology for spatial perception. The principle is that the spatial interval between adjacent antennas is about half the signal carrier wavelength, and signals arriving at different antennas at different angles will have different distance differences. The maximum range of the distance difference is equal to the antenna spacing, thus forming a signal PDoA (Phase Difference of Arrival) of about -180° to 180° in signal phase. In the receiver, as long as the signal arrival phase difference between the antennas is estimated, the AoA can be calculated.

[0004] On the other hand, the signal AoD (Angle of Departure) is also an important parameter for spatial perception. The principle is: the transmitter uses antennas at different locations to transmit signals in different time periods, and the receiver receives each segment of the signal in different time periods, calculates the signal PDoD (Phase Difference of Departure) between each antenna, and estimates the AoD from the transmitter to the receiver. In this way, in order to avoid signal interference between multiple antennas, signals from different antennas are usually transmitted in different time periods.

[0005] Two antennas transmit or receive and can calculate a direction angle to estimate the direction angle of plane coordinates. Three antennas are arranged in an L shape or four antennas are arranged in a square shape to estimate the horizontal direction angle and elevation direction angle of spherical coordinates.

[0006] One way to estimate PDoA is to use multiple receivers to simultaneously receive signals from multiple antennas, and obtain the phases of signals on different antennas over the same period of time, so that PDoA can be calculated. However, the number of receivers in this method is the same as the number of antennas, and the receiver cost is relatively high. On the other hand, this method is not suitable for estimating PDoD.

[0007] Another implementation method is the time-segment method. For PDoA estimation, a receiver is used to switch different receiving antennas to receive signals from different antennas in time periods. In this way, regardless of the number of antennas, a receiver can estimate the signal phases of multiple antennas and then calculate AoA. For PDoD estimation, the transmitter switches different transmitting antennas in time periods, and the receiver can use the same antenna to receive signals from different transmitting antennas in time periods, and then estimate the PDoD of different antennas. In the ultra-wideband UWB protocol, Bluetooth protocol, and Star Flash standard protocol of IEEE802.15.4z, segmented transmission wireless signal frames are defined for switching antennas for transmission or reception. For example, in the UWB protocol, 1 to 4 scrambling sequences can be used for phase estimation in a frame of signal, and 1 microsecond is left between each segment sequence without transmitting signals for switching transmitting or receiving antennas.

[0008] However, in practical applications, the phase difference calculated by the above method often has a large deviation, resulting in low accuracy of AoA or AoD.

[0009] The disclosure of the above background technology content is only used to assist in understanding the concept and technical solution of the present invention. It does not necessarily belong to the prior art of this patent application. In the absence of clear evidence that the above content has been disclosed on the filing date of this patent application, the above background technology should not be used to evaluate the novelty and creativity of the present application. Summary of the invention

[0010] In order to solve the above technical problems, the present invention proposes a method and device for determining the antenna arrival phase difference, and a method and device for determining the antenna transmission phase difference. The phase difference caused by the residual frequency offset is offset by weighted combination of two or more antenna phase differences. The phase difference obtained based on this method can improve the accuracy of AoA or AoD estimation.

[0011] In order to achieve the above object, the present invention adopts the following technical solutions:

[0012] In a first aspect, the present invention discloses a method for determining an antenna arrival phase difference, comprising the following steps:

[0013] A1: The signal of the same antenna of the transmitting end is obtained in at least three time periods, wherein the signal obtained in at least two time periods is received by different antennas;

[0014] A2: Estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to the phase value at a moment in each time period;

[0015] A3: Calculate multiple combinations of phase differences based on the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated based on the phase estimated by the signal acquired in the latter time period minus the phase estimated by the signal acquired in the former time period, and the second combination of phase differences is calculated based on the phase estimated by the signal acquired in the former time period minus the phase estimated by the signal acquired in the latter time period, wherein the signals acquired in the latter time period and the signals acquired in the former time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signals acquired in the former time period and the signals acquired in the latter time period in calculating the phase difference of the second combination are respectively received through different antennas;

[0016] A4: Perform normalized weighted averaging on multiple combinations of phase differences, where the sum of each weight is 1, to obtain the antenna arrival phase difference; wherein, among the multiple combinations of phase differences for which normalized weighted averaging is performed, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

[0017] Preferably, in step A1, a signal of a same antenna of the transmitting end is acquired in at least three time periods through at least two antennas of the same dimension;

[0018] In step A3, the phase differences of multiple combinations of the same dimension are calculated according to the phases of the signals in each time period;

[0019] In step A4, the phase differences of multiple combinations in the same dimension are normalized and weighted averaged, and the sum of the weights is 1, so as to obtain the antenna arrival phase difference in the dimension.

[0020] Preferably, in step A1, the time interval between each adjacent time period is the same, and the duration of each time period is the same. In step A4, the first time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

[0021] In a second aspect, the present invention discloses a method for determining an antenna transmission phase difference, comprising the following steps:

[0022] B1: Signals in at least three time periods are obtained through the same receiving antenna, wherein the signals obtained in at least two time periods are transmitted through different antennas of the transmitting end;

[0023] B2: Estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to the phase value at a moment in each time period;

[0024] B3: Calculating multiple combinations of phase differences based on the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated based on the estimated phase of the signal acquired in the latter time period minus the estimated phase of the signal acquired in the former time period, and the second combination of phase differences is calculated based on the estimated phase of the signal acquired in the former time period minus the estimated phase of the signal acquired in the latter time period, wherein the signal acquired in the latter time period and the signal acquired in the former time period in calculating the phase difference of the first combination are respectively transmitted through different antennas, and the signal acquired in the former time period and the signal acquired in the latter time period in calculating the phase difference of the second combination are respectively transmitted through different antennas;

[0025] B4: Perform normalized weighted averaging on multiple combinations of phase differences, where the sum of each weight is 1, to obtain the antenna transmission phase difference; wherein, among the multiple combinations of phase differences for which normalized weighted averaging is performed, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

[0026] Preferably, in step B1, signals of at least two antennas in the same dimension of the transmitting end in at least three time periods are obtained through the same receiving antenna;

[0027] In step B3, the phase differences of multiple combinations of the same dimension are calculated according to the phases of the signals in each time period;

[0028] In step B4, the phase differences of multiple combinations in the same dimension are normalized and weighted averaged, and the sum of the weights is 1, so as to obtain the antenna transmission phase difference in the dimension.

[0029] Preferably, in step B1, the time interval between each adjacent time period is the same, and the duration of each time period is the same. In step B4, the first time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

[0030] In a third aspect, the present invention discloses a device for determining an antenna arrival phase difference, comprising a signal acquisition unit, a phase estimation unit, a phase difference calculation unit and an arrival phase difference weighted averaging unit, wherein:

[0031] The signal acquisition unit is used to acquire signals from the same antenna of the transmitting end in at least three time periods, wherein the signals acquired in at least two time periods are received by different antennas;

[0032] The phase estimation unit is used to estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to a phase value at a moment in each time period;

[0033] The phase difference calculation unit is used to calculate multiple combinations of phase differences according to the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, wherein the signal obtained in the next time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signal obtained in the previous time period and the signal obtained in the next time period in calculating the phase difference of the second combination are respectively received through different antennas;

[0034] The arrival phase difference weighted averaging unit is used to perform normalized weighted averaging on multiple combinations of phase differences, and the sum of each weight is 1, so as to obtain the antenna arrival phase difference; wherein, among the multiple combinations of phase differences for normalized weighted averaging, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

[0035] Preferably, the time intervals between adjacent time periods in the process of acquiring signals by the signal acquisition unit are the same, and the duration of each time period is the same;

[0036] The first time period interval used in the arrival phase difference weighted averaging unit is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

[0037] In a fourth aspect, the present invention discloses a device for determining an antenna transmission phase difference, comprising a signal acquisition unit, a phase estimation unit, a phase difference calculation unit and a transmission phase difference weighted average unit, wherein:

[0038] The signal acquisition unit is used to acquire signals in at least three time periods through the same receiving antenna, wherein the signals acquired in at least two time periods are transmitted through different antennas of the transmitting end;

[0039] The phase estimation unit is used to estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to a phase value at a moment in each time period;

[0040] The phase difference calculation unit is used to calculate multiple combinations of phase differences according to the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, wherein the signal obtained in the next time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signal obtained in the previous time period and the signal obtained in the next time period in calculating the phase difference of the second combination are respectively received through different antennas;

[0041] The transmission phase difference weighted averaging unit is used to perform normalized weighted averaging on multiple combinations of phase differences, and the sum of each weight is 1, so as to obtain the antenna transmission phase difference; wherein, among the multiple combinations of phase differences for normalized weighted averaging, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

[0042] Preferably, the time intervals between adjacent time periods in the process of acquiring signals by the signal acquisition unit are the same, and the duration of each time period is the same;

[0043] The first time period interval used in the transmission phase difference weighted averaging unit is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

[0044] Compared with the prior art, the beneficial effects of the present invention are as follows: the method and device for determining the antenna arrival phase difference, and the method and device for determining the antenna transmission phase difference proposed in the present invention, wherein the interference of the residual frequency offset on the spatial phase difference estimation is offset by reasonably configuring the antenna and a suitable phase difference (antenna phase difference twice or more before and after) calculation weighting method, so as to obtain the phase difference corresponding to the signal spatial angle, and the phase difference obtained based on this method can improve the accuracy of AoA or AoD estimation, so as to be widely applicable to arrival angle estimation and transmission angle estimation. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 This is a flow chart of a method for determining an antenna arrival phase difference disclosed in Embodiment 1 of the present invention;

[0046] Figure 2 is a flow chart of a method for determining an antenna transmission phase difference disclosed in Embodiment 3 of the present invention;

[0047] Figure 3 is a flow chart of a signal processing method in a preferred embodiment of the present invention;

[0048] Figure 4 The figure is a schematic diagram of the present invention applied to AoA, AoD and antenna array. DETAILED DESCRIPTION

[0049] The following is a detailed description of the embodiments of the present invention. It should be emphasized that the following description is only exemplary and is not intended to limit the scope and application of the present invention.

[0050] It should be noted that when a component is referred to as being "fixed to" or "disposed on" another component, it can be directly on the other component or indirectly on the other component. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, connection can be used for both fixing and circuit / signal communication.

[0051] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention 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, and therefore cannot be understood as a limitation on the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0053] In practical applications, the system clock frequencies of the transmitter and receiver are often not exactly the same, and the phase of the received signal will change over time. Even through frequency offset estimation and compensation at the receiver, it is difficult to reduce the residual frequency offset to 0 due to the existence of estimation errors. Therefore, in the phase difference estimation method of time periods, in addition to the phase difference caused by spatial AoA or AoD, a phase difference caused by residual frequency offset is superimposed in the signals of different time periods; and the phase difference caused by this residual frequency offset limits the accuracy of AoA estimation.

[0054] In view of this, the method and device for determining the antenna arrival phase difference and the antenna transmission phase difference proposed in the embodiments of the present invention utilize weighted merging of more than two antenna phase differences to cancel out the phase difference caused by residual frequency deviation, thereby obtaining the phase difference corresponding to the signal spatial angle.

[0055] like Figure 1 As shown, Embodiment 1 of the present invention discloses a method for determining an antenna arrival phase difference, comprising the following steps:

[0056] A1: The signal of the same antenna of the transmitting end is obtained in at least three time periods, wherein the signal obtained in at least two time periods is received by different antennas;

[0057] A2: Estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to the phase value at a moment in each time period;

[0058] A3: Calculating multiple combinations of phase differences based on the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, wherein the signal obtained in the next time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signal obtained in the previous time period and the signal obtained in the next time period in calculating the phase difference of the second combination are respectively received through different antennas;

[0059] A4: Perform normalized weighted averaging on multiple combinations of phase differences, with the sum of each weight being 1, to obtain the antenna arrival phase difference; wherein, among the multiple combinations of phase differences for which normalized weighted averaging is performed, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

[0060] Furthermore, if it is necessary to determine the antenna arrival phase difference in a certain dimension, then in step A1, the signal of the same antenna at the transmitting end is obtained in at least three time periods through at least two antennas of the same dimension; in step A3, the phase differences of multiple combinations of the same dimension are calculated according to the phases of the signals in each time period; in step A4, the phase differences of multiple combinations of the same dimension are normalized and weighted averaged, and the sum of the weights is 1, so as to obtain the antenna arrival phase difference of the dimension.

[0061] Furthermore, in step A1, the time interval between each adjacent time period is the same, and the duration of each time period is the same. In step A4, the first time period interval is equal to the difference in the sequence of the time period between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in the sequence of the time period between the subsequent time period and the previous time period used to calculate the phase difference of the second combination. The calculation of the weighted average is further simplified in this step.

[0062] Embodiment 2 of the present invention discloses a device for determining an antenna arrival phase difference, comprising a signal acquisition unit, a phase estimation unit, a phase difference calculation unit and an arrival phase difference weighted averaging unit, wherein:

[0063] The signal acquisition unit is used to acquire signals from the same antenna of the transmitting end in at least three time periods, wherein the signals acquired in at least two time periods are received by different antennas;

[0064] The phase estimation unit is used to estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to a phase value at a moment in each time period;

[0065] The phase difference calculation unit is used to calculate multiple combinations of phase differences according to the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, wherein the signal obtained in the next time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signal obtained in the previous time period and the signal obtained in the next time period in calculating the phase difference of the second combination are respectively received through different antennas;

[0066] The arrival phase difference weighted averaging unit is used to perform normalized weighted averaging on multiple combinations of phase differences, and the sum of each weight is 1, so as to obtain the antenna arrival phase difference; wherein, among the multiple combinations of phase differences for normalized weighted averaging, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the phase estimated in the subsequent time period for calculating the phase difference of the first combination and the moment corresponding to the phase estimated in the previous time period, and the second time interval refers to the time interval between the moment corresponding to the phase estimated in the subsequent time period for calculating the phase difference of the second combination and the moment corresponding to the phase estimated in the previous time period.

[0067] Furthermore, if it is necessary to determine the antenna arrival phase difference in a certain dimension, the signal acquisition unit acquires the signal of the same antenna of the transmitting end in at least three time periods through at least two antennas of the same dimension; the phase difference calculation unit calculates the phase differences of multiple combinations of the same dimension according to the phases of the signals in each time period; and the arrival phase difference weighted averaging unit performs normalized weighted averaging on the phase differences of multiple combinations of the same dimension, and the sum of the weights is 1, so as to obtain the antenna arrival phase difference of the dimension.

[0068] Furthermore, in the signal acquisition unit, the time interval between each adjacent time period in the process of acquiring the signal is the same, the duration of each time period is the same, the first time period interval used in the phase difference weighted average unit is equal to the difference in the sequence of the time period between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in the sequence of the time period between the subsequent time period and the previous time period used to calculate the phase difference of the second combination. The calculation of weighted average is further simplified in this solution.

[0069] like Figure 2 As shown, Embodiment 3 of the present invention discloses a method for determining an antenna transmission phase difference, comprising the following steps:

[0070] B1: Signals in at least three time periods are obtained through the same receiving antenna, wherein the signals obtained in at least two time periods are transmitted through different antennas of the transmitting end;

[0071] B2: Estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to the phase value at a moment in each time period;

[0072] B3: Calculating multiple combinations of phase differences based on the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the estimated phase of the signal obtained in the next time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the estimated phase of the signal obtained in the next time period, wherein the signal obtained in the next time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively transmitted through different antennas, and the signal obtained in the previous time period and the signal obtained in the next time period in calculating the phase difference of the second combination are respectively transmitted through different antennas;

[0073] B4: Perform normalized weighted averaging on multiple combinations of phase differences, with the sum of each weight being 1, to obtain the antenna transmission phase difference; wherein, among the multiple combinations of phase differences for which normalized weighted averaging is performed, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

[0074] Furthermore, if it is necessary to determine the antenna transmission phase difference in a certain dimension, in step B1, the signals of at least two antennas in the same dimension of the transmitting end in at least three time periods are obtained through the same receiving antenna; in step B3, the phase differences of multiple combinations of the same dimension are calculated according to the phases of the signals in each time period; in step B4, the phase differences of multiple combinations of the same dimension are normalized and weighted averaged, and the sum of the weights is 1, so as to obtain the antenna transmission phase difference of the dimension.

[0075] Furthermore, in step B1, the time interval between each adjacent time period is the same, and the duration of each time period is the same. In step B4, the first time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

[0076] Embodiment 4 of the present invention discloses a device for determining an antenna transmission phase difference, comprising a signal acquisition unit, a phase estimation unit, a phase difference calculation unit and a transmission phase difference weighted averaging unit, wherein:

[0077] The signal acquisition unit is used to acquire signals in at least three time periods through the same receiving antenna, wherein the signals acquired in at least two time periods are transmitted through different antennas of the transmitting end;

[0078] The phase estimation unit is used to estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to a phase value at a moment in each time period;

[0079] The phase difference calculation unit is used to calculate multiple combinations of phase differences according to the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the later time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the later time period, wherein the signal obtained in the later time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively transmitted through different antennas, and the signal obtained in the previous time period and the signal obtained in the later time period in calculating the phase difference of the second combination are respectively transmitted through different antennas;

[0080] The transmission phase difference weighted averaging unit is used to perform normalized weighted averaging on multiple combinations of phase differences, and the sum of each weight is 1, so as to obtain the antenna transmission phase difference; wherein, among the multiple combinations of phase differences for normalized weighted averaging, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the phase estimated in the subsequent time period for calculating the phase difference of the first combination and the moment corresponding to the phase estimated in the previous time period, and the second time interval refers to the time interval between the moment corresponding to the phase estimated in the subsequent time period for calculating the phase difference of the second combination and the moment corresponding to the phase estimated in the previous time period.

[0081] Furthermore, if it is necessary to determine the antenna transmission phase difference in a certain dimension, the signal acquisition unit obtains the signals of at least two antennas in the same dimension of the transmitting end in at least three time periods through the same receiving antenna; the phase difference calculation unit calculates the phase differences of multiple combinations of the same dimension according to the phases of the signals in each time period; the transmission phase difference weighted averaging unit performs normalized weighted averaging on the phase differences of multiple combinations of the same dimension, and the sum of the weights is 1, so as to obtain the antenna transmission phase difference of the dimension.

[0082] Furthermore, in the signal acquisition unit, the time interval between each adjacent time period in the process of acquiring the signal is the same, the duration of each time period is the same, the first time period interval used in the transmission phase difference weighted average unit is equal to the difference in the sequence of the time period between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time period interval is equal to the difference in the sequence of the time period between the subsequent time period and the previous time period used to calculate the phase difference of the second combination. The calculation of weighted average is further simplified in this solution.

[0083] The following is a further detailed description of the method and device for determining the antenna arrival phase difference and the antenna transmission phase difference proposed in the present invention in combination with a specific embodiment. The weighted combination of the antenna phase differences twice or more is used to cancel the phase difference caused by the residual frequency offset, so that the phase difference corresponding to the signal space angle can be obtained.

[0084] like Figure 3 As shown, it is a flow chart of the antenna phase difference estimation method disclosed in the preferred embodiment of the present invention. The antenna phase difference estimation method of the present invention is characterized in that when calculating the phase difference in the same dimension, there is a combination of the latter time period minus the former time period and a combination of the former time period minus the latter time period; specifically, it includes the following steps:

[0085] S1: Configure N (N is an integer greater than 2) time periods to transmit and receive signals. Each time period uses a different antenna to transmit or receive. At least two time period combinations are used to calculate the phase difference in the same dimension (horizontal or elevation). Among these time period combinations, one is to subtract the phase of the next time period from the phase of the previous time period, and the other is to subtract the phase of the next time period from the phase of the previous time period. The duration and interval of each time period can be the same or different.

[0086] For example, if antennas A and B are used for horizontal phase difference, and antennas A and C are used for elevation phase difference, four time periods can be configured to transmit or receive using antennas A, B, C, and A. When different antennas are used for transmission and the same antenna is used for reception, the estimated transmission phase difference is obtained; when the same antenna is used for transmission and different antennas are used for reception, the estimated reception phase difference is obtained.

[0087] S2: The transmitter transmits a signal, and the receiver receives the signal and estimates the phase of the signal in period N. The estimated phase is the phase value at a certain moment in the corresponding period, and these moments can be recorded as: t1, t2, ..., tN.

[0088] For example, antennas A, B, C, and A are used to receive signals in four time periods, and the four phases are recorded as P_A1, P_B2, P_C3, and P_A4, which correspond to the phases at times t1, t2, t3, and t4 in the four time periods, where times t1, t2, t3, and t4 are usually the middle times of each time period, respectively.

[0089] S3: Calculate the phase difference of multiple combinations in each dimension.

[0090] For example, in the above example, there are two calculation combinations for the horizontal phase difference:

[0091] The phase of the latter period is subtracted from the phase of the former period: PDx1 = P_B2 - P_A1;

[0092] The phase of the previous period minus the phase of the next period: PDx2 = P_B2 - P_A4;

[0093] Similarly, for the phase difference in the pitch direction, there are also two calculation combinations: PDy1=P_C3 - P_A1; PDy2=P_C3- P_A4.

[0094] S4: Perform normalized weighted averaging on multiple combined phase differences in the same dimension, where the sum of all weights is 1, and the sum of the weights of all subsequent time periods minus the weights of the previous time periods multiplied by the time period phase time intervals is equal to the sum of the weights of all previous time periods minus the weights of the subsequent time periods multiplied by the time period phase time intervals.

[0095] For example, in the above example, the calculation of horizontal phase differences PDx1 and PDx2 requires the weighted average of two weights W1 and W2. The interval between the two phase moments of PDx1 is t2-t1, and the interval between the second and fourth phase moments of PDx2 is t4-t2. At the same time, the sum of all weights is required to be 1, that is, the requirement is:

[0096] W1+W2=1;

[0097] W1*(t2-t1)=W2*(t4-t2).

[0098] The '*' represents multiplication.

[0099] Combining the above two equations, we can get:

[0100] W1=(t4-t2) / [(t2-t1)+(t4-t2)];

[0101] W2=(t2-t1) / [(t2-t1)+(t4-t2)].

[0102] The horizontal phase difference is then estimated as:

[0103] PDx = PDx1 * W1 + PDx2 * W2.

[0104] If t1, t2, t3, and t4 are equally spaced, the weight of PDx1 can be simplified to 2 / 3, and the weight of PDx2 can be simplified to 1 / 3, so the estimation of the horizontal phase difference PDx is:

[0105] PDx = PDx1 * 2 / 3 + PDx2 * 1 / 3.

[0106] The '*' represents multiplication.

[0107] Similarly, if t1, t2, t3, and t4 are equally spaced, the estimation of the phase difference PDy in the pitch direction is:

[0108] PDy = PDy1 * 1 / 3 + PDy2 * 2 / 3.

[0109] Figure 4 FIG. 1 is a schematic diagram of an antenna array and an AoA in a specific embodiment of the present invention. Figure 4 As shown in the example, there are two terminals in the spatial perception system transmitting signals to measure angle information. The first terminal 10 has at least two antennas, such as antenna A and antenna B, or 3 antennas A, B and C; or 4 antennas A, B, C and D, which form an antenna array, and the adjacent antennas (A and B, A and C, C and D, B and D) are spaced about half a carrier wavelength apart. The second terminal 20 has at least one antenna, and the difference in distance between the antennas of the first terminal 10 will result in phase differences between different antenna signals. This feature can be used to estimate the direction of the first terminal 10 relative to the normal of the antenna array plane of the second terminal 20.

[0110] If the second terminal 20 transmits a signal, the first terminal 10 may estimate AoA using the phase difference between different antennas; conversely, if the first terminal 10 transmits a signal using different antennas in different time periods, the second terminal 20 may estimate AoD by estimating the phase difference between signals from different transmitting antennas.

[0111] The application examples of the antenna phase difference estimation method in the specific embodiment of the present invention are as follows. The duration of each time period in the following application examples is the same, and the time interval between each adjacent time period is also the same (the application principle of unequal duration and interval is also the same, as described in the aforementioned preferred embodiment):

[0112] (1) Example 1 (the first terminal is equipped with two antennas, namely antenna A and antenna B)

[0113] In this example, the first terminal 10 is provided with dual antennas, namely antennas A and B, and the antenna phase difference is estimated through antennas A and B. The antenna phase difference estimation method of this example includes the following steps:

[0114] Step 1: You can configure three time period signals, and use antennas A, B, and A to transmit or receive in the three time periods respectively.

[0115] Step 2: Calculate the phase of each time period as P_A1, P_B2, and P_A3.

[0116] Assuming that the phase difference caused by the spatial position between antenna A and antenna B is ps, in radians; the residual frequency deviation is f, in Hz; the time interval is T, in seconds, then excluding the influence of noise, we have the following formula:

[0117] P_B2=P_A1 + ps + 2*π*f*T;

[0118] P_A3=P_B2 - ps + 2*π*f*T.

[0119] Step 3: Calculate the phase difference:

[0120] PD1=P_B2 - P_A1;

[0121] PD2=P_B2 - P_A3;

[0122] According to the assumptions in the second step, we have:

[0123] PD1=ps + 2*π*f*T;

[0124] PD2=ps - 2*π*f*T.

[0125] Step 4: Weighted average.

[0126] Since the phases of the first and second time periods are used to calculate PD1, and the phases of the second and third time periods are used to calculate PD2, and the interval between the two time periods is 1 segment, both weights are 1 / 2, which can offset the phase caused by the residual frequency deviation: PD=(PD1) / 2+(PD2) / 2.

[0127] It can be seen that according to the assumption in the second step above, the phase 2*pi*f*T caused by the residual frequency offset is completely eliminated in the weighted combination, and the obtained PD is equal to the spatial phase difference ps.

[0128] (2) Example 2

[0129] This example is the same as Example 1. The first terminal 10 is provided with dual antennas, namely antennas A and B. The antenna phase difference is estimated through antennas A and B. In this example, four time periods are configured to transmit or receive signals. The antenna phase difference estimation method of this example includes the following steps:

[0130] The first step is to configure four time periods to transmit or receive signals, using antennas A, B, A, and B respectively.

[0131] The second step is to calculate the phase of each time period as P_A1, P_B2, P_A3, and P_B4.

[0132] The third step is to calculate the phase difference PD1=P_B2 - P_A1; PD2=P_B2 - P_A3; PD3=P_B4 - P_A3.

[0133] The fourth step is weighted averaging. Here, the three weights are 1 / 4, 1 / 2, and 1 / 4, respectively. This can satisfy the condition that the sum of the weights of all subsequent time periods minus the weights of the previous time periods multiplied by the time interval is equal to the sum of the weights of all previous time periods minus the weights of the subsequent time periods multiplied by the time interval. This can offset the phase caused by the residual frequency offset, PD=(PD1) / 4 + (PD2) / 2 + (PD3) / 4.

[0134] (3) Example 3

[0135] In this example, the first terminal 10 is provided with three antennas, namely antennas A, B, and C, where antennas A and B are used in the horizontal dimension, and antennas A and C are used in the elevation dimension. The antenna phase difference estimation method of this example includes the following steps:

[0136] The first step is to configure four time periods to use antennas A, B, C, and A to transmit or receive respectively.

[0137] The second step is to calculate the phase of each time period as P_A1, P_B2, P_C3, and P_A4.

[0138] The third step is to calculate the combined horizontal phase difference and pitch phase difference:

[0139] PDx1 = P_B2 - P_A1;

[0140] PDx2 = P_B2 - P_A4;

[0141] PDy1 = P_C3 - P_A1;

[0142] PDy2 = P_C3 - P_A4.

[0143] The fourth step is weighted averaging, where the weights are 2 / 3 and 1 / 3 respectively:

[0144] Horizontal dimension phase difference: PDx = PDx1 * 2 / 3 + PDx2 * 1 / 3;

[0145] Phase difference in pitch dimension: PDy=PDy1 * 1 / 3 + PDy2 * 2 / 3.

[0146] (3) Example 4

[0147] In this example, the first terminal 10 is provided with four antennas, namely antennas A, B, C, and D, wherein antennas A and B or antennas C and D are used for the horizontal dimension, and antennas A and C or antennas B and D are used for the elevation dimension. The antenna phase difference estimation method of this example includes the following steps:

[0148] The first step is to configure 4 time periods to use antennas A, D, C, and B to transmit or receive respectively.

[0149] The second step is to calculate the phase of each time period as P_A1, P_D2, P_C3, and P_B4.

[0150] The third step is to calculate the horizontal phase difference and pitch phase difference of each combination:

[0151] PDx1 = P_B4 - P_A1;

[0152] PDx2 = P_D2 - P_C3;

[0153] PDy1 = P_C3 - P_A1;

[0154] PDy2 = P_D2 - P_B4.

[0155] The fourth step is weighted average:

[0156] Phase difference in horizontal dimension: PDx1 is obtained by subtracting the 1st segment from the 4th segment, with an interval of 3 segments; PDx2 is obtained by subtracting the 3rd segment from the 2nd segment, with an interval of 1 segment. The weights can be set to 1 / (3+1) and 3 / (3+1) respectively, that is, PDx = (PDx1) / 4 + (PDx2) * 3 / 4;

[0157] Phase difference in pitch dimension: PDy1 and PDy2 are both phase differences between two intervals, and the weight can be set to 1 / 2, that is, PDy = (PDy1) / 2 + (PDy2) / 2.

[0158] In the method for determining the phase difference proposed by the present invention, when receiving through the first terminal with multiple antennas, the antenna arrival phase difference is estimated, and when transmitting through the first terminal with multiple antennas, the antenna transmission phase difference is estimated; in this process, the signals of each time period of the second terminal are transmitted or received through the same antenna.

[0159] Among them, if both terminals have multiple antennas, both terminals can estimate their respective antenna arrival phase difference and antenna transmission phase difference. However, when estimating the antenna arrival phase difference, the other terminal must use the same antenna to transmit, and when estimating the antenna transmission phase difference, the other terminal must use the same antenna to receive.

[0160] In the prior art, when the phase usually contains frequency deviation, in order to prevent the frequency deviation from affecting signal processing, the most common known method is to estimate the size of the frequency deviation, and then compensate for the frequency deviation according to the estimated value. However, in actual situations, affected by phase noise, thermal noise and interference signals, statistically speaking, there is usually a deviation between the estimated value of the frequency deviation and the true value, so the known method cannot completely eliminate the influence of the frequency deviation. However, the present invention is based on the phase change caused by the residual frequency deviation in a uniform monotonically increasing or decreasing manner in the time period, and this phase change has opposite signs in the phase subtraction of the time periods in different orders before and after, so that the phase of the residual frequency deviation can be weighted and offset through the technical solution of the present invention, and a relatively pure spatial phase difference is estimated; wherein, the present invention does not need to estimate the frequency deviation, and is therefore no longer affected by the frequency deviation estimation performance.

[0161] The present invention utilizes the weighted method of the front and rear phase differences, which can theoretically completely remove the influence of the fixed frequency offset. Furthermore, the method of the present invention can also be applied after the known frequency offset estimation compensation process, thereby eliminating the influence of the "residual frequency offset" caused by the inaccurate frequency offset estimation, thereby further improving the performance.

[0162] The background section of the present invention may contain background information about the problem or environment of the present invention, rather than describing the prior art by others. Therefore, the content contained in the background section is not an admission by the applicant that the prior art is available.

[0163] The above content is a further detailed description of the present invention in combination with specific / preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, without departing from the concept of the present invention, it can also make several substitutions or modifications to these described embodiments, and these substitutions or modifications should be regarded as belonging to the protection scope of the present invention. In the description of this specification, the description of reference terms "an embodiment", "some embodiments", "preferred embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in combination with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily target the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, in the absence of mutual contradiction, the technical personnel in this field can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention and their advantages have been described in detail, it should be understood that various changes, substitutions and modifications can be made herein without departing from the scope defined by the attached claims.

Claims

1. A method for determining an antenna arrival phase difference, characterized in that: The following steps are involved: A1: The signal of the same antenna of the transmitting end is obtained in at least three time periods, wherein the signal obtained in at least two time periods is received by different antennas; A2: Estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to the phase value at a moment in each time period; A3: Calculate multiple combinations of phase differences based on the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated based on the phase estimated by the signal acquired in the latter time period minus the phase estimated by the signal acquired in the former time period, and the second combination of phase differences is calculated based on the phase estimated by the signal acquired in the former time period minus the phase estimated by the signal acquired in the latter time period, wherein the signals acquired in the latter time period and the signals acquired in the former time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signals acquired in the former time period and the signals acquired in the latter time period in calculating the phase difference of the second combination are respectively received through different antennas; A4: Perform normalized weighted averaging on multiple combinations of phase differences, where the sum of each weight is 1, to obtain the antenna arrival phase difference; wherein, among the multiple combinations of phase differences for which normalized weighted averaging is performed, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

2. The method for determining the antenna arrival phase difference according to claim 1, characterized in that: In step A1, a signal of a same antenna of a transmitting end is acquired in at least three time periods through at least two antennas of the same dimension; In step A3, the phase differences of multiple combinations of the same dimension are calculated according to the phases of the signals in each time period; In step A4, the phase differences of multiple combinations in the same dimension are normalized and weighted averaged, and the sum of the weights is 1, so as to obtain the antenna arrival phase difference in the dimension.

3. The method for determining the antenna arrival phase difference according to claim 1, characterized in that: In step A1, the time interval between each adjacent time period is the same, and the duration of each time period is the same. In step A4, the first time interval is equal to the difference in the time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time interval is equal to the difference in the time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

4. A method for determining an antenna transmission phase difference, characterized in that: The following steps are involved: B1: Signals in at least three time periods are obtained through the same receiving antenna, wherein the signals obtained in at least two time periods are transmitted through different antennas of the transmitting end; B2: Estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to the phase value at a moment in each time period; B3: Calculating multiple combinations of phase differences based on the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated based on the estimated phase of the signal acquired in the latter time period minus the estimated phase of the signal acquired in the former time period, and the second combination of phase differences is calculated based on the estimated phase of the signal acquired in the former time period minus the estimated phase of the signal acquired in the latter time period, wherein the signal acquired in the latter time period and the signal acquired in the former time period in calculating the phase difference of the first combination are respectively transmitted through different antennas, and the signal acquired in the former time period and the signal acquired in the latter time period in calculating the phase difference of the second combination are respectively transmitted through different antennas; B4: Perform normalized weighted averaging on multiple combinations of phase differences, where the sum of each weight is 1, to obtain the antenna transmission phase difference; wherein, among the multiple combinations of phase differences for which normalized weighted averaging is performed, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

5. The method for determining the antenna transmission phase difference according to claim 4, characterized in that: In step B1, signals of at least two antennas in the same dimension of the transmitting end in at least three time periods are obtained through the same receiving antenna; In step B3, the phase differences of multiple combinations of the same dimension are calculated according to the phases of the signals in each time period; In step B4, the phase differences of multiple combinations in the same dimension are normalized and weighted averaged, and the sum of the weights is 1, so as to obtain the antenna transmission phase difference in the dimension.

6. The method for determining the antenna transmission phase difference according to claim 4, characterized in that: In step B1, the time interval between each adjacent time period is the same, and the duration of each time period is the same. In step B4, the first time interval is equal to the difference in the time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the first combination, and the second time interval is equal to the difference in the time sequence between the subsequent time period and the previous time period used to calculate the phase difference of the second combination.

7. A device for determining antenna arrival phase difference, characterized in that: It includes a signal acquisition unit, a phase estimation unit, a phase difference calculation unit and an arrival phase difference weighted average unit, wherein: The signal acquisition unit is used to acquire signals from the same antenna of the transmitting end in at least three time periods, wherein the signals acquired in at least two time periods are received by different antennas; The phase estimation unit is used to estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to a phase value at a moment in each time period; The phase difference calculation unit is used to calculate multiple combinations of phase differences according to the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the next time period, wherein the signal obtained in the next time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively received through different antennas, and the signal obtained in the previous time period and the signal obtained in the next time period in calculating the phase difference of the second combination are respectively received through different antennas; The arrival phase difference weighted averaging unit is used to perform normalized weighted averaging on multiple combinations of phase differences, and the sum of each weight is 1, so as to obtain the antenna arrival phase difference; wherein, among the multiple combinations of phase differences for normalized weighted averaging, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

8. The device for determining the antenna arrival phase difference according to claim 7, characterized in that: The time intervals between adjacent time periods in the process of acquiring signals by the signal acquisition unit are the same, and the duration of each time period is the same; The first time interval used in the arrival phase difference weighted averaging unit is equal to the difference in position between the period of the latter time period and the period of the former time period used to calculate the phase difference of the first combination, and the second time interval is equal to the difference in position between the period of the latter time period and the period of the former time period used to calculate the phase difference of the second combination.

9. A device for determining an antenna transmission phase difference, characterized in that: It includes a signal acquisition unit, a phase estimation unit, a phase difference calculation unit and a transmission phase difference weighted average unit, wherein: The signal acquisition unit is used to acquire signals in at least three time periods through the same receiving antenna, wherein the signals acquired in at least two time periods are transmitted through different antennas of the transmitting end; The phase estimation unit is used to estimate the phase of the signal in each time period according to the signal obtained in each time period, wherein the estimated phase corresponds to a phase value at a moment in each time period; The phase difference calculation unit is used to calculate multiple combinations of phase differences according to the phases of the signals in each time period, wherein the multiple combinations of phase differences include at least one first combination of phase differences and at least one second combination of phase differences, the first combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the later time period, and the second combination of phase differences is calculated by subtracting the estimated phase of the signal obtained in the previous time period from the phase estimated by the signal obtained in the later time period, wherein the signal obtained in the later time period and the signal obtained in the previous time period in calculating the phase difference of the first combination are respectively transmitted through different antennas, and the signal obtained in the previous time period and the signal obtained in the later time period in calculating the phase difference of the second combination are respectively transmitted through different antennas; The transmission phase difference weighted averaging unit is used to perform normalized weighted averaging on multiple combinations of phase differences, and the sum of each weight is 1, so as to obtain the antenna transmission phase difference; wherein, among the multiple combinations of phase differences for normalized weighted averaging, the sum of the products of the weights of the phase differences of each first combination and the corresponding first time interval is equal to the sum of the products of the weights of the phase differences of each second combination and the corresponding second time interval; the first time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the first combination and the moment corresponding to the estimated phase of the previous time period, and the second time interval refers to the time interval between the moment corresponding to the estimated phase of the subsequent time period used to calculate the phase difference of the second combination and the moment corresponding to the estimated phase of the previous time period.

10. The device for determining antenna transmission phase difference according to claim 9, characterized in that: The time intervals between adjacent time periods in the process of acquiring signals by the signal acquisition unit are the same, and the duration of each time period is the same; The first time interval used in the transmission phase difference weighted averaging unit is equal to the difference in position between the period of the latter time period and the period of the former time period used to calculate the phase difference of the first combination, and the second time interval is equal to the difference in position between the period of the latter time period and the period of the former time period used to calculate the phase difference of the second combination.

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