Angle measurement method, angle measurement device and computer readable storage medium

Abstract

The invention relates to the technical field of communication interaction, in particular to an angle measurement method and device and a storage medium. The angle measurement method applied to first reference equipment comprises the following steps: receiving a plurality of measurement signals sent by target equipment; respectively determining a first phase measurement value of each received measurement signal; receiving a plurality of second phase measurement values sent by a second reference device; based on the plurality of first phase measurement values and the plurality of second phase measurement values, determining distance difference values between the target equipment and the first reference equipment and between the target equipment and the second reference equipment; and determining deflection angles between the target equipment and the first reference equipment and between the target equipment and the second reference equipment based on the baseline length and the distance difference between the first reference equipment and the second reference equipment. According to the invention, the air interface occupation time of signal transmission can be reduced, the test time delay can be shortened, the requirement on the measurement precision can be effectively reduced, and the process of determining the angle information of the target equipment is more convenient and efficient.

Description

Technical Field

[0001] The present invention relates to the field of communication interaction technology, and in particular to an angle measurement method, an angle measurement device and a computer-readable storage medium. Background Art

[0002] As the functions of terminal devices are continuously improved, the application scenarios involved in terminal devices are becoming more and more abundant. In related technologies, in order to meet the needs of terminal devices to measure environmental information, it is necessary to pre-install multiple dedicated sensors for environmental measurement in the terminal devices, thereby increasing the system cost of the terminal devices. Summary of the invention

[0003] To overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides an angle measurement method, which is applied to a first reference device, where the first reference device is one of two reference devices connected to a target device for communication, and the method includes: receiving a plurality of measurement signals sent by the target device, where the measurement signals correspond to the signal frequencies one by one; respectively determining a first phase measurement value of each measurement signal received; receiving a plurality of second phase measurement values ​​sent by a second reference device, where the plurality of second phase measurement values ​​are determined by the second reference device based on the plurality of measurement signals received, and the second reference device is the other of the two reference devices connected to the target device for communication; determining a distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values; determining a deflection angle between the target device and the first reference device and the second reference device based on a baseline length and a distance difference between the first reference device and the second reference device, wherein the baseline is a line connecting the first reference device and the second reference device, and the deflection angle is an angle between a line connecting the target device to a midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device, and the second reference device are located.

[0004] In a second aspect, the present disclosure further provides an angle measurement method, which is applied to an electronic device, and the method includes: receiving a plurality of first phase measurement values ​​sent by a first reference device, the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals received from a target device, the measurement signals correspond one-to-one to the signal frequencies, and the first reference device is one of two reference devices that are communicatively connected to the target device; receiving a plurality of second phase measurement values ​​sent by a second reference device, the plurality of second phase measurement values ​​are determined by the second reference device based on a plurality of measurement signals received from the target device, and the second reference device is the other of the two reference devices that are communicatively connected to the target device; based on a plurality of The first phase measurement value and multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device; based on the baseline length and the distance difference between the first reference device and the second reference device, the deflection angle between the target device and the first reference device and the second reference device is determined, wherein the baseline is the line between the first reference device and the second reference device, and the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device and the second reference device are located; the deflection angle is sent to the target reference device, and the target reference device is the first reference device and / or the second reference device.

[0005] In a third aspect, the present disclosure further provides an angle measurement method, which is applied to a second reference device, where the second reference device is one of two reference devices that are communicatively connected to a target device, and the method includes: receiving multiple measurement signals sent by the target device, where the measurement signals correspond to the signal frequencies one by one; respectively determining a second phase measurement value of each measurement signal received; and sending the multiple second phase measurement values ​​to a designated device, so that the designated device determines the distance difference between the target device and the first reference device and the second reference device based on the multiple first phase measurement values ​​and the multiple second phase measurement values, where the first reference device is the other of the two reference devices that are communicatively connected to the target device, and the multiple first phase measurement values The first reference device determines the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device, wherein the baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, the target plane is the plane where the target device, the first reference device and the second reference device are located, and the designated device is any one of the following: the target device, the first reference device or the electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device.

[0006] In a fourth aspect, the present disclosure further provides an angle measurement method, which is applied to a target device that is communicatively connected to two reference devices, the two reference devices including a first reference device and a second reference device, the method comprising: sending multiple measurement signals to the first reference device so that the first reference device determines multiple first phase measurement values ​​based on the received multiple measurement signals; sending multiple measurement signals to the second reference device so that the second reference device determines multiple second phase measurement values ​​based on the received multiple measurement signals; wherein the multiple first phase measurement values ​​and the multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device, and the distance difference is used to determine the deflection angle between the target device and the first reference device and the second reference device in combination with the baseline length between the first reference device and the second reference device, wherein the baseline is a line connecting the first reference device and the second reference device, and the deflection angle is an angle between a line connecting the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device and the second reference device are located.

[0007] In a fifth aspect, the present disclosure further provides an angle measurement device, which is applied to a first reference device, where the first reference device is one of two reference devices communicatively connected to the target device, and the device includes: a first receiving module, which is used to receive multiple measurement signals sent by the target device, and the measurement signals correspond to the signal frequencies one by one; a first determining module, which is used to respectively determine a first phase measurement value of each measurement signal received; a second receiving module, which is used to receive multiple second phase measurement values ​​sent by a second reference device, where the multiple second phase measurement values ​​are determined by the second reference device based on the received multiple measurement signals, and the second reference device is one of the two reference devices communicatively connected to the target device. another one in the device; a second determination module, used to determine the distance difference between the target device and the first reference device and the second reference device based on multiple first phase measurement values ​​and multiple second phase measurement values; a third determination module, used to determine the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device and the second reference device are located.

[0008] In a sixth aspect, the present disclosure further provides an angle measurement device, which is applied to an electronic device, and the device includes: a third receiving module, which is used to receive a plurality of first phase measurement values ​​sent by a first reference device, the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals sent by a target device, the measurement signals correspond to the signal frequencies one by one, and the first reference device is one of two reference devices that are communicatively connected to the target device; a fourth receiving module, which is used to receive a plurality of second phase measurement values ​​sent by a second reference device, the plurality of second phase measurement values ​​are determined by the second reference device based on a plurality of measurement signals sent by the target device, and the second reference device is the other of the two reference devices that are communicatively connected to the target device; a fourth determining module, which is used to A fifth determination module is used to determine the distance difference between the target device and the first reference device and the second reference device based on a plurality of first phase measurement values ​​and a plurality of second phase measurement values; a fifth determination module is used to determine the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device and the second reference device are located; a second sending module is used to send the deflection angle to a target reference device, and the target reference device is the first reference device and / or the second reference device.

[0009] In the seventh aspect, the present disclosure further provides an angle measurement device, which is applied to a second reference device, where the second reference device is one of two reference devices that are communicatively connected to the target device, and the device includes: a fifth receiving module, which is used to receive multiple measurement signals sent by the target device, and the measurement signals correspond to the signal frequencies one by one; a sixth determination module, which is used to respectively determine the second phase measurement value of each measurement signal received; and a seventh determination module, which is used to send the multiple second phase measurement values ​​to a designated device, so that the designated device determines the distance difference between the target device and the first reference device and the second reference device based on the multiple first phase measurement values ​​and the multiple second phase measurement values, where the first reference device is one of the two reference devices that are communicatively connected to the target device. In another embodiment, a plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals received from the target device; and a deflection angle between the target device and the first reference device and the second reference device is determined based on a baseline length and a distance difference between the first reference device and the second reference device, wherein the baseline is a line connecting the first reference device and the second reference device, the deflection angle is an angle between a line connecting the target device to a midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, the target plane is a plane where the target device, the first reference device and the second reference device are located, and the designated device is any one of the following: a target device, a first reference device or an electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device.

[0010] In an eighth aspect, the present disclosure further provides an angle measurement device, which is applied to a target device that is communicatively connected to two reference devices, wherein the two reference devices include a first reference device and a second reference device, and the device includes: a third sending module, which is used to send multiple measurement signals to the first reference device, so that the first reference device determines multiple first phase measurement values ​​based on the received multiple measurement signals; a fourth sending module, which is used to send multiple measurement signals to the second reference device, so that the second reference device determines multiple second phase measurement values ​​based on the received multiple measurement signals; wherein the multiple first phase measurement values ​​and the multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device, and the distance difference is used to determine the deflection angle between the target device and the first reference device and the second reference device in combination with the baseline length between the first reference device and the second reference device, wherein the baseline is the line between the first reference device and the second reference device, and the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device and the second reference device are located.

[0011] In a ninth aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the angle measurement method provided in any one of the above aspects.

[0012] 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.

[0013] The technical solution provided by the embodiments of the present disclosure may include the following beneficial effects: According to the angle measurement method provided by the present disclosure, multiple first phase measurement values ​​and multiple second phase measurement values ​​are determined respectively through unidirectional signal transmission with the target device, so that the phase difference of the test signal under the same signal frequency at different distances can be understood, which can reduce the air interface occupancy time of the signal transmission and shorten the test delay. Based on multiple first phase measurement values ​​and multiple second phase measurement values, the distance difference between the target device and the first reference device and the second reference device is determined, which can effectively reduce the demand for measurement accuracy and improve practicality without having to clarify the distance between the target device and each reference device in advance. In addition, when the baseline length and distance difference of the two reference devices are clarified, the deflection angle between the target device and the two reference devices is determined, which can make the process of determining the angle information of the target device more convenient and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0015] Figure 1 is a schematic diagram of an angle measurement system according to an exemplary embodiment of the disclosure;

[0016] Figure 2 is a flowchart of an angle measurement method according to an exemplary embodiment of the disclosure;

[0017] Figure 3 is an angle schematic diagram according to an exemplary embodiment of the disclosure;

[0018] Figure 4 is a flowchart of another angle measurement method according to an exemplary embodiment of the disclosure;

[0019] Figure 5 is a flowchart of another angle measurement method according to an exemplary embodiment of the disclosure;

[0020] Figure 6 is a flow chart of another angle measurement method according to an exemplary embodiment of the disclosure;

[0021] Figure 7 is a schematic diagram of function distribution according to an exemplary embodiment of the disclosure;

[0022] Figure 8is a schematic diagram of device interaction according to an exemplary embodiment of the disclosure;

[0023] Fig. 9 is a flowchart of an angle measurement method according to another exemplary embodiment of the present disclosure;

[0024] Fig.10 is another device interaction schematic diagram according to an exemplary embodiment of the disclosure;

[0025] Fig.11 is a flow chart of another angle measurement method according to another exemplary embodiment of the present disclosure;

[0026] Fig.12 is a flowchart of another angle measurement method according to another exemplary embodiment of the present disclosure;

[0027] Fig.13 is a schematic diagram of the architecture of yet another angle measurement system according to another exemplary embodiment of the present disclosure;

[0028] Fig.14 is a structural schematic diagram of an angle measuring device according to an exemplary embodiment of the disclosure;

[0029] Fig.15 is a schematic structural diagram of another angle measuring device according to an exemplary embodiment of the disclosure;

[0030] Fig.16 is a structural schematic diagram of another angle measuring device according to an exemplary embodiment of the disclosure;

[0031] Fig.17 It is a schematic structural diagram of another angle measurement device according to an exemplary embodiment of the disclosure. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0033] Unless otherwise defined, the technical or scientific terms used in the claims and the specification shall have the usual meaning understood by persons with ordinary skills in the technical field to which the invention belongs. The words "first", "second" and similar words used in the patent application specification and the claims of the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "One" or "one" and other similar words do not indicate a quantitative limitation, but indicate the existence of at least one. "Include" or "comprises" and other similar words mean that the elements or objects appearing before "include" or "comprises" include the elements or objects listed after "include" or "comprises" and their equivalent elements, and do not exclude other elements or objects. "Connected" or "connected" and other similar words are not limited to physical or mechanical connections, nor are they limited to direct or indirect connections.

[0034] As the functions of terminal devices continue to improve, the application scenarios involved in terminal devices are becoming more and more abundant. In related technologies, in order to meet the needs of terminal devices to measure environmental information, it is necessary to pre-install multiple special sensors for environmental measurement in the terminal device for measurement. For example, environmental measurement can include distance measurement or angle measurement, and then distance measurement can be performed by radar, and angle measurement can be performed by multi-line radar or inertial measurement unit (Inertial Measurement Unit, IMU). However, by adding the above sensors for environmental measurement, the system cost of the terminal device will increase.

[0035] Among them, in order to measure the angle, the angle of the signal source relative to the receiver can be determined based on the angle of arrival (AoA) and direction of arrival (DoA) technology. However, both of the above technologies require an antenna array composed of multiple antenna elements to receive signals from all directions, and require the receiver to be able to process multi-path signals, that is, the signal of each antenna element is processed by the receiver. However, using this method for angle measurement has high requirements on the hardware of angle measurement.

[0036] To solve the above problems, an exemplary embodiment of the present disclosure provides an angle measurement method applied to an angle measurement system. The angle measurement system may include at least three measuring devices that can support frequency hopping communication. In frequency hopping communication, the signal transmitter and the signal receiver use the same frequency hopping sequence to communicate synchronously at different frequencies. These measuring devices can be divided into two groups, which are fixed on the reference object and the measurement object respectively to achieve targeted measurement of the target device. The observation device deployed on the measurement object is the target device, and the observation device deployed on the reference object is the reference device. The number of reference objects can be at least one. If the number of reference objects is one, the number of measuring devices on the reference object is at least two to ensure the stability of the measurement system. If the number of reference objects is multiple, the number of measuring devices on each reference object can be at least one. That is, in the angle measurement system, the smallest measurement system unit can be as follows: Figure 1 As shown, it includes a target device and two reference devices communicating with it, so that without adding additional dedicated sensors, angle measurement can be achieved based on the communication functions of the three devices themselves to meet the needs of obtaining environmental information.

[0037] Based on the above angle measurement system, the present disclosure provides an angle measurement method, which is applied to a first reference device in the above angle measurement system, and the first reference device is one of two reference devices that are communicatively connected to a target device. The first reference device and the second reference device can be understood as reference devices for determining the deflection of the target device. The target device can be understood as a measurement object for which the angle deflection needs to be determined. The target device can communicate with the first reference device and the second reference device.

[0038] like Figure 2 As shown, the angle measurement method may include the following steps:

[0039] Step S210: receiving a plurality of measurement signals sent by a target device.

[0040] During the signal transmission process, the distance to the target device can be determined by the phase measurement value of the received signal. Since the distance between the target device and the first reference device is relatively fixed, multiple measurement signals can be sent from the target device to the first reference device to determine the reception status of the multiple measurement signals received by the first reference device when the distance is constant. The measurement signal corresponds to the signal frequency one by one.

[0041] Step S220: Determine the first phase measurement value of each received measurement signal respectively.

[0042] The first phase measurement value of each measurement signal received is determined respectively, so as to characterize the correspondence between the signal frequency and the first phase measurement value when the distance remains unchanged through multiple first phase measurement values. In this way, when the distance between the target device and the first reference device is unclear, the measurement error caused by distance uncertainty can be reduced, thereby improving the accuracy of positioning and measurement.

[0043] Step S230: receiving a plurality of second phase measurement values ​​sent by a second reference device.

[0044] The plurality of second phase measurement values ​​are determined by a second reference device based on the plurality of measurement signals received, and the second reference device is the other of the two reference devices in communication connection with the target device. By obtaining the plurality of second phase measurement values, the corresponding relationship between the signal frequency and the second phase measurement value can be determined when the distance between the target device and the second reference device is unknown.

[0045] By acquiring multiple second phase measurement values, it is possible to clearly identify the second phase measurement value corresponding to each first phase measurement value at the same signal frequency. Further, by combining the multiple first phase measurement values ​​and the multiple second phase measurement values, it is possible to determine the distance difference between the target device and the first reference device and between the target device and the second reference device under the condition of a constant signal propagation speed, thereby helping to improve positioning accuracy.

[0046] In some examples, multiple second phase measurement values ​​can be sent asynchronously to the first reference device. That is, after the second reference device receives the measurement signal, it determines the second phase measurement value of the measurement signal received, and sends the second phase measurement value to the first reference device. After the second reference device receives the next measurement signal, it determines the second phase measurement value of the next measurement signal received, and sends the second phase measurement value of the next measurement signal to the first reference device. And so on, until multiple second phase measurement values ​​are sent to the first reference device. By sending multiple second phase measurement values ​​in this way, the occurrence of missed transmission can be effectively avoided.

[0047] In other examples, multiple second phase measurement values ​​may also be sent to the reference device at the same time. That is, each time the second reference device receives a measurement signal, it determines the second phase measurement value corresponding to each received measurement signal, and sends the determined multiple second phase measurement values ​​to the first reference device, so that the first reference device can obtain multiple second phase measurement values ​​at a time based on the connection with the second reference device. By sending multiple second phase measurement values ​​in this way, the number of communications can be reduced and the transmission efficiency can be improved.

[0048] Step S240: determining the distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values.

[0049] During the angle measurement process, the position and posture of the target device, the first reference device, and the second reference device in space are relatively fixed. Therefore, through multiple first phase measurement values ​​and multiple second phase measurement values, the distance difference between the target device and the two reference devices can be determined by using relevant algorithms or models, and even if the distance between the target device and the first reference device and the distance between the target device and the second reference device are not clear, the purpose of determining the distance difference can be achieved, thereby helping to reduce the need for calculations for measurement accuracy and the overall calculation difficulty, and improve calculation efficiency. Among them, the relevant algorithms or models may include but are not limited to: regression algorithms, machine learning models, which can be determined according to actual needs and are not limited here.

[0050] Step S250: determining the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device.

[0051] Among them, Figure 3 As shown, the baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device and the second reference device are located.

[0052] According to the angle measurement method provided by the present disclosure, by unidirectional signal transmission between the target device and the target device, a plurality of first phase measurement values ​​and a plurality of second phase measurement values ​​are respectively determined, so that the phase difference of the test signal under the same signal frequency at different distances can be understood, and the air interface time occupied by the signal transmission can be reduced, and the test delay can be shortened. Based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, the distance difference between the target device and the first reference device and the second reference device is determined, and the need for measurement accuracy can be effectively reduced and the practicality can be improved without clarifying the distance between the target device and each reference device in advance. In addition, when the baseline length and the distance difference of the two reference devices are clarified, the deflection angle between the target device and the two reference devices is determined, which can make the process of determining the angle information of the target device more convenient and efficient.

[0053] Furthermore, the angle measurement method provided by the present invention is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and can effectively reduce the system performance cost.

[0054] In some embodiments, the measurement signal is obtained by mixing the basic carrier signal of the target device based on the first target signal frequency. The basic carrier signal of the target device may change due to the switch state of the target device or the change of the signal frequency, and the corresponding instantaneous phase is an unknown value. Therefore, in order to improve the test quality and efficiency, for each test signal at a signal frequency, before the target device sends the test signal, the basic carrier signal of the target device is mixed by the target signal frequency to compensate for the phase change of the basic carrier signal by the target signal frequency, thereby ensuring that the phase of the sent test signal is predictable and controllable, thereby helping to improve the quality of the measurement signal.

[0055] In some examples, the determination process of the measurement signal can be as follows: A Indicates the instantaneous phase of the basic carrier when the target device starts to send the measurement signal. The basic carrier frequency is Then the mathematical expression of the basic carrier can be: If the target signal frequency is The process of mixing the basic carrier signal of the target device with the target signal frequency can be expressed by the following formula:

[0056]

[0057] in, is the modified carrier at the signal frequency f, that is, the measurement signal to be sent, which is usually generated by a digital circuit; Δθ A The phase deviation is controllable and can be adjusted according to the target signal frequency. But different.

[0058] like Figure 4 As shown, the above step S220 may include:

[0059] Step S221 : determining a first local carrier signal of the first reference device according to a first basic carrier of the first reference device and a first modified carrier of a second target signal frequency.

[0060] The first basic carrier signal is a local signal of the first reference device. The first modified carrier can be understood as a carrier signal used to adjust the instantaneous phase of the first basic carrier. In order to make the phase of the first basic carrier within a reasonable range, the first basic carrier is adjusted by the first modified carrier of the second target signal frequency, thereby obtaining the first local carrier signal of the first reference device. In one example, the determination process of the first local carrier signal is similar to the determination process of the test signal. For example, if θ B The first basic carrier represents the instantaneous phase of the basic carrier when the first reference device starts to receive the measurement signal. Then the expression of the first basic carrier can be: If the target signal frequency is The process of adjusting the first basic carrier by the first modified carrier can be expressed by the following formula:

[0061]

[0062] Δθ B The phase deviation is controllable and can be adjusted according to the target signal frequency. But different.

[0063] Step S222: Mixing the measurement signal with the first local carrier signal to obtain a first phase measurement value of the received measurement signal.

[0064] Since the initial instantaneous phase of the measurement signal sent by the target device is not completely the same as the initial instantaneous phase of the local signal of the first reference device during the signal interaction, the first reference device performs mixing processing on the measurement signal after receiving the measurement signal to achieve synchronization between the transmitting and receiving ends, ensuring that the measurement signal can be received and transmitted normally, thereby determining the first phase measurement value of the received measurement signal based on the obtained mixing result. In addition, the precision and accuracy of the phase measurement can also be improved by mixing the received measurement signal, thereby better meeting the requirements of the communication system.

[0065] In one example, the measured signal is The first local carrier signal is Then the process of mixing the measurement signal with the first local carrier signal can be expressed by the following formula:

[0066]

[0067] The first phase measurement value obtained is: B (f) = angle(x B (t,f))-Δθ A (f)+Δθ B (f) Wherein, D1 represents the distance between the target device and the first reference device.

[0068] In other examples, the target device may send a measurement signal to the first reference device while Δθ A The first reference device is sent synchronously, or sent to the first reference device in advance before sending the measurement signal. Therefore, in the process of determining the first phase measurement value, Δθ A (f) and Δθ B (f) is removed, and the first phase measurement value is obtained as: B (f) = angle(x B (t,f))-Δθ A (f)+Δθ B (f) = -2πf(D 1 / c)+θ A -θ B .

[0069] By determining the first phase measurement value in the above manner, the accuracy of phase measurement can be improved, and the communication quality can be improved, thereby making the subsequent ranging process more accurate and reliable.

[0070] In other embodiments, the process of determining the second phase measurement value is similar to the process of determining the first phase measurement value, and will not be described in detail herein.

[0071] In some embodiments, Figure 5 As shown, the above step S240 may include:

[0072] Step S241, determining a first phase difference between a plurality of first phase measurement values.

[0073] A plurality of first phase measurement values ​​at different signal frequencies are differentially processed to determine the phase difference between the measurement signals at different signal frequencies received by the first reference device at the same distance and under the same signal transmission.

[0074] Step S242, determining a second phase difference between a plurality of second phase measurement values.

[0075] Similarly, a plurality of second phase measurement values ​​at different signal frequencies are differentially processed to determine the phase difference between the measurement signals at different signal frequencies received by the second reference device at the same distance and under the same signal transmission.

[0076] Step S243, determining the frequency difference between the multiple signal frequencies.

[0077] The difference processing is performed on multiple signal frequencies to determine the frequency variation range of the measurement signal during the test process.

[0078] Step S244: determining the distance difference between the target device and the first reference device and the second reference device based on the first phase difference, the second phase difference and the frequency difference.

[0079] The distance D between the target device and the first reference device 1 Relatively fixed, the distance D between the target device and the second reference device 2 It is also relatively fixed. Therefore, through each first phase measurement value and each second phase measurement value, it is possible to establish a relationship between the distance difference based on the first phase difference, the second phase difference and the frequency difference without knowing the specific distance, thereby determining the distance difference between the target device and the first reference device and the second reference device.

[0080] In some optional implementation scenarios, the multiple signal frequencies are f 1 and f 2 ; The first phase measurement values ​​may be: φ B (f 1 )=-2πf 1 (D 1 / c)+θ A -θ B ,φ B (f 2 )=-2πf 3 (D 1 / c)+

[0081] θ A -θ B ; The multiple second phase measurement values ​​can be respectively: First phase difference = φ B (f 2 )-φ B (f 1 ),

[0082] Frequency difference between multiple signal frequencies = f 2 -f 1Therefore, the process of determining the distance difference can be expressed by the following formula:

[0083]

[0084] By determining the distance difference between the target device and the first reference device and the second reference device in the above manner, the error of single-point measurement can be reduced, thereby improving the accuracy of distance measurement.

[0085] In other embodiments, Figure 6 As shown, the above step S240 may include:

[0086] Step S245, respectively determine the third phase difference between the second phase measurement value and the first phase measurement value at the same signal frequency to obtain a plurality of third phase differences.

[0087] For each signal frequency, a third phase difference between the corresponding second phase measurement value and the first phase measurement value is determined respectively to establish a distance relationship between the target device and the first reference device and the second reference device, thereby obtaining a plurality of third phase differences.

[0088] In some examples, the process of determining the third phase difference can be expressed by the following formula:

[0089] φ C (f)-φ B (f) = -2πf((D 2 -D 1 ) / c)+θ B -θ C .

[0090] Step S246: determining the distance difference between the target device and the first reference device and the second reference device according to the plurality of third phase differences and the signal frequency corresponding to each third phase difference.

[0091] By phase fitting, a linear relationship between multiple third phase differences and corresponding signal frequencies is established, and then the coefficient A=-2πf((D 2 -D 1 ) / c), and when the coefficient is constant, the distance difference between the target device and the first reference device and the second reference device is determined to be ΔD=D 2 -D 1 =-(cA / 2π).

[0092] By determining the distance difference between the target device and the first reference device and the second reference device in the above manner, the influence of multipath effect and frequency selective fading can be reduced, the measurement error can be reduced, and the positioning accuracy can be improved.

[0093] In some embodiments, the deflection angle between the target device and the two reference devices can be determined by determining the length of the line connecting the target device to the midpoint of the baseline, and based on the line length, the baseline length and the distance difference, the first objective function is used to determine the deflection angle between the target device and the two reference devices. The length of the line connecting the target device to the midpoint of the baseline can characterize the distance between the measured target device and the midpoint of the baseline, so that the relative position of the target device in space can be clarified through the length of the line, which helps to improve the efficiency of determining the angle measurement. In some examples, the length of the line can be a predetermined specified length. In other examples, the length of the line can be obtained based on real-time measurement of the distance measurement device in the target device and the two reference devices.

[0094] The first objective function is used to characterize the data correspondence between the deflection angle and the connection length, the baseline length, and the distance difference. The distance difference refers to the difference between the distance between the target device and the first reference device and the distance between the target device and the second reference device. The first objective function is expressed as follows:

[0095]

[0096] Among them, ΔD represents the distance difference, D 1 Indicates the distance between the target device and the first reference device, D 2 represents the distance between the target device and the second reference device, d represents the length of the connecting line, r represents half of the baseline length, and θ represents the deflection angle between the target device and the two reference devices.

[0097] Through the above-mentioned first objective function, when the distance difference is determined, combined with the connection length and the baseline length, the deflection angle between the target device and the two reference devices can be quickly determined, thereby making the angle measurement method more convenient, efficient and accurate.

[0098] In some optional implementation scenarios, the distribution diagram of the first objective function can be as follows: Figure 7 As shown in the figure, the horizontal axis is the deflection angle between the target device and the two reference devices, and the vertical axis is the distance difference between the target device and the two reference devices. Figure 7 It can be seen that when the length of the connection is known, the distance difference will change with the change of the deflection angle.

[0099] In other embodiments, the deflection angle between the target device and the two reference devices can be determined by a second objective function based on the baseline length and the distance difference. The second objective function is used to characterize the data correspondence between the deflection angle and the baseline length and the distance difference. The expression of the second objective function can be as follows: ΔD≈2rsin(θ), where ΔD represents the distance difference and 2r represents the baseline length. In the case of a clear distance difference, regardless of whether the length of the line connecting the target device to the midpoint of the baseline is known, the deflection angle between the target device and the two reference devices can be quickly determined based on the preset baseline length, thereby making the angle measurement method more convenient and efficient. In some examples, the second objective function is applicable to scenarios where the line length is much larger than the baseline length. At this time, the relationship between the distance difference and the deflection angle does not change with the change of the line length, so that the reliability of the determination of the deflection angle can be guaranteed even when the specific length of the line is unclear.

[0100] In some optional application scenarios, the signal type for the target device to interact with the two reference devices is a single-tone signal. For example, a single-tone signal may include a Bluetooth signal or a ZigBee signal. When using a single-tone signal for signal interaction, the required traffic is small, and narrowband transceiver capabilities can be used without the need for broadband signal transceiver, and the requirements for device hardware capabilities are low. In addition, using a single-tone signal for signal interaction can effectively reduce the difficulty of data acquisition, making the angle measurement process more reliable and easy to implement.

[0101] In some other embodiments, the method further includes: sending the deflection angle to a designated device. The designated device may be any one or more of the following devices: a target device, a second reference device. That is, after determining the deflection angle, the deflection angle may be synchronized to one or more of the target device and the second reference device, so that the target device and one or more of the second reference devices may subsequently implement the functions they need to perform through the obtained deflection angle, meet the requirements, and thus help improve the performance of the device.

[0102] In some optional implementation scenarios, combined with Figure 1 In the angle measurement system shown in FIG. 1 , the interactive process of performing angle measurement through the first reference device can be as follows: Figure 8 As shown:

[0103] The target device sends measurement signals to the first reference device and the second reference device respectively.

[0104] The first reference device determines a first local carrier signal of the first reference device according to a first basic carrier of the first reference device and a first corrected carrier of a second target signal frequency, and obtains a first phase measurement value of the received measurement signal by mixing the measurement signal with the first local carrier signal.

[0105] The second reference device determines a second local carrier signal of the second reference device according to a second basic carrier of the second reference device and a second corrected carrier of a second target signal frequency, and obtains a second phase measurement value of the received measurement signal by mixing the measurement signal with the second local carrier signal, and sends the second phase measurement value to the first reference device.

[0106] The first reference device determines the distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, and determines the deflection angle between the target device and the first reference device and the second reference device based on the baseline length between the first reference device and the second reference device and the distance difference.

[0107] The angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, and the target device can perform angle measurement by unidirectionally transmitting signals with the reference device, so that during the measurement process, the occupied time of the air interface can be reduced, and the test delay can be reduced, thereby not only enhancing the multiplexing function of signal transmission, but also helping to reduce the power consumption of the reference device, and without adding other angle measurement sensors, the purpose of angle measurement can also be achieved, which can effectively reduce the system performance cost. In addition, the deflection angle between the target device and the two reference devices is determined based on the distance difference between the target device and the two reference devices, thereby greatly reducing the requirements for measurement accuracy and making it easier to achieve angle measurement.

[0108] Based on the same inventive concept, the present disclosure also provides an angle measurement method applied to an electronic device. The electronic device is a third-party device independent of the angle measurement system. Fig. 9 As shown, the angle measurement method may include:

[0109] Step S310: receiving a plurality of first phase measurement values ​​sent by a first reference device.

[0110] The multiple first phase measurement values ​​are determined by the first reference device based on multiple measurement signals received from the target device, the measurement signals correspond to the signal frequencies one by one, and the first reference device is one of the two reference devices that are communicatively connected to the target device.

[0111] Since the electronic device is a third-party device independent of the angle measurement system, in order to determine whether the first reference device has received each measurement signal, a plurality of first phase measurement values ​​sent by the first reference device are received.

[0112] Step S320: receiving a plurality of second phase measurement values ​​sent by a second reference device.

[0113] The multiple second phase measurement values ​​are determined by the second reference device based on the multiple measurement signals received from the target device, and the second reference device is the other of the two reference devices that are communicatively connected to the target device. The specific implementation process of this step is similar to the specific implementation process of the aforementioned step S230, and will not be repeated here.

[0114] Step S330, based on the multiple first phase measurement values ​​and the multiple second phase measurement values, determine the distance difference between the target device and the first reference device and the second reference device. The specific implementation process of this step is similar to the specific implementation process of the aforementioned step S240, which will not be repeated here.

[0115] Step S340: determining the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device.

[0116] The baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device, and the second reference device are located. The specific implementation process of this step is similar to the specific implementation process of the aforementioned step S250, and will not be repeated here.

[0117] Step S350, sending the deflection angle to the target reference device.

[0118] The target reference device may be any one or more of the first reference device and the second reference device. By sending the deflection angle to the target reference device, the target reference device can meet the requirements and implement the functions it needs to perform based on the obtained deflection angle, thereby helping to improve device performance.

[0119] According to the angle measurement method provided by the present disclosure, multiple first phase measurement values ​​and multiple second phase measurement values ​​are determined respectively through unidirectional signal transmission with the target device, so that the phase difference of the test signal at the same signal frequency at different distances can be understood, which can reduce the occupied time of the air interface time of signal transmission and shorten the test delay. In addition, by determining the deflection angle between the target device and the two reference devices through a third-party electronic device, the calculation cost of each device in the angle measurement system can be effectively saved, and the performance of each device can be guaranteed.

[0120] In some embodiments, if the electronic device is not the target device, after obtaining the deflection angle, the deflection angle can also be sent to the target device, so that the target device can perform its required functions according to the obtained deflection angle, thereby improving the user experience.

[0121] In other embodiments, if the electronic device is a target device, the deflection angle is determined by the target device without adding additional equipment, thereby reducing the deployment cost of the equipment, effectively reducing the resource consumption of the target reference device, and ensuring the performance of the target reference device.

[0122] In some optional implementation scenarios, such as Fig.10 As shown, if the electronic device is not the target device, the interactive process of determining the deflection angle between the target device and the first reference device and the second reference device by the electronic device may be as follows:

[0123] The target device sends measurement signals to the first reference device and the second reference device respectively.

[0124] The first reference device determines the first local carrier signal of the first reference device based on the first basic carrier of the first reference device and the first corrected carrier of the second target signal frequency, mixes the measurement signal with the first local carrier signal to obtain a first phase measurement value of the received measurement signal, and sends the first phase measurement value to the electronic device.

[0125] The second reference device determines the second local carrier signal of the second reference device based on the second basic carrier of the second reference device and the second corrected carrier of the second target signal frequency, mixes the measurement signal with the second local carrier signal to obtain a second phase measurement value of the received measurement signal, and sends the second phase measurement value to the electronic device.

[0126] The electronic device determines the distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, and determines the deflection angle between the target device and the first reference device and the second reference device based on the baseline length between the first reference device and the second reference device and the distance difference.

[0127] The electronic device sends the deflection angle to any one or more of the first reference device, the second reference device and the target device respectively.

[0128] The angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, and the target device can perform angle measurement by unidirectionally transmitting signals with the reference device, so that during the measurement process, the occupied time of the air interface can be reduced, and the test delay can be reduced, thereby not only enhancing the multiplexing function of signal transmission, but also helping to reduce the power consumption of the reference device, and without adding other angle measurement sensors, the purpose of angle measurement can also be achieved, which can effectively reduce the system performance cost. In addition, the deflection angle between the target device and the two reference devices is determined based on the distance difference between the target device and the two reference devices, thereby greatly reducing the requirements for measurement accuracy and making it easier to achieve angle measurement.

[0129] Based on the same inventive concept, the present disclosure also provides an angle measurement method applied to a second reference device. Fig.11 As shown, the angle measurement method may include:

[0130] Step S410: receiving a plurality of measurement signals sent by a target device.

[0131] During the signal transmission process, the distance to the target device can be determined by the phase measurement value of the received signal. Since the distance between the target device and the second reference device is relatively fixed, multiple measurement signals can be sent from the target device to the second reference device to determine the reception status of the multiple measurement signals received by the second reference device when the distance is constant. The measurement signal corresponds to the signal frequency one by one.

[0132] Step S420: Determine the second phase measurement value of each received measurement signal respectively.

[0133] The second phase measurement value of each measurement signal received is determined respectively, so as to characterize the correspondence between the signal frequency and the second phase measurement value when the distance remains unchanged through multiple second phase measurement values. In this way, when the distance between the target device and the second reference device is unclear, the measurement error caused by distance uncertainty can be reduced, thereby improving the accuracy of positioning and measurement.

[0134] Step S430: sending the plurality of second phase measurement values ​​to a designated device, so that the designated device determines the distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values.

[0135] The first reference device is the other of the two reference devices that are communicatively connected to the target device, and the multiple first phase measurement values ​​are determined by the first reference device based on multiple measurement signals received from the target device; and based on the baseline length and distance difference between the first reference device and the second reference device, the deflection angle between the target device and the first reference device and the second reference device is determined, wherein the baseline is a line between the first reference device and the second reference device, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, the target plane is a plane where the target device, the first reference device and the second reference device are located, and the designated device is any one of the following: a target device, a first reference device or an electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device.

[0136] According to the angle measurement method provided by the present disclosure, combined with the phase measurement value between the target device and the two reference devices, the demand for measurement accuracy can be effectively reduced and easy to implement. At the same time, by specifying a device for angle measurement, the amount of calculation of the second reference device can be reduced, thereby helping to improve the scalability and adaptability of the angle measurement system.

[0137] Based on the same inventive concept, the present disclosure also provides an angle measurement method for a target device that is communicatively connected to two reference devices. Fig.12 As shown, the angle measurement method may include:

[0138] Step S510: sending a plurality of measurement signals to a first reference device, so that the first reference device determines a plurality of first phase measurement values ​​based on the received plurality of measurement signals.

[0139] Step S520: Send multiple measurement signals to the second reference device, so that the second reference device determines multiple second phase measurement values ​​based on the received multiple measurement signals.

[0140] Among them, multiple first phase measurement values ​​and multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device, and the distance difference is used to determine the deflection angle between the target device and the first reference device and the second reference device in combination with the baseline length between the first reference device and the second reference device, wherein the baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device and the second reference device are located.

[0141] According to the angle measurement method provided by the present disclosure, the calculation cost of the target device can be reduced, so that the two reference devices can respectively determine the transmission conditions of the signal transmission with the target device based on the multiple measurement information sent by the target device, so that the executor of the subsequent angle measurement can determine the distance difference between the target device and the first reference device and the second reference device based on the multiple first phase measurement values ​​and the multiple second phase measurement values ​​when the distance between the target device and each reference device is unknown, thereby reducing the demand for measurement accuracy, and determining the deflection angle between the target device and the two reference devices when the baseline length and the distance difference of the two reference devices are clear, thereby making the process of determining the angle information of the target device more convenient and efficient.

[0142] In some embodiments, the multiple measurement signals may be periodically and synchronously sent by the target device to the first reference device and the second reference device in the form of broadcasting, so that the first reference device and the second reference device may receive the test signals with the same signal frequency in the same period.

[0143] In other embodiments, the multiple measurement signals may be asynchronously sent by the target device to the first reference device and the second reference device, so that the process of determining the plurality of first phase measurement values ​​and the plurality of second phase measurement values ​​may be performed in an orderly manner.

[0144] In some embodiments, the target device may be the executor of determining the deflection angle, and determining the deflection angle through the target device can save the computational effort of the first reference device and the second reference device, reduce resource consumption, and ensure the performance of the target reference device.

[0145] In some other embodiments, the target device may not be the execution subject of determining the deflection angle. The angle measurement method further includes: receiving the deflection angle sent by the designated device.

[0146] The designated device is any one of the following: a first reference device, a second reference device or an electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device. By receiving the deflection angle, the function to be performed by itself can be satisfied, and the user's usage expectations can be met, thereby improving the user's usage efficiency.

[0147] In some other embodiments, the determination process of multiple measurement signals includes: mixing the basic carrier signal of the target device based on multiple target signal frequencies to obtain multiple measurement signals. Among them, the target signal frequency corresponds to the measurement signal one by one. Since the basic carrier signal of the target device will change due to the switch state of the target device or the change of the signal frequency, and the corresponding instantaneous phase is an unknown value. Therefore, in order to improve the test quality and efficiency, for each test signal at a signal frequency, before the target device sends the test signal, the basic carrier signal of the target device is first mixed by the target signal frequency, so as to compensate for the phase change of the basic carrier signal by the target signal frequency, and ensure that the phase of the sent test signal is predictable and controllable, thereby helping to improve the quality of the measurement signal.

[0148] In some optional implementation scenarios, the angle measurement system may be composed of two Bluetooth headsets and a Bluetooth device that performs Bluetooth communication with the two Bluetooth headsets. The Bluetooth headset includes a left headset and a right headset, and the Bluetooth device may be a mobile phone, a tablet, a television, or other device with a Bluetooth communication module. Fig.13 As shown, in the angle measurement system, two Bluetooth headsets can be used as quasi-devices and the TV can be used as the target device. When the TV sends the audio source to the two Bluetooth headsets for playback, the target reference device in the angle measurement system can determine the deflection angle of the TV according to any angle measurement method provided in the present disclosure, and adjust the relative volume of the two Bluetooth headsets, so that the two Bluetooth headsets can always feel the audio source direction from the TV direction as the user's head rotates.

[0149] In some other optional implementation scenarios, if the number of target devices is one, but the number of reference devices is greater than two, an angle measurement system can be formed based on the target device and any two reference devices, thereby obtaining multiple angle measurement systems. For example, when the number of reference devices is three, namely reference device 1, reference device 2, and reference device 3, when the target device is clear, the three angle measurement systems formed are: target device + reference device 1 and reference device 2, target device + reference device 2 and reference device 3, and target device + reference device 1 and reference device 3.

[0150] For each angle measurement system, the deflection angle between the target device and the corresponding two reference devices can be determined according to the angle measurement method provided by the present disclosure. According to the deflection angle between the target device and the corresponding two reference devices in all angle measurement systems, the deflection angle of the target device relative to different orientations can be clarified, and then through the transformation of the three-dimensional spatial angle, the spatial angle relationship of the target device relative to multiple reference devices can be obtained, which helps to clarify the spatial position of the target device.

[0151] Among them, for each angle measurement system, the execution subject for angle measurement can be the same or different, which can be determined according to the needs. In some examples, in order to reduce the measurement difficulty and improve the measurement efficiency, the execution subject for determining the deflection angle in each angle measurement system can be any one of the two reference devices, thereby reducing the air time occupation and shortening the measurement delay. In another example, the execution subject for determining the deflection angle in each angle measurement system can be a third-party electronic device, which can effectively save the calculation amount of the target device and each reference device, thereby helping to improve the scalability and adaptability of the system.

[0152] Based on the same inventive concept, Fig.14 As shown, the present disclosure further provides an angle measurement device 600, which is applied to a first reference device, where the first reference device is one of two reference devices that are communicatively connected to a target device. The device 600 may include:

[0153] A first receiving module 610 is used to receive a plurality of measurement signals sent by a target device, wherein the measurement signals correspond to signal frequencies one by one;

[0154] A first determination module 620, configured to respectively determine a first phase measurement value of each received measurement signal;

[0155] A second receiving module 630, configured to receive a plurality of second phase measurement values ​​sent by a second reference device, where the plurality of second phase measurement values ​​are determined by the second reference device based on the plurality of measurement signals received, and the second reference device is the other of the two reference devices in communication connection with the target device;

[0156] A second determination module 640, configured to determine a distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values;

[0157] The third determination module 650 is used to determine the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and distance difference between the first reference device and the second reference device, wherein the baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device and the second reference device are located.

[0158] In some embodiments, the measurement signal is obtained by the target device based on a basic carrier signal of the target device mixed with a first target signal frequency. The first determination module 620 includes: a first processing unit, used to determine the first local carrier signal of the first reference device based on the first basic carrier of the first reference device and the first corrected carrier of the second target signal frequency; a second processing unit, used to mix the measurement signal by the first local carrier signal to obtain a first phase measurement value of the received measurement signal.

[0159] In some embodiments, the second determination module 640 includes: a third processing unit, used to determine a first phase difference between multiple first phase measurement values; a fourth processing unit, used to determine a second phase difference between multiple second phase measurement values; a fifth processing unit, used to determine a frequency difference between multiple signal frequencies; and a sixth processing unit, used to determine the distance difference between the target device and the first reference device and the second reference device based on the first phase difference, the second phase difference and the frequency difference.

[0160] In some embodiments, the second determination module 640 includes: a seventh processing unit, used to respectively determine the third phase difference between the second phase measurement value and the first phase measurement value under the same signal frequency to obtain multiple third phase differences; an eighth processing unit, used to determine the distance difference between the target device and the first reference device and the second reference device through multiple third phase differences and the signal frequency corresponding to each third phase difference.

[0161] In some embodiments, the third determination module 650 includes: a first execution unit, used to determine the length of a line connecting the target device to the midpoint of the baseline; and based on the line length, the baseline length and the distance difference, determining the deflection angle between the target device and the two reference devices through a first objective function, the first objective function being used to characterize the data correspondence between the deflection angle and the line length, the baseline length and the distance difference; or, a second execution unit, used to determine the deflection angle between the target device and the two reference devices through a second objective function based on the baseline length and the distance difference, the second objective function being used to characterize the data correspondence between the deflection angle and the baseline length and the distance difference.

[0162] In some embodiments, the apparatus 600 further includes: a first sending module, configured to send a deflection angle to a designated device, where the designated device includes a target device and / or a second reference device.

[0163] Regarding the angle measuring 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.

[0164] Based on the same inventive concept, Fig.15As shown, the present disclosure further provides an angle measurement device 700, which is applied to an electronic device. The device 700 may include:

[0165] A third receiving module 710 is used to receive a plurality of first phase measurement values ​​sent by a first reference device, where the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals sent by a target device, where the measurement signals correspond to signal frequencies one by one, and the first reference device is one of two reference devices in communication connection with the target device;

[0166] a fourth receiving module 720, configured to receive a plurality of second phase measurement values ​​sent by a second reference device, wherein the plurality of second phase measurement values ​​are determined by the second reference device based on a plurality of measurement signals sent by the target device, and the second reference device is the other of the two reference devices in communication connection with the target device;

[0167] A fourth determination module 730, configured to determine a distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values;

[0168] A fifth determination module 740 is used to determine the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device, and the second reference device are located;

[0169] The second sending module 750 is used to send the deflection angle to a target reference device, where the target reference device is the first reference device and / or the second reference device.

[0170] In some embodiments, if the electronic device is not the target device, the second sending module is further used to send the deflection angle to the target device.

[0171] Regarding the angle measuring 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.

[0172] Based on the same inventive concept, Fig.16 As shown, the present disclosure further provides an angle measurement device 800, which is applied to a second reference device, where the second reference device is one of two reference devices that are communicatively connected to a target device. The device 800 may include:

[0173] A fifth receiving module 810, configured to receive a plurality of measurement signals sent by a target device, wherein the measurement signals correspond to signal frequencies one by one;

[0174] A sixth determination module 820, configured to respectively determine a second phase measurement value of each received measurement signal;

[0175] The seventh determination module 830 is used to send multiple second phase measurement values ​​to the designated device, so that the designated device determines the distance difference between the target device and the first reference device and the second reference device based on the multiple first phase measurement values ​​and the multiple second phase measurement values, the first reference device is the other of the two reference devices connected to the target device for communication, and the multiple first phase measurement values ​​are determined by the first reference device based on multiple measurement signals sent by the target device; and determine the deflection angle between the target device and the first reference device and the second reference device based on the baseline length and the distance difference between the first reference device and the second reference device, wherein the baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, the target plane is the plane where the target device, the first reference device and the second reference device are located, and the designated device is any one of the following: the target device, the first reference device or the electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device.

[0176] Regarding the angle measuring 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.

[0177] Based on the same inventive concept, Fig.17 As shown, the present disclosure further provides an angle measurement device 900, which is applied to a target device that is communicatively connected to two reference devices, where the two reference devices include a first reference device and a second reference device. The device 900 may include:

[0178] A third sending module 910, configured to send a plurality of measurement signals to a first reference device, so that the first reference device determines a plurality of first phase measurement values ​​based on the received plurality of measurement signals;

[0179] A fourth sending module 920, configured to send a plurality of measurement signals to a second reference device, so that the second reference device determines a plurality of second phase measurement values ​​based on the received plurality of measurement signals;

[0180] Among them, multiple first phase measurement values ​​and multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device, and the distance difference is used to determine the deflection angle between the target device and the first reference device and the second reference device in combination with the baseline length between the first reference device and the second reference device, wherein the baseline is the line between the first reference device and the second reference device, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device, the first reference device and the second reference device are located.

[0181] In some embodiments, the apparatus 900 further includes: a sixth receiving module for receiving a deflection angle sent by a designated device, the designated device being any one of the following: a first reference device, a second reference device or an electronic device, the electronic device being a non-target device connected to the first reference device and the second reference device.

[0182] In some embodiments, the apparatus 900 further includes: a signal processing module for mixing a basic carrier signal of a target device based on a plurality of target signal frequencies to obtain a plurality of measurement signals, wherein the target signal frequencies correspond to the measurement signals one by one.

[0183] Regarding the angle measuring 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.

[0184] Based on the same inventive concept, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the angle measurement method of any of the aforementioned embodiments.

[0185] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0186] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0187] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0188] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. An angle measurement method, applied to a first reference device, wherein the first reference device is one of two reference devices that are communicatively connected to a target device, the method comprising: receiving a plurality of measurement signals sent by the target device, wherein the measurement signals correspond to signal frequencies one by one; Determine a first phase measurement value for each received measurement signal respectively; Receiving a plurality of second phase measurement values ​​sent by a second reference device, wherein the plurality of second phase measurement values ​​are determined by the second reference device based on the plurality of measurement signals received, the second reference device being the other of the two reference devices communicatively connected to the target device; Determining a distance difference between the target device and the first reference device and the second reference device based on the plurality of the first phase measurement values ​​and the plurality of the second phase measurement values; Based on the baseline length between the first reference device and the second reference device and the distance difference, the deflection angle between the target device and the first reference device and the second reference device is determined, wherein the baseline is a line between the first reference device and the second reference device, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device, and the second reference device are located.

2. The angle measurement method according to claim 1, wherein: The measurement signal is obtained by the target device mixing a basic carrier signal of the target device based on a first target signal frequency, and the first phase measurement value of each measurement signal received is determined respectively, including: Determine a first local carrier signal of the first reference device based on a first basic carrier of the first reference device and a first modified carrier of a second target signal frequency; The first phase measurement value of the received measurement signal is obtained by mixing the measurement signal with the first local carrier signal.

3. The angle measurement method according to claim 1 or 2, wherein: The determining, based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, of the distance difference between the target device and the first reference device and the second reference device comprises: determining a first phase difference between a plurality of said first phase measurements; determining a second phase difference between a plurality of said second phase measurements; determining a frequency difference between a plurality of said signal frequencies; Based on the first phase difference, the second phase difference, and the frequency difference, a distance difference between the target device and the first reference device and the second reference device is determined.

4. The angle measurement method according to claim 1 or 2, wherein: The determining, based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, of the distance difference between the target device and the first reference device and the second reference device comprises: respectively determining a third phase difference between the second phase measurement value and the first phase measurement value at the same signal frequency to obtain a plurality of the third phase differences; The distance difference between the target device and the first reference device and the second reference device is determined by using the plurality of third phase differences and the signal frequency corresponding to each third phase difference.

5. The angle measurement method according to claim 1, wherein: The determining, based on the baseline length between the first reference device and the second reference device and the distance difference, a deflection angle between the target device and the first reference device and the second reference device, comprises: Determine the length of the line from the target device to the midpoint of the baseline; and determine the deflection angle between the target device and the two reference devices through a first objective function based on the line length, the baseline length and the distance difference, wherein the first objective function is used to characterize the data correspondence between the deflection angle and the line length, the baseline length and the distance difference; or, Based on the baseline length and the distance difference, the deflection angle between the target device and the two reference devices is determined by a second objective function, and the second objective function is used to characterize the data correspondence between the deflection angle and the baseline length and the distance difference.

6. The angle measurement method according to claim 5, wherein: The method further comprises: The deflection angle is sent to a designated device, where the designated device includes the target device and / or the second reference device.

7. An angle measurement method, applied to an electronic device, the method comprising: Receiving a plurality of first phase measurement values ​​sent by a first reference device, wherein the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals sent by a target device, wherein the measurement signals correspond to signal frequencies one by one, and the first reference device is one of two reference devices in communication connection with the target device; Receiving a plurality of second phase measurement values ​​sent by a second reference device, wherein the plurality of second phase measurement values ​​are determined by the second reference device based on receiving the plurality of measurement signals sent by the target device, and the second reference device is the other of the two reference devices that are communicatively connected to the target device; Determining a distance difference between the target device and the first reference device and the second reference device based on the plurality of the first phase measurement values ​​and the plurality of the second phase measurement values; Determine the deflection angle between the target device and the first reference device and the second reference device based on the baseline length between the first reference device and the second reference device and the distance difference, wherein the baseline is a line between the first reference device and the second reference device, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device, and the second reference device are located; The deflection angle is sent to a target reference device, which may be the first reference device and / or the second reference device.

8. The angle measurement method according to claim 7, wherein: If the electronic device is not the target device, the method further includes: The deflection angle is sent to the target device.

9. An angle measurement method, applied to a second reference device, the second reference device being one of two reference devices in communication connection with a target device, the method comprising: receiving a plurality of measurement signals sent by the target device, wherein the measurement signals correspond to signal frequencies one by one; Determine a second phase measurement value for each received measurement signal respectively; Sending the plurality of second phase measurement values ​​to a designated device, so that the designated device determines the distance difference between the target device and a first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, wherein the first reference device is the other of the two reference devices that are communicatively connected to the target device, and the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals received from the target device; And based on the baseline length between the first reference device and the second reference device and the distance difference, determine the deflection angle between the target device and the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, the target plane is a plane where the target device, the first reference device and the second reference device are located, and the designated device is any one of the following: the target device, the first reference device or an electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device.

10. An angle measurement method, applied to a target device that is communicatively connected to two reference devices, the two reference devices comprising a first reference device and a second reference device, the method comprising: sending a plurality of measurement signals to the first reference device so that the first reference device determines a plurality of first phase measurement values ​​based on the received plurality of measurement signals; sending the plurality of measurement signals to the second reference device so that the second reference device determines a plurality of second phase measurement values ​​based on the received plurality of measurement signals; The multiple first phase measurement values ​​and the multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device, and the distance difference is used to determine the deflection angle between the target device and the first reference device and the second reference device in combination with the baseline length between the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device and the second reference device are located.

11. The angle measurement method according to claim 10, wherein: The method further comprises: The deflection angle sent by a designated device is received, where the designated device is any one of the following: the first reference device, the second reference device, or an electronic device, where the electronic device is a non-target device connected to the first reference device and the second reference device.

12. The angle measurement method according to claim 10 or 11, wherein: The determination process of the plurality of measurement signals comprises: The multiple measurement signals are obtained by mixing the basic carrier signal of the target device based on multiple target signal frequencies, and the target signal frequencies correspond to the measurement signals one by one.

13. An angle measurement device, applied to a first reference device, the first reference device being one of two reference devices in communication connection with a target device, the device comprising: A first receiving module, configured to receive a plurality of measurement signals sent by the target device, wherein the measurement signals correspond to signal frequencies one by one; A first determination module, used to respectively determine a first phase measurement value of each received measurement signal; A second receiving module, configured to receive a plurality of second phase measurement values ​​sent by a second reference device, wherein the plurality of second phase measurement values ​​are determined by the second reference device based on the plurality of measurement signals received, and the second reference device is the other of the two reference devices that are communicatively connected to the target device; A second determination module, configured to determine a distance difference between the target device and the first reference device and the second reference device based on the plurality of the first phase measurement values ​​and the plurality of the second phase measurement values; a third determination module, configured to determine a deflection angle between the target device and the first reference device and the second reference device based on a baseline length between the first reference device and the second reference device and the distance difference, wherein the baseline is a line connecting the first reference device and the second reference device, and the deflection angle is an angle between a line connecting the target device to a midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device and the second reference device are located.

14. An angle measuring device, wherein: Applied to electronic equipment, the device comprises: a third receiving module, configured to receive a plurality of first phase measurement values ​​sent by a first reference device, wherein the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals sent by a target device, wherein the measurement signals correspond to signal frequencies in a one-to-one manner, and the first reference device is one of two reference devices in communication connection with the target device; a fourth receiving module, configured to receive a plurality of second phase measurement values ​​sent by a second reference device, wherein the plurality of second phase measurement values ​​are determined by the second reference device based on the plurality of measurement signals sent by the target device, wherein the second reference device is the other of the two reference devices in communication connection with the target device; a fourth determining module, configured to determine a distance difference between the target device and the first reference device and the second reference device based on the plurality of the first phase measurement values ​​and the plurality of the second phase measurement values; a fifth determination module, configured to determine a deflection angle between the target device and the first reference device and the second reference device based on a baseline length between the first reference device and the second reference device and the distance difference, wherein the baseline is a line connecting the first reference device and the second reference device, and the deflection angle is an angle between a line connecting the target device to a midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, wherein the target plane is a plane where the target device, the first reference device, and the second reference device are located; The second sending module is used to send the deflection angle to the target device, and the target reference device is the first reference device and / or the second reference device.

15. An angle measurement device, applied to a second reference device, the second reference device being one of two reference devices in communication connection with a target device, the device comprising: a fifth receiving module, configured to receive a plurality of measurement signals sent by the target device, wherein the measurement signals correspond to signal frequencies one by one; A sixth determination module, configured to respectively determine a second phase measurement value of each received measurement signal; a seventh determination module, configured to send the plurality of second phase measurement values ​​to a designated device, so that the designated device determines the distance difference between the target device and the first reference device and the second reference device based on the plurality of first phase measurement values ​​and the plurality of second phase measurement values, wherein the first reference device is the other of the two reference devices communicatively connected to the target device, and the plurality of first phase measurement values ​​are determined by the first reference device based on a plurality of measurement signals received from the target device; And based on the baseline length between the first reference device and the second reference device and the distance difference, determine the deflection angle between the target device and the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, the target plane is a plane where the target device, the first reference device and the second reference device are located, and the designated device is any one of the following: the target device, the first reference device or an electronic device, and the electronic device is a non-target device connected to the first reference device and the second reference device.

16. An angle measurement device, applied to a target device that is communicatively connected to two reference devices, the two reference devices comprising a first reference device and a second reference device, the device comprising: a third sending module, configured to send a plurality of measurement signals to the first reference device, so that the first reference device determines a plurality of first phase measurement values ​​based on the received plurality of measurement signals; a fourth sending module, configured to send the plurality of measurement signals to the second reference device, so that the second reference device determines a plurality of second phase measurement values ​​based on the received plurality of measurement signals; The multiple first phase measurement values ​​and the multiple second phase measurement values ​​are used to determine the distance difference between the target device and the first reference device and the second reference device, and the distance difference is used to determine the deflection angle between the target device and the first reference device and the second reference device in combination with the baseline length between the first reference device and the second reference device, wherein the baseline is a line between the first reference device and the second reference device, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device, the first reference device and the second reference device are located. 17 . A computer-readable storage medium storing the following program, wherein the program is used to execute the angle measurement method according to claim 1 .

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