Relative position judgment method and device, communication equipment, storage medium and wireless communication system

Abstract

The present disclosure provides a relative position determination method and apparatus, a communication device, a storage medium and a wireless communication system, the method being executed by a first wireless communication device, the first wireless communication device comprising two or more antennas, the method comprising: according to a phase difference between the same subcarriers received by the two or more antennas, determining a relative position of the first wireless communication device; the subcarriers are used for bearing the signals sent by the second wireless communication equipment, and the number of the subcarriers is multiple. According to the method disclosed by the invention, the relative position judgment is carried out according to the phase difference of the multiple same carriers among the multiple antennas, and the position judgment among the wireless communication equipment can be completed without modifying the hardware design; the method is low in cost and wider in application scene, manual setting of a user is not needed, and the user experience is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of communications, and in particular to a relative position determination method and device, communication equipment, storage medium, and wireless communication system. Background Art

[0002] Current wireless communication devices require users to manually configure the interface or apply proprietary actions or special hardware designs or peripheral supporting designs to the devices to complete the relative position judgment between wireless communication devices. This has problems such as inconvenience in user implementation, poor user experience, high deployment costs, and limited application scenarios. Summary of the invention

[0003] The present disclosure provides a relative position determination method and apparatus, communication equipment, storage medium and wireless communication system, which utilize the phase differences of multiple identical carriers between multiple antennas to perform relative position determination. The position determination between wireless communication devices can be completed without modifying the hardware design. The method has low cost, wider application scenarios, and no manual setting by the user is required, thereby improving the user experience.

[0004] The first aspect embodiment of the present disclosure proposes a relative position determination method, which is executed by a first wireless communication device, the first wireless communication device includes two or more antennas, and the method includes: determining the relative position of a second wireless communication device based on a phase difference between the same subcarriers received by the two or more antennas, wherein the subcarrier is used to carry a signal sent by the second wireless communication device, and the number of subcarriers is multiple.

[0005] In some embodiments of the present disclosure, the method further includes: determining an identifiable number of signal transmission paths with the second wireless communication device.

[0006] In some embodiments of the present disclosure, determining the relative position of the second wireless communication device based on the phase difference between the same subcarrier received by two or more antennas includes: obtaining channel state information CSI of multiple subcarriers received by two or more antennas; when the identifiable number of signal transmission paths is less than a preset number, determining the angle of the second wireless communication device relative to the first wireless communication device based on the phase difference of the channel state information of the same subcarrier received by two or more antennas.

[0007] In some embodiments of the present disclosure, the method also includes: when the identifiable number of signal transmission paths is greater than a preset number, determining the angle and distance of the second wireless communication device relative to the first wireless communication device based on the phase difference of channel state information of the same subcarrier received by two or more antennas and the signal transmission path.

[0008] In some embodiments of the present disclosure, when the first wireless communication device and / or the second wireless communication device does not support detection frame interaction, obtaining channel state information CSI of multiple subcarriers received by two or more antennas includes: for each antenna of the first wireless communication device, receiving a multicarrier modulated signal sent by the second wireless communication device through the antenna; performing channel evaluation based on the multicarrier modulated signal to obtain a channel evaluation H value of the multiple subcarriers received by the antenna.

[0009] In some embodiments of the present disclosure, when the first wireless communication device and the second wireless communication device support detection frame interaction, obtaining channel state information CSI of multiple subcarriers received by two or more antennas includes: for each antenna of the first wireless communication device, sending an NDP frame to the second wireless communication device via the antenna; receiving a detection response frame sent by the second wireless communication device, wherein the detection response frame is sent by the second wireless communication device after receiving the NDP frame and performing channel assessment according to the NDP frame, and the detection response frame includes compressed channel assessment H values ​​of the multiple subcarriers; and decompressing the detection response frame to obtain the channel assessment H values ​​of the multiple subcarriers received by the antenna.

[0010] In some embodiments of the present disclosure, the method also includes: determining whether the angle of the first wireless communication device on the plane of the X-axis and the Z-axis is zero; if the angle of the first wireless communication device on the plane of the X-axis and the Z-axis is not zero, correcting the channel evaluation H value of each subcarrier according to the angle of the first wireless communication device on the plane of the X-axis and the Z-axis.

[0011] In some embodiments of the present disclosure, when the identifiable number of signal transmission paths is less than a preset number, determining the angle of the second wireless communication device relative to the first wireless communication device based on the phase difference of channel state information of multiple identical subcarriers received by two or more antennas includes: when the identifiable number of signal transmission paths is less than a preset number, determining, for each subcarrier among the multiple subcarriers, the phase difference of the channel evaluation H value of the subcarrier between two or more antennas; determining the angle value of the subcarrier based on the phase difference; traversing the multiple subcarriers to obtain the angle values ​​of the multiple subcarriers; in response to obtaining the phase difference interval threshold of the multiple subcarriers from the history library, matching the angle values ​​of the multiple subcarriers with the phase difference interval threshold to obtain the angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

[0012] In some embodiments of the present disclosure, the method also includes: in response to not obtaining the phase difference interval threshold of multiple subcarriers from the history library, calculating the average value of the angle values ​​of multiple subcarriers; and determining the average value as the angle of the second wireless communication device relative to the first wireless communication device on the plane of the X-axis and the Y-axis.

[0013] In some embodiments of the present disclosure, when the identifiable number of signal transmission paths is greater than a preset number, determining the angle and distance of the second wireless communication device relative to the first wireless communication device based on the phase difference of channel state information of multiple identical subcarriers received by two or more antennas and the signal transmission path includes: when the identifiable number of signal transmission paths is greater than a preset number, for each subcarrier among the multiple subcarriers, listing equations of the subcarriers based on the phase difference of the channel estimation H value of the subcarriers between two or more antennas and the signal transmission path; traversing the multiple subcarriers to obtain equations of the multiple subcarriers; processing the equations of the multiple subcarriers to obtain a signal transmission path with a minimum flight time ToF; determining the angle and path length of the signal transmission path with the minimum flight time as the angle and distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

[0014] In some embodiments of the present disclosure, processing equations for multiple subcarriers includes: obtaining the number of signal transmission paths; obtaining the number of unknown variables according to the number of transmission paths, the number of antennas of the first wireless communication device, and the number of multiple subcarriers; grouping the equations for the multiple subcarriers according to the number of unknown variables to obtain multiple sets of equations; merging the unknown variables of the multiple sets of equations, and the merging includes one or more of mean, variance, covariance, and mean square error processing.

[0015] In some embodiments of the present disclosure, the method also includes: acquiring the angle of the first wireless communication device in the X-axis and Z-axis planes; determining the orientation of the second wireless communication device relative to the first wireless communication device in the three-dimensional space of the X-axis, Y-axis and Z-axis based on the angle of the first wireless communication device in the X-axis and Z-axis planes and the angle and / or distance of the second wireless communication device relative to the first wireless communication device in the X-axis and Y-axis planes.

[0016] In some embodiments of the present disclosure, the method further includes: displaying relative position information on a screen, wherein the relative position information includes one or more of an angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, a distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, and an orientation of the second wireless communication device relative to the first wireless communication device in three-dimensional space of X-axis, Y-axis and Z-axis.

[0017] In some embodiments of the present disclosure, the method also includes: sending relative position information to the second wireless communication device, wherein the relative position information includes one or more of the angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, the distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, and the orientation of the second wireless communication device relative to the first wireless communication device in three-dimensional space of X-axis, Y-axis and Z-axis.

[0018] The second aspect embodiment of the present disclosure proposes a relative position determination device, which is configured in a first wireless communication device, and includes: a determination module, used to determine the relative position of a second wireless communication device using a phase difference between the same subcarrier received by two or more antennas, wherein the subcarrier is used to carry a signal sent by the second wireless communication device, and the subcarrier is multiple.

[0019] The third aspect embodiment of the present disclosure proposes a communication device, which includes: a transceiver; a memory; a processor, which is connected to the transceiver and the memory respectively, and is configured to control the wireless signal reception and transmission of the transceiver by executing computer-executable instructions on the memory, and can implement the method described in the first aspect embodiment of the present disclosure.

[0020] The fourth aspect embodiment of the present disclosure proposes a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the method described in the first aspect embodiment of the present disclosure.

[0021] A fifth aspect embodiment of the present disclosure proposes a wireless communication system, including: a first wireless communication device and a second wireless communication device, wherein the first wireless communication device is used to execute the method described in the first aspect embodiment of the present disclosure.

[0022] In summary, the relative position judgment method proposed in the present invention is executed by a first wireless communication device, and the first wireless communication device includes two or more antennas. The method includes: determining the relative position of a second wireless communication device according to the phase difference between the same subcarriers received by the two or more antennas, wherein the subcarrier is used to carry a signal sent by the second wireless communication device, and there are multiple subcarriers. The method of the present invention performs relative position judgment based on the phase difference of multiple same carriers between multiple antennas. The position judgment between wireless communication devices can be completed without modifying the hardware design. The cost is low and the application scenarios are wider. No manual setting by the user is required, thereby improving the user experience.

[0023] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute improper limitations on the present disclosure.

[0025] Figure 1 A schematic diagram of a wireless communication system provided by an embodiment of the present disclosure;

[0026] Figure 2 A flow chart of a relative position determination method provided by an embodiment of the present disclosure;

[0027] Figure 3 A flow chart of a relative position determination method provided by an embodiment of the present disclosure;

[0028] Figure 4 An application scenario diagram of a relative position determination method provided by an embodiment of the present disclosure;

[0029] Figure 5 An example flow chart of a relative position determination method provided in an embodiment of the present disclosure;

[0030] Figure 6 A flow chart of a relative position determination method provided by an embodiment of the present disclosure;

[0031] Figure 7 A flow chart of a relative position determination method provided by an embodiment of the present disclosure;

[0032] Figure 8 An example flow chart of a relative position determination method provided in an embodiment of the present disclosure;

[0033] Fig. 9 A flow chart of a relative position determination method provided by an embodiment of the present disclosure;

[0034] Fig.10 An example diagram of a relative position determination method provided by an embodiment of the present disclosure;

[0035] Fig.11 An example flow chart of a relative position determination method provided in an embodiment of the present disclosure;

[0036] Fig.12 An example diagram of a phase difference interval threshold value between two adjacent antennas provided in an embodiment of the present disclosure;

[0037] Fig.13 A flow chart of a relative position determination method provided by an embodiment of the present disclosure;

[0038] Fig.14 An example diagram of a relative position determination method provided by an embodiment of the present disclosure;

[0039] Fig.15 An example flow chart of a relative position determination method provided in an embodiment of the present disclosure;

[0040] Fig.16 An example diagram of angles on the X-axis and Z-axis planes provided for a sensor provided in an embodiment of the present disclosure;

[0041] Fig.17 A schematic diagram of the structure of a relative position determination device provided in an embodiment of the present disclosure;

[0042] Fig.18 A schematic diagram of the structure of a communication device provided in an embodiment of the present disclosure;

[0043] Fig.19 A schematic diagram of the structure of a chip provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0044] Embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present disclosure, and should not be construed as limiting the present disclosure.

[0045] In order to facilitate understanding of the solutions of the present disclosure, the relevant technologies involved in the present disclosure are introduced below.

[0046] When operating multiple screens with existing products, users are required to manually perform the following operations to indicate the left and right screens, including requiring users to manually configure the relative position between the two devices on the interface. If the position between the two devices changes, it needs to be manually reset, resulting in a poor user experience. Users are also required to perform proprietary actions on the devices in special directions, which is inconvenient to operate and results in a poor user experience.

[0047] At present, common methods for determining the relative positions between wireless communication devices also include: AoA (Angle of Arrival) / AoD (Angle of Departure) positioning, WLAN (Wireless Local Area Network) CSI (Channel State Information) positioning, and auxiliary positioning through server or multiple wireless access point measurements.

[0048] However, AoA / AoD positioning requires special hardware design or peripheral supporting design, which is costly. Existing WLAN wireless devices cannot be implemented through software upgrades. For example, an antenna array is required, and there are requirements for antenna spacing, which has high design costs and cannot be used on traditional terminal devices. WLAN CSI positioning requires an antenna array with more than or equal to 3 antennas, which is difficult for mobile phones and routers to achieve, and existing WLAN wireless devices cannot be implemented through software upgrades. The deployment cost of mutually assisting positioning through multiple servers or multiple wireless access points such as routers is high, and the application scenarios are limited.

[0049] Therefore, the present disclosure proposes a relative position determination method, which can automatically complete the position determination between two or more devices in traditional wireless communication devices through the existing wireless communication interface and antenna design, without modifying the hardware design, hardware and firmware, and only by upgrading the application software, thereby improving the user experience. After the method of the present disclosure determines the relative position between the wireless communication devices, it can be automatically displayed on the screen without manual setting, which can greatly improve the user experience.

[0050] In order to better understand the solutions disclosed in the embodiments of the present disclosure, a wireless communication system to which the embodiments of the present disclosure are applicable is described below. Figure 1 FIG. 1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure. Figure 1 As shown, the communication system 100 may include a first wireless communication device 101 and a second wireless communication device 102 .

[0051] In some embodiments, the first wireless communication device 101 and the second wireless communication device 102 mainly include communication devices supporting WLAN or WIFI (Wireless Fidelity) technology, and also include communication devices supporting short-range wireless communication technology such as Bluetooth or LoRa (Long Range Radio), cellular wireless communication technology such as fourth-generation / fifth-generation mobile communication technology (4G / 5G), etc.

[0052] In some embodiments, the first wireless communication device 101 and the second wireless communication device 102 include, for example, a mobile phone, a wearable device, an Internet of Things device, a car with wireless communication function, a smart car, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control (Industrial Control), a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in smart grid (Smart Grid), a wireless terminal device in transportation safety (Transportation Safety), a wireless terminal device in a smart city (Smart City), and at least one of a wireless terminal device in a smart home (Smart Home), but are not limited thereto.

[0053] In some embodiments, the first wireless communication device 101 and the second wireless communication device 102 are devices of wireless access points (AP) / STA stations that support any sounding process of WiFi4 802.11n / WiFi5 802.11ac / WiFi6 802.11ax protocols.

[0054] In some embodiments, the combination of the first wireless communication device 101 + the second wireless communication device 102 may be: AP / SoftAP (soft access point) + STA or STA + AP / SoftAP.

[0055] In some embodiments, the first wireless communication device 101 includes two or more antennas, and the number of antennas of the second wireless communication device 102 is not limited in the present disclosure. The second wireless communication device 102 may include one or more antennas.

[0056] It can be understood that the wireless communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. A person skilled in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

[0057] The following embodiments of the present disclosure can be applied to Figure 1 The wireless communication system 100 or a portion thereof is shown but is not limited thereto. Figure 1 The various entities shown are examples, and the communication system may include Figure 1All or part of the subject, and may also include Figure 1 For other entities other than the above, the number and form of each entity are arbitrary.

[0058] The relative position determination method, device, equipment and storage medium provided by the embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0059] Figure 2 Flow chart of a relative position determination method provided in an embodiment of the present disclosure, the method is executed by the first wireless communication device 101, such as Figure 2 As shown, the relative position determination method includes:

[0060] Step 201, determining the relative position of the second wireless communication device 102 according to the phase difference between the same subcarrier received by two or more antennas, wherein the subcarrier is used to carry the signal sent by the second wireless communication device 102, and there are multiple subcarriers.

[0061] In some embodiments of the present disclosure, the first wireless communication device 101 includes two or more antennas. The first wireless communication device 101 uses the two or more antennas to receive signals sent by the second wireless communication device 102, and the signals are carried by multiple subcarriers.

[0062] In some embodiments of the present disclosure, there are multiple subcarriers, and the phase difference between the same subcarriers received by two or more antennas is determined, and the obtained phase difference is multiple.

[0063] For example, the first wireless communication device 101 includes two antennas, namely antenna 1 and antenna 2, and multiple subcarriers include subcarrier 1 and subcarrier 2. Determining the phase difference between the same subcarrier received by two or more antennas includes determining the phase difference between subcarrier 1 received by antenna 1 and antenna 2, and determining the phase difference between subcarrier 2 received by antenna 1 and antenna 2.

[0064] In some embodiments of the present disclosure, when the first wireless communication device 101 includes more than two antennas, it is necessary to determine the phase difference between the same subcarriers received by the more than two antennas. The phase difference between the same subcarriers received between any two antennas can be determined in turn to obtain multiple phase differences.

[0065] For example, the first wireless communication device 101 includes two antennas, namely antenna 1, antenna 2, and antenna 3, and determines the phase difference of the same subcarrier received between antenna 1 and antenna 2, the phase difference of the same subcarrier received between antenna 2 and antenna 3, and the phase difference of the same subcarrier received between antenna 1 and antenna 3 in turn.

[0066] In some embodiments of the present disclosure, the relative position of the second wireless communication device 102 refers to the position of the second wireless communication device 102 relative to the first wireless communication device 101 .

[0067] In some embodiments of the present disclosure, after the first wireless communication device 101 determines the relative position of the second wireless communication device 102 , the method further includes: displaying the relative position of the second wireless communication device 102 on a screen.

[0068] In some embodiments of the present disclosure, after the first wireless communication device 101 determines the relative position of the second wireless communication device 102 , the method further includes: sending the relative position of the second wireless communication device 102 to the second wireless communication device 102 .

[0069] In summary, according to the relative position judgment method proposed in the present disclosure, the method is executed by the first wireless communication device 101, and the method includes: determining the relative position of the second wireless communication device 102 according to the phase difference between the same subcarriers received by two or more antennas, wherein the subcarrier is used to carry the signal sent by the second wireless communication device 102, and there are multiple subcarriers. The method of the present disclosure performs relative position judgment based on the phase difference of multiple same carriers between multiple antennas. The position judgment between wireless communication devices can be completed without modifying the hardware design. It has low cost and wider application scenarios, and does not require manual setting by the user, thereby improving the user experience.

[0070] based on Figure 2 The embodiment shown, Figure 3 A flow chart of a relative position determination method proposed in the present disclosure is further shown, and the method is executed by the first wireless communication device 101.

[0071] In some embodiments of the present disclosure, Figure 4 This is an application scenario diagram of a relative position determination method provided by the present disclosure, such as Figure 4 The device 1 shown is a first wireless communication device 101, which may be one or more, and may be a wireless access point, a soft wireless access point or a STA site. The device 2 is a second wireless communication device 102, which may be one or more. When the device 1 is a wireless access point or a soft wireless access point, the device 2 is a STA site, and the device 1 is an access point for the wireless network of the device 2. When the device 1 is a STA site, the device 2 is a wireless access point or a soft wireless access point, and the device 2 is an access point for the wireless network of the device 1.

[0072] like Figure 3 As shown, the method includes the following steps.

[0073] Step 301 : determining the identifiable number of signal transmission paths between the second wireless communication device 102 .

[0074] In some embodiments of the present disclosure, the identifiable number of signal transmission paths between the second wireless communication device 102 is first determined, and in scenarios where the identifiable number of signal transmission paths is different, the relative position of the second wireless communication device 102 is determined based on the phase difference between the same subcarriers received by two or more antennas.

[0075] In some embodiments of the present disclosure, determining the identifiable number of signal transmission paths between the second wireless communication device 102 includes: obtaining the path distance between any two signal transmission paths between the second wireless communication device 102, and if the path distance is greater than or equal to a preset threshold, determining that the two signal transmission paths are identifiable, thereby counting the identifiable number of signal transmission paths between the second wireless communication device 102.

[0076] In some embodiments, Figure 5 As shown, it is estimated whether the difference between two paths in the scene is greater than or equal to a preset threshold, wherein the two paths include any two signal transmission paths, such as a direct path and a reflected path,

[0077] In some embodiments, the preset threshold is related to the interaction bandwidth between the first wireless communication device 101 and the second wireless communication device 102. For example, when the interaction bandwidth BW=320MHz=3.2*10^8Hz, the preset threshold is C / BW=0.9375 meters. If the distance between the two signal transmission paths is greater than or equal to 0.9375 meters, it can be identified.

[0078] In some embodiments, determining the identifiable number of signal transmission paths between the second wireless communication device 102 includes: obtaining time-frequency peak values ​​of multiple signal transmission paths between the second wireless communication device 102, and determining the number of time-frequency peak values ​​of the multiple signal transmission paths greater than a preset threshold as the identifiable number of signal transmission paths.

[0079] Step 302: Acquire channel state information CSI of multiple subcarriers received by two or more antennas.

[0080] In some embodiments, the method further includes: respectively determining whether the first wireless communication device 101 and the second wireless communication device 102 support wireless local area network sounding frame (WLAN Sounding) interaction.

[0081] In some embodiments of the present disclosure, the first wireless communication device 101 and / or the second wireless communication device 102 do not support detection frame interaction, such as Figure 6 The implementation of step 302 includes the following steps 401 and 402:

[0082] Step 401: for each antenna of the first wireless communication device 101, a multi-carrier modulated signal sent by a second wireless communication device is received through the antenna.

[0083] In some embodiments, the multi-carrier modulated signal, such as an OFDM (Orthogonal Frequency Division Multiplexing) modulated signal, may also include other multi-carrier modulated signals.

[0084] In some embodiments, if the first wireless communication device 101 includes antenna 1 and antenna 2, the second wireless communication device 102 sends a WLAN OFDM frame, and the first wireless communication device 101 receives the WLAN OFDM frame sent by the second wireless communication device 102 via antenna 1 and antenna 2 respectively.

[0085] Step 402: Perform channel estimation based on the multi-carrier modulated signal to obtain channel estimation H values ​​of multiple sub-carriers received by the antenna.

[0086] In some embodiments, the channel estimation H value is used to describe the attenuation suffered by a subcarrier in OFDM signal transmission.

[0087] In some embodiments, if the first wireless communication device 101 includes antenna 1 and antenna 2, the first wireless communication device 101 performs channel estimation on the WLAN OFDM frames received by antenna 1 and antenna 2 respectively, and obtains the H value of each OFDM subcarrier received by antenna 1 and the H value of each OFDM subcarrier received by antenna 2.

[0088] In some embodiments of the present disclosure, the first wireless communication device and the second wireless communication device support detection frame interaction, such as Figure 7 The implementation of step 302 includes the following steps 501-503:

[0089] Step 501 : For each antenna of the first wireless communication device 101 , an NDP frame is sent to the second wireless communication device 102 via the antenna.

[0090] In some embodiments, the first wireless communication device 101 and the second wireless communication device 102 support detection response frame interaction. In a traditional detection process, it includes a process from an empty data packet notification NDPA frame to an empty data packet NDP frame to channel information including compressed beamforming, wherein the NDP frame is used for packet start detection, channel estimation, and time synchronization, etc., the NDPA frame is used to notify devices that need to feedback channel information, and compressed beamforming is used to assist in beamforming, and the H value of each OFDM subcarrier is obtained in compressed beamforming.

[0091] In some embodiments, if the first wireless communication device 101 includes antenna 1 and antenna 2 , the first wireless communication device 101 sends the NDP frame to the second wireless communication device 102 via antenna 1 and antenna 2 , respectively.

[0092] Step 502, receiving a probe response frame sent by the second wireless communication device 102, wherein the probe response frame is sent by the second wireless communication device 102 after receiving the NDP frame and performing channel assessment according to the NDP frame, and the probe response frame includes the compressed channel assessment H value of multiple subcarriers.

[0093] In some embodiments, after receiving the NDP frame, the second wireless communication device 102 performs channel assessment according to the NDP frame to obtain the H value of each OFDM subcarrier, compresses the H value and performs a detection response frame feedback.

[0094] In some embodiments, if the first wireless communication device 101 includes antenna 1 and antenna 2, the first wireless communication device 101 sends NDP frames to the second wireless communication device 102 through antenna 1 and antenna 2 respectively, and the second wireless communication device 102 performs channel assessment based on the NDP frame sent by antenna 1, obtains the H value of each OFDM subcarrier received by antenna 1, compresses the H value and feeds it back to the first wireless communication device 101 through a detection response frame; the second wireless communication device 102 performs channel assessment based on the NDP frame exchanged between antenna 2 and the antenna of the second wireless communication device 102, obtains the H value of each OFDM subcarrier received by antenna 2, compresses the H value and feeds it back to the first wireless communication device 101 through a detection response frame.

[0095] Step 503: Decompress the probe response frame to obtain channel estimation H values ​​of multiple subcarriers received by the antenna.

[0096] In some embodiments, if the first wireless communication device 101 includes antenna 1 and antenna 2, the detection response frame of the antenna 1 of the first wireless communication device 101 and the antenna of the second wireless communication device 102 is decompressed to obtain the H value of each OFDM subcarrier received by antenna 1, and the detection response frame of the antenna 2 of the first wireless communication device 101 and the antenna of the second wireless communication device 102 is decompressed to obtain the H value of each OFDM subcarrier received by antenna 2.

[0097] In some embodiments of the present disclosure, the method also includes: determining whether the angle of the first wireless communication device 101 on the plane of the X-axis and the Z-axis is zero; if the angle of the first wireless communication device 101 on the plane of the X-axis and the Z-axis is not zero, correcting the channel evaluation H value of each subcarrier according to the angle of the first wireless communication device on the plane of the X-axis and the Z-axis.

[0098] In other words, if the horizontal plane is the X-axis and Y-axis plane, by judging whether the angle of the first wireless communication device 101 on the X-axis and Z-axis planes is zero, it can be determined whether the first wireless communication device 101 is placed horizontally. If the angle of the first wireless communication device 101 on the X-axis and Z-axis planes is not zero, it is considered that the first wireless communication device 101 is not placed horizontally. According to the angle of the first wireless communication device on the X-axis and Z-axis planes, the channel evaluation H value of each subcarrier is corrected, for example, H value = H*Z-axis angle before correction.

[0099] In some embodiments of the present disclosure, Figure 8 As shown, it is determined whether the angle of the first wireless communication device 101 on the plane of the X-axis and the Z-axis is zero according to the sensor of the first wireless communication device 101.

[0100] Step 303: When the number of identifiable signal transmission paths is less than a preset number, determine the angle of the second wireless communication device relative to the first wireless communication device based on the phase difference of the channel state information of the same subcarrier received by two or more antennas.

[0101] In some embodiments of the present disclosure, when the number of identifiable signal transmission paths is less than the preset number, that is, the signal transmission distance between device 1 and device 2 is short, the difference between the lengths of the multiple signal transmission paths is small, for example, less than the first preset distance (such as 1 meter), the difference between the direct path and the reflected path is small and difficult to distinguish, and the multipath cannot be identified. It is not necessary to consider multipath fading, that is, fading caused by the multipath effect. Figure 5 As shown, rough azimuth determination is started, and the angle of the second wireless communication device 102 relative to the first wireless communication device 101 is determined according to the phase difference of the channel state information of the same subcarrier received by two or more antennas of the first wireless communication device 101.

[0102] In one scenario of the present disclosure, Fig.10 As shown, device 1 is a first wireless communication device 101, and device 1 includes antenna 1 and antenna 2. The difference between the direct path and the reflected path between device 1 and device 2 is small and difficult to distinguish. There is an identifiable signal transmission path, and the arrival angle of the signal transmission path is θ.

[0103] In some embodiments of the present disclosure, the first wireless communication device 101 is horizontally placed around the second wireless communication device 102, for example, the first wireless communication device 101 is horizontally placed in front of, behind, left and right of the second wireless communication device 102 at an interval of 90 degrees. The CSI / H value of each subcarrier of antenna 1 and antenna 2 is obtained through step 302, and the phase difference of the CSI / H value of each subcarrier between antenna 1 and antenna 2 is determined. For example, the subcarrier includes subcarrier 1 and subcarrier 2, and the phase difference of the CSI / H value of subcarrier 1 between antenna 1 and antenna 2 is determined, and the phase difference of the CSI / H value of subcarrier 2 between antenna 1 and antenna 2 is determined.

[0104] Further, such as Fig.11 As shown, the phase difference interval threshold of each subcarrier between antenna 1 and antenna 2 of the above-mentioned device 1 is obtained from the history library, and the phase difference of each subcarrier between antenna 1 and antenna 2 of device 1 is compared with the corresponding interval threshold. The comparison method includes performing correlation, convolution, matching operations, etc. to obtain the angle of the second wireless communication device 102 relative to the first wireless communication device 101. If the horizontal plane is used as the X-axis and Y-axis planes, the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes is obtained.

[0105] In some embodiments of the present disclosure, Fig. 9 As shown, the implementation of step 303 includes the following steps 601-604:

[0106] Step 601: When the number of identifiable signal transmission paths is less than a preset number, for each of a plurality of subcarriers, determine a phase difference of a channel estimation H value of the subcarriers between two or more antennas.

[0107] In some embodiments of the present disclosure, for subcarrier 1 among multiple subcarriers, if the first wireless communication 101 includes more than two antennas, the phase difference of the H value of subcarrier 1 between each pair of antennas is determined respectively. For example, the first wireless communication 101 includes antenna 1, antenna 2 and antenna 3. The phase difference of the H value of subcarrier 1 between antenna 1 and antenna 2, the phase difference of the H value of subcarrier 1 between antenna 2 and antenna 3, and the phase difference of the H value of subcarrier 1 between antenna 1 and antenna 3 are determined respectively.

[0108] For example, the formula for determining the phase difference of subcarrier j between antenna 0 and antenna 1 is:

[0109]

[0110] Among them, ∠CSI 0,j represents the CSI / H value of subcarrier j received by antenna 1, ∠CSI 1,jIt represents the CSI / H value of subcarrier j received by antenna 1, and CPD, or Phase Difference, represents the phase difference.

[0111] Step 602: Determine the angle value of the subcarrier according to the phase difference.

[0112] In some embodiments, the specific formula for determining the angle value of the subcarrier according to the phase difference is:

[0113]

[0114] Wherein, CPD represents the phase difference, and θ represents the angle value of the subcarrier.

[0115] Step 603: traverse multiple subcarriers to obtain angle values ​​of the multiple subcarriers.

[0116] In some embodiments, if the available subcarriers include subcarrier 1, subcarrier 2 and subcarrier 3, for subcarrier 1, subcarrier 2 and subcarrier 3 respectively, the phase difference of the H value of subcarrier 1, the phase difference of the H value of subcarrier 2 and the phase difference of the H value of subcarrier 3 between two or more antennas are determined according to step 601, and then the angle value of subcarrier 1, the angle value of subcarrier 2 and the angle value of subcarrier 3 are determined according to step 602.

[0117] Step 604, in response to obtaining the phase difference interval thresholds of multiple subcarriers from the history library, the angle values ​​of the multiple subcarriers are matched with the phase difference interval thresholds to obtain the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes.

[0118] In some embodiments, Fig.11 As shown, it is determined whether the first wireless communication device 101 has a historical value of the phase difference of each subcarrier. If so, the historical value of the phase difference of each subcarrier is obtained from the history library as the phase difference interval threshold.

[0119] It should be noted that the signal transmitting side continuously sends frames, and the phase difference between two adjacent antennas on the receiving side is generally stable, such as Fig.12 As shown, after sending 960 frames continuously, the phase difference of a certain subcarrier can be seen in the polar coordinates (XY plane) that its phase difference is mainly concentrated in the range of 130-170°. The phase value of a single antenna is random, and the range of 130-170° is the interval threshold in this direction. Similarly, the first wireless communication device 101 includes two or more antennas, and the phase difference value between two adjacent antennas has an interval threshold.

[0120] Furthermore, the phase difference of each subcarrier between the two antennas is compared with the corresponding interval threshold, and the comparison method includes correlation, convolution, matching operation, etc., to obtain the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the plane of the X-axis and the Y-axis.

[0121] In some embodiments, the angle of arrival AOA is calculated based on the phase difference obtained by comparison, and the AOA is taken as the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the plane of the X-axis and the Y-axis. The calculation formula for calculating the AOA from the phase difference is as follows:

[0122]

[0123] Among them, ∠H i represents the phase difference, d is the distance between two adjacent antennas, λ is the wavelength, preferably, d is set to 0.5, θ i Indicates the angle value of AOA. The phase difference corresponds to the angle value. Since the phase difference value obtained by comparison is relatively stable, the calculated angle value of AOA is also relatively stable.

[0124] In some embodiments of the present disclosure, the method further includes: in response to not obtaining the phase difference interval threshold of multiple subcarriers from the history library, calculating the average value of the angle values ​​of multiple subcarriers; and determining the average value as the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the plane of the X-axis and the Y-axis.

[0125] In some embodiments, Fig.11 As shown, if the first wireless communication device 101 does not have a historical value of each subcarrier phase difference, the average value of the angle value corresponding to each subcarrier phase difference is obtained, and the average value is used as the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the plane of the X-axis and the Y-axis.

[0126] Step 304, when the identifiable number of signal transmission paths is greater than a preset number, determine the angle and distance of the second wireless communication device relative to the first wireless communication device based on the phase difference of the channel state information of the same subcarrier received by two or more antennas and the signal transmission path.

[0127] In some embodiments of the present disclosure, when the number of identifiable signal transmission paths is greater than a preset number, that is, the signal transmission distance between device 1 and device 2 is relatively far, for example, greater than a second preset distance (such as 1 meter), multiple paths are easily identified, and the multipath effect needs to be considered, such as Figure 5 As shown, accurate position determination is initiated, and the angle and distance of the second wireless communication device 102 relative to the first wireless communication device 101 are determined based on the phase difference of the channel state information of the same subcarrier received by two or more antennas and multiple signal transmission paths.

[0128] In some embodiments of the present disclosure, Fig.13 As shown, the implementation of step 304 includes the following steps 701-704:

[0129] Step 701, when the identifiable number of signal transmission paths is greater than a preset number, for each subcarrier among a plurality of subcarriers, an equation of the subcarrier is listed according to the phase difference of the H value of the subcarrier between two or more antennas and the signal transmission path.

[0130] In one scenario of the present disclosure, Fig.14 As shown, device 1 is a first wireless communication device 101, device 2 is a second wireless communication device 102, and there are two signal transmission paths between device 1 and device 2 including a direct path and a reflected path. The angle of arrival of the direct path is θ1, and the angle of arrival of the reflected path is θ2.

[0131] In some embodiments of the present disclosure, Fig.15 As shown, it also includes: judging whether the receiver of the first wireless communication device 101 has the number of multipaths for solving the time-frequency; if yes, obtaining the number of multipaths and the position of the first path, wherein the number of multipaths refers to the number of signal transmission paths, and the position of the first path refers to the position of the path with the shortest transmission path; if no, obtaining the time domain value of the H value of the subcarriers between two or more antennas through the inverse Fourier IFFT transform, and determining multiple time domain peaks, and determining the number of time domain peaks greater than a preset threshold among the multiple time domain peaks as the number of multipaths.

[0132] Step 702, traverse multiple subcarriers to obtain equations for the multiple subcarriers.

[0133] In some embodiments of the present disclosure, a first wireless communication device 101 includes antenna 1 and antenna 2, uses four subcarriers to interact, and the four subcarriers include subcarrier 1, subcarrier 2, subcarrier 3, and subcarrier 4, and has two signal transmission paths, including path 1 and path 2.

[0134] The equation for subcarrier 1 is listed as follows:

[0135] Antenna 1 HAnt1SubC1=Γ1+Γ2

[0136]

[0137] Among them, HAnt2SubbC1 represents the H value of subcarrier 1 received by antenna 1, Γ1 and Γ2 represent the reset attenuation of path 1 and path 2 respectively, HAnt2SubC1 represents the H value of subcarrier 1 received by antenna 2, Φ1 represents the phase difference caused by the change of the incident angle between the same subcarriers received when the transmission path between antenna 1 and antenna 2 is path 1, θ1 is the signal arrival angle AOA of path 1, and the value of Φ1 depends on θ1, that is, Where fc1 is the frequency of subcarrier 1; similarly, Φ2 represents the phase difference between the same subcarriers received by antenna 1 and antenna 2 due to the change in the incident angle when the transmission path is path 2, θ2 is the signal arrival angle AOA of path 2, and the value of Φ2 depends on θ2, that is, Among them, fc2 is the frequency of subcarrier 2. It should be noted that the difference between fc1 and fc2 is very small, and they are uniformly regarded as fc in the above equation of subcarrier 1.

[0138] Therefore, the H value phase difference between subcarrier 1 received by antenna 1 and antenna 2 is HAnt2SubbC1-HAnt2SubC1, which is substituted into the above equation for subcarrier 1 to obtain:

[0139]

[0140] PDSubcarrier1 represents the phase difference of subcarrier 1, that is, the H value phase difference between subcarrier 1 received by antenna 1 and antenna 2.

[0141] The equation for subcarrier 2 is listed as follows:

[0142] Antenna 1 HAnt1SubC2=Γ1Ω 1c2 +Γ2

[0143]

[0144] Wherein, HAnt1SubC2 represents the H value of subcarrier 2 received by antenna 1, HAnt2SubC2 represents the H value of subcarrier 2 received by antenna 2, and Ω 1c2 Indicates the phase difference between the received subcarrier 2 caused by the transmission time and carrier frequency difference when the transmission path between antenna 1 and antenna 2 is path 1, Ω 1c2 The value of depends on the TOF (time offlight) of path 1 and the frequency difference of subcarrier 2 received by antenna 1 and antenna 2, that is, τ1 represents the flight time of path 1, that is, the time consumed by the signal to reach the first wireless communication device 101 through path 1; similarly, Ω 2c2It indicates the phase difference between the received subcarrier 2 caused by the transmission time and carrier frequency difference when the transmission path between antenna 1 and antenna 2 is path 2, where Ω 2c2 The value of depends on the flight time of path 2 and the frequency difference of subcarrier 2 received by antenna 1 and antenna 2, that is, τ2 represents the flight time of path 2, that is, the time consumed by the signal to reach the first wireless communication device 101 through path 2.

[0145] Therefore, the H value phase difference between subcarrier 2 received by antenna 1 and antenna 2 is HAnt1SubC2-HAnt2SubC2, which is substituted into the above equation for subcarrier 2 to obtain:

[0146]

[0147] PDSubcarrier2 represents the phase difference of subcarrier 2, that is, the H value phase difference between subcarrier 2 received by antenna 1 and antenna 2.

[0148] The equation for subcarrier 3 is listed as follows:

[0149] Antenna 1 HAnt1SubC3 = Γ1Ω 1c3 +Γ2

[0150]

[0151] Wherein, HAnt1SubC3 represents the H value of subcarrier 3 received by antenna 1, HAnt2SubC3 represents the H value of subcarrier 3 received by antenna 2, Ω 1c3 It indicates the phase difference between the received subcarriers 3 caused by the transmission time and carrier frequency difference when the transmission path between antenna 1 and antenna 2 is path 1, Ω 2c3 Indicates the phase difference between the received subcarriers 3 caused by the transmission time and carrier frequency difference when the transmission path between antenna 1 and antenna 2 is path 2, Ω 1c3 ,Ω 2c3 Refer to Ω for the determination method 1c2 ,Ω 2c2 , Among them, f c3 Indicates the frequency of subcarrier 3.

[0152] Therefore, the H value phase difference between subcarrier 3 received by antenna 1 and antenna 2 is HAnt1SubC3-HAnt2SubC3, which is substituted into the above equation for subcarrier 3 to obtain:

[0153]

[0154] PDSubcarrier3 represents the phase difference of subcarrier 3, that is, the H value phase difference between subcarrier 3 received by antenna 1 and antenna 2.

[0155] The equation for subcarrier 4 is listed below:

[0156] Antenna 1 HAnt1SubC4=Γ1Ω 1c4 +Γ2

[0157]

[0158] Wherein, HAnt1SubC4 represents the H value of subcarrier 4 received by antenna 1, HAnt2SubC4 represents the H value of subcarrier 4 received by antenna 2, and Ω 1c4 It indicates the phase difference between the received subcarriers 4 caused by the transmission time and carrier frequency difference when the transmission path between antenna 1 and antenna 2 is path 1, Ω 2c4 It indicates the phase difference between the received subcarriers 4 caused by the transmission time and carrier frequency difference when the transmission path between antenna 1 and antenna 2 is path 2, Ω 1c4 ,Ω 2c4 Refer to Ω for the determination method 1c2 ,Ω 2c2 , Among them, f c4 Indicates the frequency of subcarrier 4.

[0159] Therefore, the H value phase difference between subcarrier 4 received by antenna 1 and antenna 2 is HAnt1SubC4-HAnt2SubC4, which is substituted into the above equation for subcarrier 4 to obtain:

[0160]

[0161] PDSubcarrier4 represents the phase difference of subcarrier 4, that is, the H value phase difference between subcarrier 4 received by antenna 1 and antenna 2.

[0162] Step 703: Process the equations of multiple subcarriers to obtain a signal transmission path with a minimum time of flight ToF.

[0163] In some embodiments of the present disclosure, processing equations for multiple subcarriers includes: obtaining the number of signal transmission paths; obtaining the number of unknown variables according to the number of transmission paths, the number of antennas of the first wireless communication device, and the number of multiple subcarriers; grouping the equations for the multiple subcarriers according to the number of unknown variables to obtain multiple sets of equations; merging the unknown variables of the multiple sets of equations, and the merging includes one or more of mean, variance, covariance, and mean square error processing.

[0164] In some embodiments, Fig.14 As shown, after listing n equations of the subcarriers, where n is a positive integer, the equations are grouped according to the number u of unknown variables, and n / u equation groups are obtained by grouping. The number u of unknown variables is solved for the n / u equation groups in turn, and the unknown variables of the n / u equation groups are merged. The merging methods include mean, variance, covariance, mean square error, etc. Among them, the unknown variables include the flight time ToF and arrival angle AoA of multiple signal transmission paths. After solving, the signal transmission path with the minimum flight time can be obtained.

[0165] In some embodiments, taking the transmission paths L=2, antennas m=2, and the number of subcarriers n=32 as an example, assuming that the first wireless communication device 101 and the second wireless communication device 102 are synchronized, the sampling frequency offset SFO and the sampling time offset STO are known, the number of unknown variables u=L*(m-1)AoA+LToF=4, including 2 unknown variables arrival angle, and 2 unknown variables flight time, n / u=8 equation groups can be listed, and the 8 equation groups are solved separately and then merged. In this example, the number of seed carriers n=32 is greater than the number of unknown variables u, and the Jacobian matrix can also be expanded and solved using the Newton-Raphson iteration method and the least squares method to obtain the transmission path with the minimum flight time.

[0166] It should be noted that the Newton iteration method is a commonly used method for solving nonlinear equations. It linearizes the nonlinear equations near an estimated solution, then solves the linearized equations, and then updates the estimated solution. This iteration is repeated until the accuracy of the solution meets the requirements.

[0167] Step 704 : Determine the angle and path length of the signal transmission path with the shortest flight time as the angle and distance of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes.

[0168] In some embodiments, the path length of the signal transmission path can be determined based on the flight time of the signal transmission path with the minimum flight time, and the path length is determined as the distance of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes, and the arrival angle of the signal transmission path with the minimum flight time is determined as the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes.

[0169] In some embodiments of the present disclosure, the method further includes: acquiring the angle of the first wireless communication device 101 on the X-axis and Z-axis planes; determining the orientation of the second wireless communication device 102 relative to the first wireless communication device 101 in the three-dimensional space of the X-axis, Y-axis and Z-axis according to the angle of the first wireless communication device 101 on the X-axis and Z-axis planes and the angle and / or distance of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes.

[0170] In some embodiments, the angle of the first wireless communication device 101 on the X-axis and Z-axis planes can be obtained through the sensors of the first wireless communication device 101. Specifically, the angle of the first wireless communication device 101 on the X-axis and Z-axis planes can be determined through auxiliary information fed back by the direction sensor / level meter / three-axis gyroscope of the first wireless communication device 101, such as Fig.16 It is shown that the angle of the first wireless communication device 101 on the X-axis and Z-axis planes is determined by a three-axis gyroscope.

[0171] In some embodiments of the present disclosure, the method further includes: displaying relative position information on a screen, wherein the relative position information includes one or more of an angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes, a distance of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes, and an orientation of the second wireless communication device 102 relative to the first wireless communication device 101 in three-dimensional space of X-axis, Y-axis, and Z-axis.

[0172] In some embodiments of the present disclosure, Figure 5 As shown, if the device 1 needs to display the position, the device 1 displays the relative position of the device 2 on the screen, that is, the position of the device 2 relative to the device 1 in the three-dimensional space of the X-axis, the Y-axis and the Z-axis.

[0173] In some embodiments of the present disclosure, the method further includes: sending relative position information to the second wireless communication device, wherein the relative position information includes one or more of the angle of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes, the distance of the second wireless communication device 102 relative to the first wireless communication device 101 on the X-axis and Y-axis planes, and the orientation of the second wireless communication device 102 relative to the first wireless communication device 101 in three-dimensional space of X-axis, Y-axis and Z-axis.

[0174] In some embodiments of the present disclosure, Figure 5 As shown, if the device 2 needs to display the position, the device 1 sends the relative position information to the device 2, and the device 2 displays the relative position of the device 2 on the screen, that is, the position of the device 2 relative to the device 1 in the three-dimensional space of the X-axis, Y-axis and Z-axis.

[0175] In summary, the relative position determination method proposed in the present disclosure is executed by the first wireless communication device 101, and the method includes: determining the identifiable number of signal transmission paths between the first wireless communication device and the second wireless communication device, and obtaining the channel state information CSI of multiple subcarriers received by two or more antennas; when the identifiable number of signal transmission paths is less than the preset number, determining the angle of the second wireless communication device relative to the first wireless communication device according to the phase difference of the channel state information of the same subcarrier received by the two or more antennas. The method of the present disclosure can be used in traditional wireless communication devices through the existing wireless communication interface and antenna design, without modifying the hardware design, hardware and firmware, and only by upgrading the application software, it can automatically complete the position determination between two or more devices, thereby improving the user experience. After the method of the present disclosure determines the relative position between the wireless communication devices, it can be automatically displayed on the screen without manual setting, which can greatly improve the user experience.

[0176] Fig.17 FIG. 8 is a schematic diagram of a relative position determination device 800 provided in an embodiment of the present disclosure. Figure 5 As shown, the relative position determination device 800 includes:

[0177] The determination module 810 is used to determine the relative position of the second wireless communication device using the phase difference between the same subcarriers received by two or more antennas, wherein the subcarrier is used to carry the signal sent by the second wireless communication device, and there are multiple subcarriers.

[0178] In some embodiments, the determination module 810 is further used to: determine the identifiable number of signal transmission paths between the second wireless communication device.

[0179] In some embodiments, the determination module 810 is specifically used to: obtain channel state information CSI of multiple subcarriers received by two or more antennas; when the identifiable number of signal transmission paths is less than a preset number, determine the angle of the second wireless communication device relative to the first wireless communication device based on the phase difference of the channel state information of the same subcarrier received by two or more antennas.

[0180] In some embodiments, the determination module 810 is specifically used to: when the identifiable number of signal transmission paths is greater than a preset number, determine the angle and distance of the second wireless communication device relative to the first wireless communication device based on the phase difference of the channel state information of the same subcarrier received by two or more antennas and the signal transmission path.

[0181] In some embodiments, the device 800 also includes a transceiver module. When the first wireless communication device and / or the second wireless communication device does not support detection frame interaction, the transceiver module is used to: for each antenna of the first wireless communication device, receive a multi-carrier modulated signal sent by the second wireless communication device through the antenna; perform channel evaluation based on the multi-carrier modulated signal to obtain a channel evaluation H value of multiple subcarriers received by the antenna.

[0182] In some embodiments, when the first wireless communication device and the second wireless communication device support detection frame interaction, the transceiver module is also used to: for each antenna of the first wireless communication device, send an NDP frame to the second wireless communication device via the antenna; receive a detection response frame sent by the second wireless communication device, wherein the detection response frame is sent by the second wireless communication device after receiving the NDP frame and performing channel assessment based on the NDP frame, and the detection response frame includes compressed channel assessment H values ​​of multiple subcarriers; and decompress the detection response frame to obtain the channel assessment H values ​​of multiple subcarriers received by the antenna.

[0183] In some embodiments, the device 800 also includes a correction module for determining whether the angle of the first wireless communication device on the plane of the X-axis and the Z-axis is zero; if the angle of the first wireless communication device on the plane of the X-axis and the Z-axis is not zero, the channel evaluation H value of each subcarrier is corrected according to the angle of the first wireless communication device on the plane of the X-axis and the Z-axis.

[0184] In some embodiments, the determination module 810 is specifically used to: when the identifiable number of signal transmission paths is less than a preset number, determine, for each subcarrier among multiple subcarriers, the phase difference of the channel assessment H value of the subcarriers between two or more antennas; determine the angle value of the subcarrier based on the phase difference; traverse the multiple subcarriers to obtain the angle values ​​of the multiple subcarriers; in response to obtaining the phase difference interval threshold of the multiple subcarriers from the history library, match the angle values ​​of the multiple subcarriers with the phase difference interval threshold to obtain the angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

[0185] In some embodiments of the present disclosure, the determination module 810 is further used to: in response to not obtaining the phase difference interval threshold of multiple subcarriers from the history library, calculate the average value of the angle values ​​of multiple subcarriers; and determine the average value as the angle of the second wireless communication device relative to the first wireless communication device on the plane of the X-axis and the Y-axis.

[0186] In some embodiments, the determination module 810 is specifically used to: when the identifiable number of signal transmission paths is greater than a preset number, for each subcarrier among the multiple subcarriers, list the equation of the subcarrier according to the phase difference of the channel estimation H value of the subcarrier between two or more antennas and the signal transmission path; traverse the multiple subcarriers to obtain the equations of the multiple subcarriers; process the equations of the multiple subcarriers to obtain the signal transmission path with the minimum flight time ToF; determine the angle and path length of the signal transmission path with the minimum flight time ToF as the angle and distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

[0187] In some embodiments, processing equations for multiple subcarriers includes: obtaining the number of signal transmission paths; obtaining the number of unknown variables according to the number of transmission paths, the number of antennas of the first wireless communication device, and the number of multiple subcarriers; grouping the equations for multiple subcarriers according to the number of unknown variables to obtain multiple sets of equations; merging the unknown variables of the multiple sets of equations, the merging processing including one or more of mean, variance, covariance, and mean square error processing.

[0188] In some embodiments, the determination module 810 is further used to: obtain the angle of the first wireless communication device on the X-axis and Z-axis planes; determine the orientation of the second wireless communication device relative to the first wireless communication device in the three-dimensional space of the X-axis, Y-axis and Z-axis based on the angle of the first wireless communication device on the X-axis and Z-axis planes and the angle and / or distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

[0189] In some embodiments, the device 800 also includes a display module for displaying relative position information on a screen, wherein the relative position information includes one or more of the angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, the distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, and the orientation of the second wireless communication device relative to the first wireless communication device in three-dimensional space of X-axis, Y-axis and Z-axis.

[0190] In some embodiments, the transceiver module is also used to: send relative position information to the second wireless communication device, wherein the relative position information includes one or more of the angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, the distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes, and the orientation of the second wireless communication device relative to the first wireless communication device in three-dimensional space of X-axis, Y-axis and Z-axis.

[0191] Since the device provided in the embodiment of the present disclosure corresponds to the methods provided in the above-mentioned embodiments, the implementation of the method is also applicable to the device provided in the embodiment and will not be described in detail in this embodiment.

[0192] In summary, the relative position judgment device proposed in the present disclosure is configured in the first wireless communication device 101. By determining the module, relative position judgment is realized according to the phase difference of multiple identical carriers between multiple antennas. The position judgment between wireless communication devices can be completed without modifying the hardware design. It has low cost, wider application scenarios, and does not require manual settings by the user, thereby improving the user experience.

[0193] In the embodiments provided in the present application, the methods and devices provided in the embodiments of the present application are introduced. In order to implement the functions in the methods provided in the embodiments of the present application, the electronic device may include a hardware structure and a software module, and implement the functions in the form of a hardware structure, a software module, or a hardware structure plus a software module. A function of the functions may be executed in the form of a hardware structure, a software module, or a hardware structure plus a software module.

[0194] See also Fig.18 , Fig.18 1 is a schematic diagram of the structure of a communication device 900 provided in an embodiment of the present application. The communication device 900 may be a network device, or a user device, or a chip, a chip system, or a processor that supports the network device to implement the above method, or a chip, a chip system, or a processor that supports the user device to implement the above method. The device may be used to implement the method described in the above method embodiment, and the details may refer to the description in the above method embodiment.

[0195] The communication device 900 may include one or more processors 901. The processor 901 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor may be used to process the communication protocol and the communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a computer program, and process the data of the computer program.

[0196] Optionally, the communication device 900 may further include one or more memories 902, on which a computer program 904 may be stored, and the processor 901 executes the computer program 904 so that the communication device 900 performs the method described in the above method embodiment. Optionally, data may also be stored in the memory 902. The communication device 900 and the memory 902 may be provided separately or integrated together.

[0197] Optionally, the communication device 900 may further include a transceiver 905 and an antenna 906. The transceiver 905 may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, etc., and is used to implement a transceiver function. The transceiver 905 may include a receiver and a transmitter, the receiver may be referred to as a receiver or a receiving circuit, etc., and is used to implement a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, etc., and is used to implement a transmitting function.

[0198] Optionally, the communication device 900 may further include one or more interface circuits 907. The interface circuit 907 is used to receive code instructions and transmit them to the processor 901. The processor 901 executes the code instructions to enable the communication device 900 to execute the method described in the above method embodiment.

[0199] In one implementation, the processor 901 may include a transceiver for implementing receiving and sending functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and sending functions may be separate or integrated. The above-mentioned transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the above-mentioned transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0200] In one implementation, the processor 901 may store a computer program 903, which runs on the processor 901 and enables the communication device 900 to perform the method described in the above method embodiment. The computer program 903 may be fixed in the processor 901, in which case the processor 901 may be implemented by hardware.

[0201] In one implementation, the communication device 900 may include a circuit that can implement the functions of sending or receiving or communicating in the aforementioned method embodiment. The processor and transceiver described in the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit RFIC, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (nMetal-oxide-semiconductor, NMOS), P-type metal oxide semiconductor (positive channelmetal oxide semiconductor, PMOS), bipolar junction transistor (bipolar junction transistor, BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0202] The communication device described in the above embodiments may be a network device or a user device, but the scope of the communication device described in this application is not limited thereto, and the structure of the communication device may not be limited thereto. Fig. 9 The communication device may be an independent device or may be part of a larger device. For example, the communication device may be:

[0203] (1) Independent integrated circuit IC, or chip, or chip system or subsystem;

[0204] (2) having a set of one or more ICs, and optionally, the IC set may also include a storage component for storing data and computer programs;

[0205] (3) ASIC, such as modem;

[0206] (4) Modules that can be embedded in other devices;

[0207] (5) Receivers, terminal devices, intelligent terminal devices, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.;

[0208] (6)Others

[0209] For the case where the communication device may be a chip or a chip system, see Fig.19 Schematic diagram of the chip structure shown. Fig.19 The chip shown includes a processor 1001 and an interface 1002. The number of the processor 1001 may be one or more, and the number of the interface 1002 may be multiple.

[0210] Optionally, the chip further includes a memory 1003, and the memory 1003 is used to store necessary computer programs and data.

[0211] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0212] The embodiments of the present disclosure further provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to enable a computer to execute the relative position determination method described in the above embodiments of the present disclosure.

[0213] An embodiment of the present disclosure further provides a computer program product, including a computer program, which executes the relative position determination method described in the above embodiment of the present disclosure when a processor executes the computer program.

[0214] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more available media integrated. Available media may be magnetic media (eg, floppy disks, hard disks, tapes), optical media (eg, high-density digital video discs (DVD)), or semiconductor media (eg, solid state disks (SSD)).

[0215] A person skilled in the art may understand that the various numerical numbers such as first and second involved in the present application are only used for the convenience of description and are not used to limit the scope of the embodiments of the present application, and also indicate the order of precedence.

[0216] At least one in the present application can also be described as one or more, and a plurality can be two, three, four or more, which is not limited in the present application. In the embodiments of the present application, for a technical feature, the technical features in the technical feature are distinguished by "first", "second", "third", "A", "B", "C" and "D", etc., and there is no order of precedence or size between the technical features described by the "first", "second", "third", "A", "B", "C" and "D".

[0217] As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0218] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0219] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0220] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0221] In addition, it should be understood that the various embodiments of the present application may be implemented individually or in combination with other embodiments when the solution permits.

[0222] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0223] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0224] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A relative position determination method, characterized in that: The method is performed by a first wireless communication device, the first wireless communication device includes two or more antennas, and the method includes: The relative position of the second wireless communication device is determined according to the phase difference between the same subcarrier received by the two or more antennas, wherein the subcarrier is used to carry the signal sent by the second wireless communication device, and the subcarrier is multiple.

2. The method according to claim 1, characterized in that The method further comprises: Determine an identifiable number of signal transmission paths with the second wireless communication device.

3. The method according to claim 2, characterized in that Determining the relative position of the second wireless communication device according to the phase difference between the same subcarriers received by the two or more antennas includes: Acquire channel state information CSI of multiple subcarriers received by the two or more antennas; When the identifiable number of the signal transmission paths is less than a preset number, the angle of the second wireless communication device relative to the first wireless communication device is determined based on the phase difference of the channel state information of the same subcarrier received by the two or more antennas.

4. The method according to claim 3, characterized in that The method further comprises: When the identifiable number of the signal transmission paths is greater than a preset number, the angle and distance of the second wireless communication device relative to the first wireless communication device are determined based on the phase difference of the channel state information of the same subcarrier received by the two or more antennas and the signal transmission path.

5. The method according to claim 3, characterized in that: In a case where the first wireless communication device and / or the second wireless communication device does not support sounding frame interaction, the acquiring the channel state information CSI of the multiple subcarriers received by the two or more antennas includes: For each antenna of the first wireless communication device, receiving a multi-carrier modulated signal sent by the second wireless communication device through the antenna; Channel estimation is performed according to the multi-carrier modulation signal to obtain channel estimation H values ​​of multiple sub-carriers received by the antenna.

6. The method according to claim 3, characterized in that In a case where the first wireless communication device and the second wireless communication device support sounding frame interaction, the acquiring the channel state information CSI of the multiple subcarriers received by the two or more antennas includes: For each antenna of the first wireless communication device, send an NDP frame to the second wireless communication device through the antenna; Receiving a probe response frame sent by the second wireless communication device, wherein the probe response frame is sent by the second wireless communication device after receiving the NDP frame and performing channel assessment according to the NDP frame, and the probe response frame includes compressed channel assessment H values ​​of multiple subcarriers; The detection response frame is decompressed to obtain a channel evaluation H value of multiple subcarriers received by the antenna.

7. The method according to any one of claims 5 or 6, characterized in that: The method further comprises: Determining whether the angle of the first wireless communication device on the plane of the X-axis and the Z-axis is zero; If the angle of the first wireless communication device on the plane of the X-axis and the Z-axis is not zero, the channel estimation H value of each subcarrier is corrected according to the angle of the first wireless communication device on the plane of the X-axis and the Z-axis.

8. The method according to claim 7, characterized in that When the identifiable number of the signal transmission paths is less than a preset number, determining the angle of the second wireless communication device relative to the first wireless communication device according to the phase difference of the channel state information of the same subcarriers received by the two or more antennas comprises: In a case where the identifiable number of the signal transmission paths is less than a preset number, determining, for each subcarrier of the multiple subcarriers, a phase difference of a channel estimation H value of the subcarrier between the two or more antennas; Determining an angle value of the subcarrier according to the phase difference; Traversing the multiple subcarriers to obtain angle values ​​of the multiple subcarriers; In response to obtaining the phase difference interval threshold of the multiple subcarriers from the history library, the angle values ​​of the multiple subcarriers are matched with the phase difference interval threshold to obtain the angle of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

9. The method according to claim 8, characterized in that The method further comprises: In response to not obtaining the phase difference interval thresholds of the multiple subcarriers from the history library, calculating an average value of the angle values ​​of the multiple subcarriers; The average value is determined as the angle of the second wireless communication device relative to the first wireless communication device in a plane of the X-axis and the Y-axis.

10. The method according to claim 7, characterized in that When the identifiable number of the signal transmission paths is greater than a preset number, determining the angle and distance of the second wireless communication device relative to the first wireless communication device according to the phase difference of the channel state information of the same subcarriers received by the two or more antennas and the signal transmission path includes: In a case where the identifiable number of the signal transmission paths is greater than a preset number, for each subcarrier of the multiple subcarriers, an equation of the subcarrier is listed according to a phase difference of a channel estimation H value of the subcarrier between the two or more antennas and the signal transmission path; Traversing the plurality of subcarriers to obtain equations for the plurality of subcarriers; Processing equations for the plurality of subcarriers to determine a signal transmission path with a minimum time of flight ToF; The angle and path length of the signal transmission path with the minimum ToF are determined as the angle and distance of the second wireless communication device relative to the first wireless communication device on the X-axis and Y-axis planes.

11. The method according to claim 10, characterized in that The processing of the equations for the plurality of subcarriers comprises: Obtaining the number of signal transmission paths; Obtaining the number of unknown variables according to the number of the transmission paths, the number of antennas of the first wireless communication device, and the number of the plurality of subcarriers; Grouping the equations of the plurality of subcarriers according to the number of unknown variables to obtain a plurality of equation groups; The unknown variables of the plurality of equation groups are merged, wherein the merged processing includes one or more of mean, variance, covariance, and mean square error processing.

12. The method according to any one of claims 8 or 10, characterized in that: The method further comprises: Acquire the angle of the first wireless communication device on the X-axis and Z-axis planes; The orientation of the second wireless communication device relative to the first wireless communication device in three-dimensional space of X-axis, Y-axis and Z-axis is determined based on the angle of the first wireless communication device in the X-axis and Z-axis planes and the angle and / or distance of the second wireless communication device relative to the first wireless communication device in the X-axis and Y-axis planes.

13. The method according to claim 12, characterized in that The method further comprises: Relative position information is displayed on a screen, wherein the relative position information includes one or more of an angle of the second wireless communication device relative to the first wireless communication device on an X-axis and Y-axis plane, a distance of the second wireless communication device relative to the first wireless communication device on an X-axis and Y-axis plane, and an orientation of the second wireless communication device relative to the first wireless communication device in three-dimensional space of an X-axis, a Y-axis, and a Z-axis.

14. The method according to claim 12, characterized in that The method further comprises: Relative position information is sent to the second wireless communication device, wherein the relative position information includes one or more of an angle of the second wireless communication device relative to the first wireless communication device on an X-axis and Y-axis plane, a distance of the second wireless communication device relative to the first wireless communication device on an X-axis and Y-axis plane, and an orientation of the second wireless communication device relative to the first wireless communication device in a three-dimensional space of an X-axis, a Y-axis, and a Z-axis.

15. A relative position determination device, characterized in that: The apparatus is configured in a first wireless communication device, and the apparatus includes: A determination module is used to determine the relative position of the second wireless communication device by using a phase difference between the same subcarriers received by the two or more antennas, wherein the subcarrier is used to carry a signal sent by the second wireless communication device, and the subcarrier is multiple.

16. A communication device, wherein: include: Transceiver; Memory; A processor is connected to the transceiver and the memory, respectively, and is configured to control the wireless signal reception and transmission of the transceiver by executing computer executable instructions on the memory, and can implement the method described in any one of claims 1 to 14.

17. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-14.

18. A wireless communication system, characterized in that: include: A first wireless communication device and a second wireless communication device, wherein the first wireless communication device is configured to perform the method according to any one of claims 1 to 14.

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