Arrival angle measuring method and system suitable for low-cost receiver

Abstract

The invention relates to the technical field of communication, and particularly discloses an arrival angle measuring method and system suitable for a low-cost receiver, the low-cost receiver is provided with a plurality of radio frequency front ends, an analog-to-digital converter (ADC) shared by the radio frequency front ends and a digital signal processor, and each radio frequency front end is connected with one path of corresponding antenna. The method comprises the following steps: simultaneously receiving signals of remote equipment through n paths of antennas, and obtaining a reference antenna; obtaining a mixed signal of the jth antenna and the reference antenna, and determining the phase of the mixed signal; calculating the phase difference between the signal received by the reference antenna and the signal received by the jth antenna, and generating a phase difference set; and based on the phase difference set and the distance information between the n paths of antennas, determining an angle of arrival (AOA) of a signal sent by the remote equipment. According to the invention, AOA measurement with low power consumption and low cost is realized, and the positioning cost is reduced.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to an angle-of-arrival measurement method and system applicable to a low-cost receiver. Background Art

[0002] Positioning requires measurements in two dimensions: distance and orientation. That is, by combining the distance between the transmitter and receiver (or tag and anchor) obtained from the distance measurement and the angle or AOA (angle of arrival) formed between the transmitter and receiver (tag and anchor), the precise relative position of the remote device can be determined.

[0003] AOA measurement is a method for determining the propagation direction of radio frequency waves incident on an antenna. Its basic principle is to utilize a multi-antenna receiving system to calculate the signal's angle of arrival by comparing the time difference or phase difference between the arrival of the same signal at multiple antennas. This often requires the receiver to be able to process two or more signals in parallel, significantly increasing the receiver's complexity, cost, and power consumption. Parallel processing requires the receiver to have two or more complete receive chains (a receive chain includes an RF front end, an ADC, and a baseband processor). The benefit of this implementation is that the receiver can use multiple antennas to receive the same signal through different paths, achieving diversity gain and thus improving signal quality and reliability.

[0004] Low-cost and low-power designs are crucial for ultra-wideband receivers, as they directly impact the technology's technical feasibility, efficiency, and market acceptance. Many UWB applications, such as wearable technology, smartphones, and IoT devices, require efficient battery use. Low-power designs extend the battery life of these devices and provide a better user experience, so implementing angle-of-arrival measurements using receivers with two or more complete receive chains is suboptimal.

[0005] In the method of obtaining the angle of incidence information by measuring the phase difference between two signals, the phase difference between the two signals remains unchanged when the two antennas receive different versions of the same frame signal. Therefore, the phase difference between the two signals can be obtained directly rather than through parallel processing. Instead, the phase information of the two signals can be obtained separately and then subtracted. However, this low-power receiver implementation method loses diversity gain and will have a certain impact on system performance in weak signal conditions. Summary of the Invention

[0006] The purpose of the present invention is to provide an arrival angle measurement method and system suitable for low-cost receivers to solve the above technical problems.

[0007] The purpose of the present invention can be achieved through the following technical solutions: A method for measuring angle of arrival (AoA) for a low-cost receiver having multiple radio frequency front ends (RFFs) and a shared analog-to-digital converter (ADC) and digital signal processor (DSP), wherein each RFF is connected to a corresponding antenna. The method comprises the following steps: Receive signals sent by a remote device simultaneously through n antennas, where n is a preset number of antennas and n ≥ 2, and mark the i-th antenna as a reference antenna, where i is a preset value; Get the mixed signal AH=ACK+Aj of the j-th antenna and the reference antenna, Aj represents the signal received by the j-th antenna, ACK represents the signal received by the reference antenna, the mixed signal AH passes through the ADC, and the phase XW of the mixed signal is determined by the digital signal processor AH ; Switch to receive the signal sent by the remote device through the j-th antenna, and obtain the signal XH received by the j-th antenna alone j , signal XH j After passing through the ADC, the signal XH is determined by the digital signal processor. j Phase XW j ; Based on A j and XH j have the same phase information, thereby calculating the signal ACK received by the reference antenna and the signal XH received by the j-th antenna j The phase difference ΔCZ CK，j =XW AH -XW j , generate the phase difference set ΔCZ={ΔCZ CK，1 , ΔCZ CK，2 ,…,ΔCZ CK，n-1}; The angle of arrival (AOA) of a signal sent by a remote device is determined based on the phase difference set and the distance information between the n antennas.

[0008] As a further solution of the present invention: a maximum ratio combining algorithm is used to obtain a mixed signal of the j-th antenna and the reference antenna.

[0009] As a further solution of the present invention: the mixed signal AH is obtained based on the synchronization field of the frame; the signal XH j Acquisition based on the synchronization field or scrambled timestamp sequence of the frame.

[0010] As a further solution of the present invention: the operation of switching from multi-antenna reception to single-antenna reception is completed within the same data frame.

[0011] As a further solution of the present invention: the operation of switching from multi-antenna reception to single-antenna reception is cyclically performed within the same data frame to obtain multiple measurement results; subsequent switching is implemented in the scrambled timestamp sequence part of the frame.

[0012] As a further solution of the present invention: the mixed signal is also used for time and frequency synchronization between transmitters.

[0013] As a further solution of the present invention: in the process of acquiring the mixed signal, the analog gains of the signal received by the reference antenna and the signal received by the j-th antenna are different and are preset values.

[0014] As a further solution of the present invention: the analog gain is based on manual selection, and there are m groups of different analog gains, where m is a preset number.

[0015] As a further solution of the present invention, the signal of the remote device received by the n antennas is an impulse ultra-wideband (Impulse UWB) signal.

[0016] As a further solution of the present invention: the method further includes the following steps: obtaining the distance D between the receiver and the remote device, and determining the location information of the remote device based on the arrival angle AOA of the signal sent by the remote device and the distance between the receiver and the remote device to which it belongs.

[0017] The distance D between the receiver and the remote device can be calculated by receiving the ultra-wideband signal of the remote device, that is, by utilizing the ranging function of the ultra-wideband signal. Ranging can be achieved using mixed signals received by multiple antennas and / or signals received by a single antenna, such as based on time of flight (ToF) or other ranging algorithms. The position information of the remote transmitter relative to the receiver can be obtained through distance information and arrival angle information. For example, assuming that the coordinates of the receiver are (x0, y0), the coordinates of the remote device can be calculated to be (x1, y1), that is, x1=x0+D*cos(AOA), y1=y0+sin(AOA).

[0018] A low-cost receiver system includes: multiple radio frequency front ends and their shared analog-to-digital converter (ADC) and digital signal processor, wherein each radio frequency front end is connected to a corresponding antenna; the low-cost receiver is configured as follows: Receive signals sent by a remote device simultaneously through n antennas, where n is a preset number of antennas and n ≥ 2, and mark the i-th antenna as a reference antenna, where i is a preset value; Get the mixed signal AH=ACK+Aj of the j-th antenna and the reference antenna, Aj represents the signal received by the j-th antenna, ACK represents the signal received by the reference antenna, the mixed signal AH passes through the ADC, and the phase XW of the mixed signal is determined by the digital signal processor AH ; Switch to receive the signal sent by the remote device through the j-th antenna, and obtain the signal XH received by the j-th antenna alone j , signal XH j After passing through the ADC, the signal XH is determined by the digital signal processor. j Phase XW j ; Based on A j and XH j have the same phase information, thereby calculating the signal ACK received by the reference antenna and the signal XH received by the j-th antenna j The phase difference ΔCZ CK，j =XW AH -XW j , generate the phase difference set ΔCZ={ΔCZ CK，1 , ΔCZ CK，2 ,…,ΔCZ CK，n-1}; The angle of arrival (AOA) of a signal sent by a remote device is determined based on the phase difference set and the distance information between the n antennas.

[0019] A low-cost receiver system includes: a positioning module: obtaining the distance D between the receiver and the remote device, and determining the position information of the remote device based on the arrival angle AOA of the signal sent by the remote device and the distance between the receiver and the remote device.

[0020] The distance D between the receiver and the remote device can be calculated by receiving the ultra-wideband signal of the remote device, that is, by utilizing the ranging function of the ultra-wideband signal. Ranging can be achieved using mixed signals received by multiple antennas and / or signals received by a single antenna, such as based on time of flight (ToF) or other ranging algorithms. The position information of the remote transmitter relative to the receiver can be obtained through distance information and arrival angle information. For example, assuming that the coordinates of the receiver are (x0, y0), the coordinates of the remote device can be calculated to be (x1, y1), that is, x1=x0+D*cos(AOA), y1=y0+sin(AOA).

[0021] A low-cost receiver system is provided in which the signal from the remote device is an impulse ultra-wideband (Impulse UWB) signal.

[0022] The beneficial effects of the present invention are as follows: 1) Because the present invention requires only a small number of RF front ends and can share a single ADC and baseband processing module, it eliminates the hardware investment and power consumption overhead associated with multiple parallel receive links. As a result, the entire system is lower in cost, smaller in hardware size, and consumes less energy, making it particularly suitable for power-sensitive or space-constrained terminal device applications. 2) In weak signal and long-distance transmission scenarios, the received signal strength is often limited. By using a diversity combining algorithm such as Maximum Ratio Combining (MRC) on the analog side, the signals received by each antenna can be superimposed as coherently as possible, enhancing the overall signal strength, thereby increasing the signal-to-noise ratio (SNR) and improving anti-interference performance. This enables stable reception in weak signal environments without the need for additional digital front-ends and ADCs. 3) This method first obtains the phase of the combined mixed signal from the reference antenna and the other antennas, then switches to single-antenna reception mode to measure the phase of the corresponding antenna's independent received signal. By subtracting the two, the phase difference between the different antennas is obtained to calculate the AOA. This method effectively avoids the need to allocate a complete receiving channel for each antenna, simplifying the hardware architecture while achieving accurate estimation of the phase difference between multiple antennas. 4) UWB frames have predictable and detectable known pulse or code sequences in parts such as the synchronization field (SYNC) and the scrambled time stamp sequence (STS). The present invention uses these known sequences to simultaneously complete the time and frequency synchronization of the receiver and transmitter, as well as the signal acquisition required for phase measurement, avoiding additional calibration or synchronization links and improving system integration and work efficiency. 5) The present invention allows for different analog gain combinations to be set when the reference antenna is combined with other antennas. Multiple sets of different gains can even be selected, and these can be flexibly switched during the measurement process. This not only allows for rapid adaptation to different interference environments, antenna characteristics, or link conditions, but also enables better extraction of phase information and enhanced receiver sensitivity, further improving AOA measurement accuracy. 6) Based on the existing AOA measurement accuracy, combined with time of flight (ToF) or other ranging methods, the precise coordinates of the target remote device can be quickly obtained. This invention has great application value in indoor positioning, asset tracking, smart home, robot navigation and other fields that require high positioning accuracy, device miniaturization and low power consumption; In summary, the present invention cleverly combines multi-antenna signals at the analog end and combines them with one or more single-antenna reception measurements. This allows for reliable angle-of-arrival (AOA) extraction even under adverse conditions such as weak signals and multipath, significantly reducing system hardware complexity and power consumption while significantly improving positioning performance and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings.

[0024] Figure 1 It is a flow chart of an arrival angle measurement method applicable to a low-cost receiver of the present invention; Figure 2 A schematic diagram of the frame structure. DETAILED DESCRIPTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0026] See also Figure 1 As shown, the present invention is a method for measuring angle of arrival applicable to a low-cost receiver. The low-cost receiver has multiple radio frequency front ends and their shared analog-to-digital converter (ADC) and digital signal processor, wherein each radio frequency front end is connected to a corresponding antenna. The method comprises the following steps: Receive signals sent by a remote device simultaneously through n antennas, where n is a preset number of antennas and n ≥ 2, and mark the i-th antenna as a reference antenna, where i is a preset value; In a preferred embodiment of the present invention, the signals from the remote device received by the n antennas are impulse ultra-wideband (Impulse UWB) signals.

[0027] Assume that there are three antennas in the system. Antennas A1, A2, and A3 are deployed at the receiving end with appropriate geometric spacing (e.g., arranged at a known distance on the same horizontal line or in an array). Antenna A1 is used as the reference antenna (i=1), providing a reference for generating the mixed signal and subsequent phase difference calculations. The impulse signal transmitted by the remote device reaches A1, A2, and A3, respectively. Each antenna receives the signal and feeds it into its own analog front-end. Get the mixed signal AH=ACK+Aj of the j-th antenna and the reference antenna, Aj represents the signal received by the j-th antenna, ACK represents the signal received by the reference antenna, the mixed signal AH passes through the ADC, and the phase XW of the mixed signal is determined by the digital signal processor AH ; In a preferred embodiment of the present invention, a maximum ratio combining algorithm is used to obtain a mixed signal of the j-th antenna and the reference antenna; In another preferred embodiment of the present invention, in the process of acquiring the mixed signal, the analog gain of the signal received by the reference antenna and the signal received by the j-th antenna are different and are preset values; In a preferred embodiment of the present invention, the analog gain is manually selected, and there are m groups of different analog gains, where m is a preset number. Assume that at time t, the signal received by A1 is ACK(t), the signal received by A2 is A2(t), and the signal received by A3 is A3(t). At this time, for the signal Aj(t) of the jth antenna (j = 2 or 3), we want to combine it with the reference antenna signal ACK(t) and then input it into the ADC for phase measurement. First, the two antenna signals A1 and A2 are output simultaneously at the analog end. For example, when j=2, A1 outputs ACK(t) and A2 outputs A2(t). Both outputs may be accompanied by their own analog gain (such as low-noise amplifier LNA gain, adjustable attenuator, etc.). Manual configuration or automatic gain control can be performed before mixing. Afterwards, MRC usually needs to estimate the channel gain and signal-to-noise ratio (SNR) of each signal to determine the weighting coefficients w1 and w2 of each signal. Assume that at this moment, the receiver obtains w1 and w2 (for example, w1 and w2 are respectively The values ​​of 0, 8, and 0.2 are 0, 8, and 0.2, respectively. In analog circuits, weighted superposition of signals can be achieved through power dividers / phase shifters / adjustable amplifiers, and AH(t) is the mixed signal obtained after merging. In actual hardware, an analog phase shift and weighting network or an integrated RF front-end chip can be used to implement this process. The combined AH(t) is input into a single ADC for sampling and sent to the baseband processing module. In the baseband, the phase of the sampled digital signal is estimated, and since there is a known sequence in the frame structure (such as the SYNC field), high-precision phase estimation can be obtained by using correlation algorithms or matched filtering. In another preferred embodiment of the present invention, the mixed signal AH is obtained based on the synchronization field of the frame; the signal XH j Frame-based synchronization field or scrambled timestamp sequence acquisition; It can be understood that the operation of switching from multi-antenna reception to single-antenna reception is completed within the same data frame; It is worth noting that the operation of switching from multi-antenna reception to single-antenna reception is performed cyclically within the same data frame to obtain multiple measurement results; subsequent switching is implemented in the scrambled timestamp sequence part of the frame; It should be noted that when a UWB data packet arrives, all three antennas (A1, A2, and A3) receive a pulse sequence. In the first half of the frame (i.e., the SYNC field), the analog signals of the reference antenna A1 and the jth antenna (A2 or A3) are combined by maximum ratio combining (MRC) or other weighted superposition to form a mixed signal AH(t). Since the SYNC field has a long and known preamble sequence, it is easier to complete phase estimation of the observed signal during this period, and sufficient correlation gain can be guaranteed. The combined AH(t) is sampled and output through a single ADC. In the baseband processing module, based on the known sequence in the SYNC field, conventional methods such as matched filtering or correlation detection can be used to estimate the phase of the combined signal AH. After sampling the mixed signal, the system instructs the receiver to switch to single-antenna mode, retaining only the signal from the jth antenna (A2 or A3) for input to the ADC. The synchronization field (SYNC) typically lasts for a certain length, or multiple observations can be made during the STS period. This provides a time window for subsequent phase acquisition of the single-antenna signal. The solution preferably uses one (or a combination of) the following two methods to complete the phase estimation of the single-antenna signal: 1) Re-use the SYNC field: Perform phase measurement on the single-antenna signal XHⱼ during the remaining SYNC time or repeated chips of the same frame. 2) Using the STS field: If the SYNC field period is insufficient to complete multi-antenna rotation measurement or more measurement opportunities are needed, the phase of the jth antenna can be estimated in the STS field following the frame. The STS field contains a pseudo-random pulse sequence, which is also suitable for correlation matching to obtain high-precision phase information. In another preferred embodiment of the present invention, the mixed signal is also used for time and frequency synchronization between the time and transmitter; In UWB systems, the receiving end must accurately locate the start position of the data frame or the critical symbol boundary. By performing correlation detection on the mixed signal AH (e.g., matching the SYNC preamble or STS sequence), the precise time of arrival of the received signal can be determined, generating a synchronization trigger signal for aligning ADC sampling, baseband demodulation, and subsequent phase measurement. Because mixed signals typically have a higher signal-to-noise ratio (using maximum ratio combining to achieve diversity gain), the arrival of the preamble can be more reliably detected even in weak signal or long-distance scenarios, thereby improving the accuracy and robustness of time synchronization. In wireless communications, the frequencies of the receiver's local oscillator (LO) and the transmitter often have slight deviations, resulting in carrier frequency inconsistencies. When the deviation is large, frequency offset estimation and compensation are necessary. Coherent demodulation using the mixed signal AH can estimate the instantaneous phase or phase rotation rate on a known sequence such as SYNC or STS, thereby inferring and correcting the frequency offset. Similarly, because AH has a better signal-to-noise ratio, it can improve the accuracy of frequency offset estimation and reduce the impact of the error on subsequent phase measurement and data demodulation. Switch to receive the signal sent by the remote device through the j-th antenna, and obtain the signal XH received by the j-th antenna alone j , signal XH j After passing through the ADC, the signal XH is determined by the digital signal processor. j Phase XW j ; Based on A j and XH j have the same phase information, thereby calculating the signal ACK received by the reference antenna and the signal XH received by the j-th antenna j The phase difference ΔCZ CK，j =XW AH -XW j , generate the phase difference set ΔCZ={ΔCZ CK，1 , ΔCZ CK，2 ,…,ΔCZ CK，n-1}; Determine the angle of arrival (AOA) of the signal sent by the remote device based on the phase difference set and the distance information between the n antennas; In a preferred embodiment of the present invention, the method further includes the following steps: calculating the distance D between the receiver and the remote device by receiving the remote device signal, and determining the location information of the remote device based on the angle of arrival (AOA) of the signal transmitted by the remote device and the distance between the receiver and the remote device. For example, assuming the coordinates of the receiver are (x0, y0), the coordinates of the remote device can be calculated to be (x1, y1), i.e., x1 = x0 + D*cos(AOA), and y1 = y0 + sin(AOA).

[0028] It is worth noting that when the horizontal and vertical coordinates of the receiver are known, the horizontal and vertical coordinates of the target device can be derived by simply multiplying the above distance value with the cosine function and sine function of the arrival angle, and then adding the results to the horizontal and vertical coordinates of the receiver respectively. In this process, if a richer set of phase differences is obtained through multiple antennas, the estimation accuracy of the arrival angle can be further improved with the help of the beamforming algorithm, thereby making the final positioning result more stable. In the face of more complex environments such as weak signals and multipath reflections, this method can still effectively suppress interference and maintain high-precision coordinate calculations. Therefore, in application scenarios such as indoor navigation, wearable devices and object tracking, this solution can provide more reliable and flexible positioning support for terminals.

[0029] A low-cost receiver system includes: multiple radio frequency front ends and their shared analog-to-digital converter (ADC) and digital signal processor, wherein each radio frequency front end is connected to a corresponding antenna; the low-cost receiver is configured as follows: Receive signals sent by a remote device simultaneously through n antennas, where n is a preset number of antennas and n ≥ 2, and mark the i-th antenna as a reference antenna, where i is a preset value; Get the mixed signal AH=ACK+Aj of the j-th antenna and the reference antenna, Aj represents the signal received by the j-th antenna, ACK represents the signal received by the reference antenna, the mixed signal AH passes through the ADC, and the phase XW of the mixed signal is determined by the digital signal processor AH ; Switch to receive the signal sent by the remote device through the j-th antenna, and obtain the signal XH received by the j-th antenna alone j , signal XH j After passing through the ADC, the signal XH is determined by the digital signal processor. j Phase XW j ; Based on the fact that Aj and XHj have the same phase information, the signal ACK received by the reference antenna and the signal XH received by the jth antenna are calculated. j The phase difference ΔCZ CK，j =XW AH -XW j , generate the phase difference set ΔCZ={ΔCZ CK，1 , ΔCZ CK，2 ,…,ΔCZ CK，n-1}; The angle of arrival (AOA) of a signal sent by a remote device is determined based on the phase difference set and the distance information between the n antennas.

[0030] A low-cost receiver system includes a positioning module that obtains the distance D between the receiver and a remote device and determines the location of the remote device based on the angle of arrival (AOA) of a signal transmitted by the remote device and the distance between the receiver and the remote device. For example, the coordinates of the remote device are (x1, y1), where x1 = x0 + D*cos(AOA), y1 = y0 + sin(AOA), and (x0, y0) represent the coordinates of the receiver.

[0031] A low-cost receiver system is provided in which the signal from the remote device is an impulse ultra-wideband (Impulse UWB) signal.

[0032] The above is a detailed description of an embodiment of the present invention. However, the content described is only a preferred embodiment of the present invention and should not be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A method for measuring angle of arrival (AoA) for a low-cost receiver comprising multiple radio frequency front ends (RFFs) and their shared analog-to-digital converters (ADCs) and digital signal processors, wherein each RFF is connected to a corresponding antenna, wherein: The method comprises the following steps: Receive signals sent by a remote device simultaneously through n antennas, where n is a preset number of antennas and n ≥ 2, and mark the i-th antenna as a reference antenna, where i is a preset value; Get the mixed signal AH=ACK+Aj of the j-th antenna and the reference antenna, Aj represents the signal received by the j-th antenna, ACK represents the signal received by the reference antenna, the mixed signal AH passes through the ADC, and the phase XW of the mixed signal is determined by the digital signal processor AH ; Switch to receive the signal sent by the remote device through the j-th antenna, and obtain the signal XH received by the j-th antenna alone j , signal XH j After passing through the ADC, the signal XH is determined by the digital signal processor. j Phase XW j ; Based on A j and XH j have the same phase information, thereby calculating the signal ACK received by the reference antenna and the signal XH received by the j-th antenna j The phase difference ΔCZ CK，j =XW AH -XW j , generate the phase difference set ΔCZ={ΔCZ CK，1 , ΔCZ CK，2 ,…,ΔCZ CK，n-1 }; The angle of arrival (AOA) of a signal sent by a remote device is determined based on the phase difference set and the distance information between the n antennas.

2. The arrival angle measurement method suitable for a low-cost receiver according to claim 1, characterized in that: A maximum ratio combining algorithm is used to obtain a mixed signal of the j-th antenna and the reference antenna.

3. The arrival angle measurement method applicable to a low-cost receiver according to claim 1, characterized in that: The mixed signal AH is obtained based on the synchronization field of the frame; the signal XH j Acquisition based on the synchronization field or scrambled timestamp sequence of the frame.

4. The arrival angle measurement method applicable to a low-cost receiver according to claim 3, characterized in that: The operation of switching from multi-antenna reception to single-antenna reception is completed within the same data frame.

5. According to the method for measuring angle of arrival suitable for a low-cost receiver according to claim 4, the operation of switching from multi-antenna reception to single-antenna reception is cyclically performed within the same data frame to obtain multiple measurement results; subsequent switching is implemented in the scrambled timestamp sequence portion of the frame.

6. The arrival angle measurement method applicable to a low-cost receiver according to claim 1, characterized in that: The mixed signal is also used for time and frequency synchronization between transmitters.

7. The arrival angle measurement method applicable to a low-cost receiver according to claim 1, characterized in that: In the process of acquiring the mixed signal, analog gains of the signal received by the reference antenna and the signal received by the j-th antenna are different and are preset values.

8. The arrival angle measurement method applicable to a low-cost receiver according to claim 7, characterized in that: The analog gain is based on manual selection, and there are m groups of different analog gains, where m is a preset number.

9. The arrival angle measurement method applicable to a low-cost receiver according to claim 1, characterized in that: The signals from the remote device received by the n antennas are impulse ultra-wideband (Impulse UWB) signals.

10. The arrival angle measurement method applicable to a low-cost receiver according to claim 1, characterized in that: The method further includes the following steps: obtaining a distance D between the receiver and the remote device, and determining the location information of the remote device based on the arrival angle AOA of the signal sent by the remote device and the distance between the receiver and the remote device.

11. A low-cost receiver system, characterized in that: include: Multiple radio frequency front ends and their shared analog-to-digital converters (ADCs) and digital signal processors, each of which is connected to a corresponding antenna; the low-cost receiver is configured as follows: Simultaneously receiving a signal transmitted by a remote device through two or more antennas among n antennas, where n is a preset number of antennas and n ≥ 2, marking the i-th antenna as a reference antenna, where i is a preset value; Get the mixed signal AH=ACK+Aj of the j-th antenna and the reference antenna, Aj represents the signal received by the j-th antenna, ACK represents the signal received by the reference antenna, the mixed signal AH passes through the ADC, and the phase XW of the mixed signal is determined by the digital signal processor AH ; Switch to receive the signal sent by the remote device through the j-th antenna, and obtain the signal XH received by the j-th antenna alone j , signal XH j After passing through the ADC, the signal XH is determined by the digital signal processor. j Phase XW j ; Based on A j and XH j have the same phase information, thereby calculating the signal ACK received by the reference antenna and the signal XH received by the j-th antenna j The phase difference ΔCZ CK，j =XW AH -XW j , generate the phase difference set ΔCZ={ΔCZ CK，1 , ΔCZ CK，2 ,…,ΔCZ CK，n-1 }; The angle of arrival (AOA) of a signal sent by a remote device is determined based on the phase difference set and the distance information between the n antennas.

12. A low-cost receiver system according to claim 11, characterized in that: It includes: a positioning module: obtaining the distance D between the receiver and the remote device, and determining the location information of the remote device based on the arrival angle AOA of the signal sent by the remote device and the distance between the receiver and the remote device.

13. A low-cost receiver system according to claim 11, characterized in that: The signal of the remote device is an impulse ultra-wideband (Impulse UWB) signal.

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