Measurement method, device and equipment for realizing 360-degree non-fuzzy angle through three antennas and storage medium

Abstract

The invention provides a three-antenna 360-degree non-fuzzy angle measurement method and device, equipment and a storage medium, and the method comprises the steps: obtaining time delay inequality measurement values of three baselines, and removing abnormal data through triangular closed constraint and physical range inspection; then, establishing a ternary geometric constraint equation by using a verified TDOA value, solving sine and cosine components of the signal, and obtaining a continuous angle of 0-360 degrees through an arc tangent function; and finally, according to the signal-to-noise ratio and the geometric sensitive factor of each base line, distributing weights, adopting weighted least square fusion, correcting preliminary estimation, and realizing omnidirectional, unambiguous and high-precision incoming wave direction angle measurement.

Description

Technical Field

[0001] The present invention relates to the field of three-antenna angle measurement, and in particular to a method, device, equipment and storage medium for achieving 360° unambiguous angle measurement using three antennas. Background Art

[0002] Traditional dual-antenna angle measurement systems are widely used in radar, communications, navigation, and other fields, but they suffer from inherent 180° directional ambiguity. This ambiguity stems from the dual-antenna system's mathematical inability to distinguish whether the signal originates from the front or back of the array, severely limiting the system's effectiveness in applications requiring precise, omnidirectional angular perception.

[0003] Existing methods for resolving directional ambiguity primarily include utilizing multi-frequency measurements, incorporating historical trajectory information, and employing auxiliary antennas. However, these methods all have significant limitations: multi-frequency methods rely on frequency-dependent propagation characteristics and are prone to failure in complex electromagnetic environments; historical trajectory methods require continuous observation data and are unable to process newly emerging signal sources; and while auxiliary antenna methods can provide additional information, they typically lack systematic geometric optimization design.

[0004] Theoretically, a three-antenna array can solve the directional ambiguity problem, but most existing three-antenna systems use linear arrays or arbitrary geometric configurations. Their measurement accuracy is unevenly distributed in different directions, and geometric degradation occurs at certain special angles.

[0005] In view of this, this application is filed. Summary of the Invention

[0006] The present invention discloses a method, device, equipment and storage medium for achieving 360° unambiguous angle measurement using three antennas, aiming to solve the problems of directional ambiguity, measurement inconsistency and insufficient accuracy in 360° angle measurement caused by traditional antenna arrays.

[0007] A first embodiment of the present invention provides a method for achieving 360° unambiguous angle measurement using three antennas, including: Obtaining TDOA measurement values ​​of three baselines received by an equilateral triangle array composed of three antennas, and performing geometric consistency verification on the TDOA measurement values ​​of the three baselines, wherein the geometric consistency verification includes triangle closure constraint checking and TDOA range verification; Constructing a three-baseline TDOA geometric constraint equation set based on the TDOA measurement values ​​that have passed the geometric consistency verification, solving the three-baseline TDOA geometric constraint equation set to obtain the sine and cosine values ​​of the signal, and calculating the incoming wave direction angle within the range of 0° to 360° using the inverse tangent function; According to the measurement quality and geometric sensitivity factor of each baseline, a weight is assigned to each baseline, and the angle of the incoming wave direction is corrected after fusion through weighted least square optimization to obtain an optimized incoming wave direction angle.

[0008] Preferably, the triangle closure constraint check is specifically as follows: Calculate the closing error between the sum of the two baseline measurement values ​​and the third baseline measurement value, and calculate the allowable error tolerance based on the measurement uncertainty of each baseline; When the closing error is less than or equal to the preset tolerance multiple, the current measurement is deemed to meet the geometric closing constraint.

[0009] Preferably, the TDOA range verification is specifically as follows: Determining a maximum allowable delay difference range based on actual lengths of each baseline in the equilateral triangle array; Determine whether the delay difference measurement value of each baseline is within the physically achievable range; If the measurement value of any baseline is determined to be outside the range, the measurement data corresponding to the baseline is marked as invalid.

[0010] Preferably, the expression of the three-baseline TDOA geometric constraint equations is: τ 12 _measured=(d / c)×sin(θ); τ 13 _measured=(d / c)×(0.5×sin(θ)-0.866×cos(θ)); τ 23 _measured=(d / c)×(-0.5×sin(θ)-0.866×cos(θ)); Among them, τ 12 _measured is the measured TDOA of baseline 1-2, τ 13 _measured is the measured TDOA of baselines 1-3, τ 23 _measured is the measured TDOA of baseline 2-3, d is the baseline length, c is the speed of light, and θ is the angle of the incoming wave; The three-baseline TDOA geometric constraint equations are solved to obtain the sine and cosine values ​​of the signal, specifically: From the first equation of the three-baseline TDOA geometric constraint equations, we can get sin(θ)=τ 12 _measured×c / d, and put it into the second equation of the three-baseline TDOA geometric constraint equations to obtain cos(θ)=(0.5×τ 12 _measured-τ 13_measured) / 0.866×c / d; The inverse tangent function is used to calculate the incoming wave direction angle within the range of 0° to 360°, specifically: θ_360=atan2(sin(θ),cos(θ)). When θ_360<0, angle conversion is performed: θ_360=θ_360+360°.

[0011] Preferably, a weight is assigned to each baseline according to the measurement quality and geometric sensitivity factor of each baseline, and the angle of the incoming wave direction is corrected after fusion through weighted least squares optimization to obtain an optimized incoming wave direction angle, specifically: Calculate the signal quality of each baseline, and its expression is: quality_ij=SNR_ij×geometry_factor_ij, Among them, geometry_factor_ij is the geometric sensitivity factor, SNR_ij is the baseline measurement quality; A weight is assigned to each baseline based on its signal quality, which is expressed as: total_quality=quality 12 +quality 13 +quality 23 w 12 =quality 12 / total_quality w 13 =quality 13 / total_quality w 23 =quality 23 / total_quality Construct the objective function: J(θ)=w 12 ×(τ 12 _measured-τ 12 _theory(θ)) 2 + w 13 ×(τ 13 _measured-τ 13 _theory(θ)) 2 + w 23 ×(τ 23 _measured-τ 23 _theory(θ)) 2 ; where τ12 _theory(θ) is the theoretical time difference of baseline 1-2 at a given angle θ, τ 13 _theory(θ) is the theoretical time difference of baselines 1-3 at a given angle θ, τ 23 _theory(θ) is the theoretical time difference of baseline 2-3 at a given angle θ; The optimized incoming wave direction angle is obtained by optimizing the objective function: θ_optimal=argmin{J(θ)}.

[0012] A second embodiment of the present invention provides a device for measuring 360° unambiguous angles using three antennas, including: a consistency verification unit, configured to obtain TDOA measurement values ​​of three baselines received by an equilateral triangle array composed of three antennas, and perform geometric consistency verification on the TDOA measurement values ​​of the three baselines, wherein the geometric consistency verification includes triangle closure constraint checking and TDOA range verification; a solving unit, configured to construct a three-baseline TDOA geometric constraint equation set based on the TDOA measurement values ​​that have passed the geometric consistency verification, solve the three-baseline TDOA geometric constraint equation set to obtain the sine and cosine values ​​of the signal, and calculate the incoming wave direction angle within the range of 0° to 360° using an inverse tangent function; The optimization unit is used to assign weights to each baseline according to the measurement quality and geometric sensitivity factor of each baseline, and correct the angle of the incoming wave direction after fusion through weighted least squares optimization to obtain an optimized incoming wave direction angle.

[0013] The third embodiment of the present invention provides a three-antenna 360° unambiguous angle measurement device, characterized in that it includes a memory and a processor, the memory stores a computer program, and the computer program can be executed by the processor to implement a three-antenna 360° unambiguous angle measurement method as described in any one of the above items.

[0014] The fourth embodiment of the present invention provides a computer-readable storage medium, characterized in that it stores a computer program, and the computer program can be executed by a processor of the device where the computer-readable storage medium is located to implement a method for measuring 360° unambiguous angles using three antennas as described in any one of the above items.

[0015] Based on the three-antenna 360° non-ambiguous angle measurement method, device, equipment and storage medium provided by the application, the time delay difference measurement values of three baselines are obtained, and the abnormal data is removed through the triangle closure constraint and physical range test; then, the verified TDOA value is used to establish a three-dimensional geometric constraint equation, the sine and cosine components of the signal are solved, and the 0°-360° continuous angle is obtained through the inverse tangent function; finally, the weight is allocated according to the signal-to-noise ratio and the geometric sensitivity factor of each baseline, and the weighted least square fusion is adopted to correct the preliminary estimation, so that the omnidirectional non-ambiguous and high-precision incoming wave direction angle measurement is realized. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a flowchart of a three-antenna 360° non-ambiguous angle measurement method provided by the first embodiment of the application; Figure 2 is a module schematic diagram of a three-antenna 360° non-ambiguous angle measurement device provided by the second embodiment of the application. DETAILED DESCRIPTION

[0017] The technical solutions in the embodiments of the application will be clearly and completely described below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0018] In order to better understand the technical solutions of the application, the embodiments of the application will be described in detail below with reference to the drawings.

[0019] It should be clear that the described embodiments are only part of the embodiments of the application, rather than all the embodiments of the application. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the application.

[0020] The terms used in the embodiments of the application are only for the purpose of describing the specific embodiments, and are not intended to limit the application. The singular forms "a", "said" and "the" used in the embodiments of the application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise.

[0021] It should be understood that the term "and / or" used herein is only to describe the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, the character " / " in this paper generally represents that the front and rear associated objects are a "or" relationship.

[0022] The word "if," as used herein, may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to the determination" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)," depending on the context.

[0023] The "first" and "second" mentioned in the embodiments are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understood that the specific order or precedence of "first" and "second" can be interchanged where appropriate. It should be understood that the objects distinguished by "first" and "second" can be interchanged where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0024] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0025] The present invention discloses a method, device, equipment and storage medium for achieving 360° unambiguous angle measurement using three antennas, aiming to solve the problems of directional ambiguity, measurement inconsistency and insufficient accuracy in 360° angle measurement caused by traditional antenna arrays.

[0026] See also Figure 1 A first embodiment of the present invention provides a method for achieving 360° unambiguous angle measurement using three antennas, which can be performed by a measuring device, and in particular, by one or more processors within the measuring device, to implement at least the following steps: S101, obtaining TDOA measurement values ​​of three baselines received by an equilateral triangle array composed of three antennas, and performing geometric consistency verification on the TDOA measurement values ​​of the three baselines, wherein the geometric consistency verification includes triangle closure constraint checking and TDOA range verification; In this embodiment, the auxiliary device can be a terminal with data processing capabilities such as a desktop computer, a laptop computer, a server, a workstation, etc., which can establish a communication connection in an array. The corresponding operating system and application software can be installed in the measuring device, and the functions required by this embodiment can be realized through the combination of the operating system and application software.

[0027] Specifically, in this embodiment, the measurement device (or system) obtains TDOA measurements for three baselines received by an equilateral triangle array consisting of three antennas. These baselines correspond to the time differences of arrival from antenna 1 to antenna 2 (baseline 1-2), antenna 1 to antenna 3 (baseline 1-3), and antenna 2 to antenna 3 (baseline 2-3). Based on the geometric configuration of an equilateral triangle, the three antennas are located at P1 = [0, 0], P2 = [10, 0], and P3 = [5, 8.66], forming an equilateral triangle array with a side length of 10 meters.

[0028] For the signal with an incoming wave angle θ, the theoretical TDOA values ​​of the three baselines are calculated using the following formulas: The TDOA of baseline 1-2 is τ 12 (θ)=(10 / c)×sin(θ), the TDOA of baselines 1-3 is τ 13 (θ)=(10 / c)×(0.5×sin(θ)-0.866×cos(θ)), the TDOA of baseline 2-3 is τ 23 (θ) = (10 / c) × (-0.5 × sin(θ) - 0.866 × cos(θ)), where c is the speed of light. These formulas describe the TDOA values ​​that signals at different angles should produce under ideal, noise-free conditions.

[0029] During the triangle closure constraint checking process, the system uses the inherent geometric properties of an equilateral triangle, that is, there is a strict mathematical relationship τ between the three baseline TDOAs. 13 _measured=τ 12 _measured+τ 23 In actual implementation, due to the existence of measurement noise, this equation is usually not strictly true, so it is necessary to calculate the closure error ε_closure=|τ 13 _measured-(τ 12 _measured+τ 23 _measured)| to quantify the degree to which the actual measured value deviates from the theoretical constraint. At the same time, the system uses the measurement uncertainty σ of each baseline 12 , σ 13 , σ 23 Calculate the allowable error tolerance tolerance = √(σ 12 2 +σ 13 2 +σ 23 2 ), which is based on the error propagation theory and comprehensively considers the statistical characteristics of the measurement errors of the three baselines.

[0030] When the closure error satisfies the condition ε_closure ≤ k × tolerance, where k = 3 represents the 3σ criterion, the system determines that the current measurement meets the geometric closure constraint and can proceed to the subsequent angle solution. This judgment criterion ensures that the geometric consistency of the measurement data is acceptable at a confidence level of more than 95%.

[0031] In the TDOA range verification phase, the system determines the maximum allowable delay difference range based on the actual length d = 10 meters of each baseline in the equilateral triangle array. According to physical principles, the maximum possible TDOA value of any baseline is τ_max = d / c = 10 / (3×10 8 )≈33.33 nanoseconds, and the corresponding minimum possible TDOA value is τ_min=-d / c=-33.33 nanoseconds, which corresponds to the extreme case where the signal is incident perpendicularly from both ends of the baseline. The system checks whether the measured value of each baseline satisfies |τ ij _measured|≤τ_max to judge its physical feasibility, where i and j represent the antenna numbers at both ends of the baseline respectively.

[0032] If the measured value of any baseline is found to be beyond the theoretical range, that is, |τ ij If _measured|>τ_max, the system marks the measurement data corresponding to that baseline as invalid and reduces or completely excludes the weight contribution of that baseline in subsequent processing. This range verification mechanism effectively prevents erroneous measurements due to equipment failure, strong interference, or abnormal propagation conditions from affecting the final angle estimation accuracy.

[0033] S102, constructing a three-baseline TDOA geometric constraint equation system based on the TDOA measurement values ​​that have passed the geometric consistency verification, solving the three-baseline TDOA geometric constraint equation system to obtain the sine and cosine values ​​of the signal, and calculating the incoming wave direction angle within the range of 0° to 360° using an inverse tangent function; It should be noted that after the geometric consistency verification confirms that the measurement data is reliable, the system immediately constructs a set of constraint equations that describe the mathematical relationship between the signal incoming wave direction and the three baseline TDOA measurement values.

[0034] According to the geometric characteristics of the equilateral triangle array and the signal propagation theory, the three-baseline TDOA geometric constraint equations establish an accurate mathematical mapping relationship between the measured value and the incoming wave angle θ. 12 _measured = (d / c) × sin (θ) describes the linear relationship between the TDOA of baseline 1-2 along the x-axis and the sine of the angle, where d = 10 meters is the baseline length and c is the speed of light. The second equation τ 13_measured = (d / c) × (0.5 × sin (θ) - 0.866 × cos (θ)) reflects the TDOA characteristics of baselines 1-3 that form a 60° angle with the x-axis. The coefficients 0.5 and 0.866 correspond to cos (60°) and sin (60°), respectively, reflecting the geometric symmetry of the equilateral triangle. The third equation τ 23 _measured=(d / c)×(-0.5×sin(θ)-0.866×cos(θ)) describes the TDOA law of baseline 2-3, which is at an angle of 120° to the x-axis. The negative sign indicates the phase relationship of this baseline relative to the reference direction.

[0035] In the solution process, the system uses direct geometric solution method to obtain the sine and cosine values ​​of the signal. First, from the first constraint equation τ 12 _measured=(d / c)×sin(θ) is directly solved to get the sine value of the signal sin(θ)=τ 12 _measured×c / d, this step utilizes the simple geometric relationship of baseline 1-2 along the x-axis direction, avoiding complex trigonometric function operations. Then the obtained sin(θ) value is substituted into the second constraint equation τ 13 _measured=(d / c)×(0.5×sin(θ)-0.866×cos(θ)), which is transformed algebraically to 0.866×cos(θ)=0.5×sin(θ)-τ 13 _measured×c / d, and then solve the cosine value of the signal cos(θ)=(0.5×τ 12 _measured-τ 13 _measured) / 0.866×c / d.

[0036] The key advantage of this solution strategy is that it simultaneously obtains the sine and cosine values ​​of the angle θ, providing the necessary mathematical foundation for eliminating the 180° directional ambiguity. Traditional dual-antenna systems can only obtain either sin(θ) or cos(θ), and therefore cannot distinguish between the angles θ and 180°-θ. However, the combination of sin(θ) and cos(θ) obtained by the present invention through the geometric constraints of an equilateral triangle can uniquely determine any angle between 0° and 360°.

[0037] After obtaining sin(θ) and cos(θ), the system uses the inverse tangent function atan2(sin(θ), cos(θ)) to calculate continuous incoming wave direction angles within the range of 0° to 360°. The atan2 function is a four-quadrant inverse tangent function from the standard math library. It accurately determines the quadrant of an angle based on the sign combination of sin(θ) and cos(θ). When sin(θ) ≥ 0 and cos(θ) ≥ 0, the angle is in the first quadrant [0°, 90°]; when sin(θ) ≥ 0 and cos(θ) < 0, the angle is in the second quadrant [90°, 180°]; when sin(θ) < 0 and cos(θ) < 0, the angle is in the third quadrant [180°, 270°]; and when sin(θ) < 0 and cos(θ) ≥ 0, the angle is in the fourth quadrant [270°, 360°].

[0038] To ensure the consistency of angle output, when the atan2 function returns a negative value (usually corresponding to the third and fourth quadrants), the system automatically performs an angle conversion θ_360=θ_360+360°, and uniformly adjusts the angle range to the positive range of 0° to 360°.

[0039] Through the above-mentioned direct solution method based on the geometric constraints of an equilateral triangle, the system can achieve true 360° unambiguous angle determination in a single measurement, fundamentally solving the 180° directional ambiguity problem inherent in traditional dual-antenna direction-finding systems.

[0040] S103 , assigning a weight to each baseline according to the measurement quality and geometric sensitivity factor of each baseline, and correcting the angle of the incoming wave direction after fusion through weighted least square optimization to obtain an optimized incoming wave direction angle.

[0041] In this embodiment, during the weight assignment phase, the system first calculates the signal quality of each baseline, taking into account both the baseline's measurement quality and geometric sensitivity. For baseline ij, its signal quality is quantified using the formula: quality_ij = SNR_ij × geometry_factor_ij, where SNR_ij represents the baseline's signal-to-noise ratio, reflecting the reliability of the measurement data, and geometry_factor_ij = |cos(θ-orientation_ij)| is the geometric sensitivity factor, describing the baseline's sensitivity to a specific incoming wave direction, θ. The geometric sensitivity factor is designed based on the following physical principle: when the signal's incoming wave direction is perpendicular to the baseline's direction, the baseline provides the greatest time difference information, resulting in the highest measurement accuracy. Conversely, when the signal propagates along the baseline's direction, the time difference approaches zero, resulting in lower measurement accuracy.

[0042] Based on the signal quality evaluation results of each baseline, the system adopts a normalized weight allocation strategy to ensure the mathematical consistency of the weight coefficient. First, calculate the sum of all baseline signal qualities total_quality = quality 12 quality 13 +quality 23 , and then calculate the normalized weight of each baseline: w 12 =quality 12 / total_quality,w 13 =quality 13 / total_quality,w 23 =quality 23 / total_quality. This normalization process ensures that the sum of the three weight coefficients is always equal to 1, that is, w 12 +w 13 +w 23 =1, providing a mathematically normalized basis for subsequent weighted optimization. The adaptive nature of weight allocation enables the system to dynamically adjust the contribution of each baseline based on real-time signal conditions, giving higher weight to baselines with better signal quality and lowering the weight of baselines affected by interference or unfavorable geometric conditions.

[0043] In the optimization fusion process, the system constructs the weighted least squares objective function J(θ)=w 12 ×(τ 12 _measured-τ 12 _theory(θ)) 2 +w 13 ×(τ 13 _measured-τ 13 _theory(θ)) 2 +w 23 ×(τ 23 _measured-τ 23 _theory(θ)) 2 , which quantitatively describes the weighted residual sum of squares between the theoretical TDOA value and the actual measured value. 12 _theory(θ),τ 13 _theory(θ),τ 23 _theory(θ) represents the theoretical time difference of each baseline at a given angle θ. These theoretical values ​​are calculated based on the geometric relationship of an equilateral triangle: τ 12 _theory(θ)=(d / c)×sin(θ),τ 13 _theory(θ)=(d / c)×(0.5×sin(θ)-0.866×cos(θ)),τ23 _theory(θ)=(d / c)×(-0.5×sin(θ)-0.866×cos(θ)).

[0044] The objective function achieves maximum likelihood estimation by minimizing the weighted sum of squared residuals. The introduction of weight coefficients allows baselines with higher signal quality to play a greater role in the optimization process, effectively suppressing the impact of noise and interference on angle estimation accuracy. Compared with traditional equal-weight processing methods, the adaptive weighting strategy can dynamically optimize system performance based on the actual signal environment, demonstrating significant advantages in complex situations such as multipath propagation, device imbalance, and partial occlusion.

[0045] The system obtains the final estimated direction of arrival angle by solving the optimization problem θ_optimal = argmin{J(θ)}. The optimization process can be implemented using a variety of numerical algorithms, including gradient descent, Newton's method, or quasi-Newton's method. Given the smoothness and unimodal nature of the objective function, the system typically uses the Newton method for rapid convergence. The initial value of the optimization algorithm is chosen from the results of a direct geometric solution, ensuring the stability and convergence speed of the iterative process. In actual implementation, the system sets a convergence threshold of 0.01° and a maximum number of iterations of 50, ensuring both computational accuracy and real-time performance.

[0046] The mathematical advantage of weighted least squares optimization lies in its ability to fully utilize the redundant information provided by the three baselines, effectively suppressing measurement noise through statistical optimization. Compared to traditional single-baseline or dual-baseline systems, weighted fusion of three baselines provides higher measurement accuracy and stronger interference immunity. Especially under low signal-to-noise ratio conditions, the weighted optimization algorithm can significantly improve the stability and reliability of angle estimation through the statistical fusion of multi-baseline information.

[0047] The optimized θ_optimal not only maintains the 360° unambiguous properties of direct geometric solution but also further improves measurement accuracy through statistical optimization methods. The system also calculates the optimization residual total_residual = √(J(θ_optimal)) as a solution quality evaluation metric, providing users with confidence information on the angle measurement results.

[0048] See also Figure 2 A second embodiment of the present invention provides a device for measuring 360° unambiguous angles using three antennas, including: A consistency verification unit 201 is used to obtain TDOA measurement values ​​of three baselines received by an equilateral triangle array composed of three antennas, and perform geometric consistency verification on the TDOA measurement values ​​of the three baselines, wherein the geometric consistency verification includes triangle closure constraint checking and TDOA range verification; A solving unit 202 is configured to construct a three-baseline TDOA geometric constraint equation system based on the TDOA measurement values ​​that have passed the geometric consistency verification, solve the three-baseline TDOA geometric constraint equation system to obtain the sine and cosine values ​​of the signal, and calculate the incoming wave direction angle within the range of 0° to 360° using an inverse tangent function; The optimization unit 203 is used to assign weights to each baseline according to the measurement quality and geometric sensitivity factor of each baseline, and correct the angle of the incoming wave direction after fusion through weighted least square optimization to obtain an optimized incoming wave direction angle.

[0049] The third embodiment of the present invention provides a three-antenna 360° unambiguous angle measurement device, characterized in that it includes a memory and a processor, the memory stores a computer program, and the computer program can be executed by the processor to implement a three-antenna 360° unambiguous angle measurement method as described in any one of the above items.

[0050] The fourth embodiment of the present invention provides a computer-readable storage medium, characterized in that it stores a computer program, and the computer program can be executed by a processor of the device where the computer-readable storage medium is located to implement a method for measuring 360° unambiguous angles using three antennas as described in any one of the above items.

[0051] The present invention provides a three-antenna 360° unambiguous angle measurement method, device, equipment and storage medium. The method obtains the time delay difference measurement values ​​of three baselines and eliminates abnormal data through triangle closure constraints and physical range checks. Then, a three-variable geometric constraint equation is established using the verified TDOA value, the sine and cosine components of the signal are solved, and a continuous angle of 0°-360° is obtained through the inverse tangent function. Finally, weights are assigned according to the signal-to-noise ratio and geometric sensitivity factor of each baseline, and weighted least squares fusion is used to correct the initial estimate, thereby achieving omnidirectional unambiguous and high-precision angle measurement of the incoming wave direction.

[0052] For example, the computer programs described in the third and fourth embodiments of the present invention can be divided into one or more modules, which are stored in the memory and executed by the processor to implement the present invention. The one or more modules can be a series of computer program instruction segments capable of performing specific functions, which describe the execution process of the computer program in the device for implementing a three-antenna 360° unambiguous angle measurement. For example, the apparatus described in the second embodiment of the present invention.

[0053] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc. The processor serves as the control center of the method for achieving 360° unambiguous angle measurement using three antennas, and utilizes various interfaces and circuits to connect the various parts of the method for achieving 360° unambiguous angle measurement using three antennas.

[0054] The memory can be used to store the computer programs and / or modules. The processor implements various functions of a method for achieving 360° unambiguous angle measurement using three antennas by running or executing the computer programs and / or modules stored in the memory and accessing data stored in the memory. The memory may primarily include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function (such as a sound playback function or a text conversion function); the data storage area may store data generated based on the use of the mobile phone (such as audio data and text message data). Furthermore, the memory may include high-speed random access memory (RAM) and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0055] The implemented modules, if implemented in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the above-mentioned embodiment methods of the present application can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can implement the steps of each method embodiment when executed by a processor. The computer program includes computer program code, which can be in the form of source code, object code, executable files or some intermediate forms. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the contents included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0056] It should be noted that the above-described device embodiments are only schematic, and the units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment according to actual needs. In addition, the connection relationship between the modules in the device embodiment provided by the present application indicates that there is a communication connection between them, which can be realized as one or more communication buses or signal lines. Those skilled in the art can understand and implement it without creative labor.

[0057] The above is only the preferred embodiment of the present application, but the protection scope of the present application is not limited thereto, any changes or replacements within the technical range disclosed by the present application can be easily thought by those skilled in the art, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for achieving 360° unambiguous angle measurement using three antennas, characterized in that: include: Obtaining TDOA measurement values ​​of three baselines received by an equilateral triangle array composed of three antennas, and performing geometric consistency verification on the TDOA measurement values ​​of the three baselines, wherein the geometric consistency verification includes triangle closure constraint checking and TDOA range verification; Constructing a three-baseline TDOA geometric constraint equation set based on the TDOA measurement values ​​that have passed the geometric consistency verification, solving the three-baseline TDOA geometric constraint equation set to obtain the sine and cosine values ​​of the signal, and calculating the incoming wave direction angle within the range of 0° to 360° using the inverse tangent function; According to the measurement quality and geometric sensitivity factor of each baseline, a weight is assigned to each baseline, and the angle of the incoming wave direction is corrected after fusion through weighted least square optimization to obtain an optimized incoming wave direction angle.

2. A method for achieving 360° unambiguous angle measurement using three antennas according to claim 1, characterized in that: The triangle closure constraint check is specifically as follows: Calculate the closing error between the sum of the two baseline measurement values ​​and the third baseline measurement value, and calculate the allowable error tolerance based on the measurement uncertainty of each baseline; When the closing error is less than or equal to the preset tolerance multiple, the current measurement is deemed to meet the geometric closing constraint.

3. A method for achieving 360° unambiguous angle measurement using three antennas according to claim 1, characterized in that: The TDOA range verification is specifically as follows: Determining a maximum allowable delay difference range based on actual lengths of each baseline in the equilateral triangle array; Determine whether the delay difference measurement value of each baseline is within the physically achievable range; If the measurement value of any baseline is determined to be outside the range, the measurement data corresponding to the baseline is marked as invalid.

4. A method for achieving 360° unambiguous angle measurement using three antennas according to claim 1, characterized in that: The expression of the three-baseline TDOA geometric constraint equations is: t 12 _measured=(d / c)×sin(θ); t 13 _measured=(d / c)×(0.5×sin(θ)-0.866×cos(θ)); t 23 _measured=(d / c)×(-0.5×sin(θ)-0.866×cos(θ)); Among them, τ 12 _measured is the measured TDOA of baseline 1-2, τ 13 _measured is the measured TDOA of baselines 1-3, τ 23 _measured is the measured TDOA of baseline 2-3, d is the baseline length, c is the speed of light, and θ is the angle of the incoming wave; The three-baseline TDOA geometric constraint equations are solved to obtain the sine and cosine values ​​of the signal, specifically: From the first equation of the three-baseline TDOA geometric constraint equations, we can get sin(θ)=τ 12 _measured×c / d, and put it into the second equation of the three-baseline TDOA geometric constraint equations to obtain cos(θ)=(0.5×τ 12 _measured-τ 13 _measured) / 0.866×c / d; The inverse tangent function is used to calculate the incoming wave direction angle within the range of 0° to 360°, specifically: θ_360=atan2(sin(θ),cos(θ)). When θ_360<0, angle conversion is performed: θ_360=θ_360+360°.

5. A method for achieving 360° unambiguous angle measurement using three antennas according to claim 1, characterized in that: According to the measurement quality and geometric sensitivity factor of each baseline, a weight is assigned to each baseline, and the angle of the incoming wave direction is corrected after fusion through weighted least square optimization to obtain the optimized incoming wave direction angle, which is specifically: Calculate the signal quality of each baseline, and its expression is: quality_ij=SNR_ij×geometry_factor_ij, Among them, geometry_factor_ij is the geometric sensitivity factor, SNR_ij is the baseline measurement quality; A weight is assigned to each baseline based on its signal quality, which is expressed as: total_quality=quality 12 +quality 13 +quality 23 w 12 =quality 12 / total_quality w 13 =quality 13 / total_quality w 23 =quality 23 / total_quality Construct the objective function: J(θ)=w 12 ×(t 12 _measured-t 12 _theory(θ)) 2 + w 13 ×(t 13 _measured-t 13 _theory(θ)) 2 + w 23 ×(τ 23 _measured-τ 23 _theory(θ)) 2 ; where τ 12 _theory(θ) is the theoretical time difference of baseline 1-2 at a given angle θ, τ 13 _theory(θ) is the theoretical time difference of baselines 1-3 at a given angle θ, τ 23 _theory(θ) is the theoretical time difference of baseline 2-3 at a given angle θ; The optimized incoming wave direction angle is obtained by optimizing the objective function: θ_optimal=argmin{J(θ)}.

6. A three-antenna 360° unambiguous angle measurement device, characterized in that: include: a consistency verification unit, configured to obtain TDOA measurement values ​​of three baselines received by an equilateral triangle array composed of three antennas, and perform geometric consistency verification on the TDOA measurement values ​​of the three baselines, wherein the geometric consistency verification includes triangle closure constraint checking and TDOA range verification; a solving unit, configured to construct a three-baseline TDOA geometric constraint equation set based on the TDOA measurement values ​​that have passed the geometric consistency verification, solve the three-baseline TDOA geometric constraint equation set to obtain the sine and cosine values ​​of the signal, and calculate the incoming wave direction angle within the range of 0° to 360° using an inverse tangent function; The optimization unit is used to assign weights to each baseline according to the measurement quality and geometric sensitivity factor of each baseline, and correct the angle of the incoming wave direction after fusion through weighted least squares optimization to obtain an optimized incoming wave direction angle.

7. A three-antenna 360° unambiguous angle measurement device, characterized in that: It includes a memory and a processor, wherein the memory stores a computer program, and the computer program can be executed by the processor to implement a method for measuring 360° unambiguous angles using three antennas as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that A computer program is stored, and the computer program can be executed by a processor of the device where the computer-readable storage medium is located to implement a method for measuring 360° unambiguous angles using three antennas as described in any one of claims 1 to 5.

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