Bluetooth AOA partition positioning method and system based on out-of-plane conformal antenna

Abstract

The application provides a Bluetooth AOA partition positioning method and system based on an out-of-plane conformal antenna, comprising: constructing a conformal antenna array; setting a scanning angle, confirming an effective working condition partition; calculating the included angle between the signal incident direction in each effective working condition partition and the normal vector of each antenna panel of the conformal antenna array, collecting signal data of the antenna panel with the included angle less than a preset threshold, extracting the phase response data of the effective working condition partition, and then calculating the signal correlation value under the current angle until all scanning tasks are completed, recording the antenna angle corresponding to the minimum correlation value as the optimal angle; converting the optimal angle to the Cartesian coordinate system and outputting the terminal position estimation value. In the AOA positioning calculation, only the antenna panel in the effective working condition in the current candidate angle range is selected to participate in the PDDA algorithm, and the antenna in the backward direction or the non-ideal working condition is shielded, so that the multipath interference and the phase error are effectively avoided, and the positioning precision and stability are significantly improved.

Description

Technical Field

[0001] This invention belongs to the field of AOA positioning technology, specifically relating to a Bluetooth AOA partition positioning method and system based on a non-plane conformal antenna. More specifically, it is a Bluetooth AOA partition positioning technology based on a non-plane conformal antenna. Background Technology

[0002] Bluetooth positioning technology is widely used in scenarios such as indoor navigation, smart retail, and personnel and asset management. In particular, the technology that uses the Angle of Arrival (AOA) for positioning has attracted widespread attention. Conventional AOA positioning systems are generally based on planar antenna arrays and obtain the incident angle of the Bluetooth signal through algorithms such as PDDA (Phase Difference Directional Algorithm).

[0003] However, planar antenna arrays suffer from limited measurable angle range and numerous blind spots, especially in complex spatial scenarios or with obstructions, where measurement accuracy can easily degrade. To enhance the spatial perception capability of AOA positioning systems, some research has introduced a three-dimensional non-planar conformal antenna structure composed of multiple planar antenna panels. This structure, by arranging antenna elements in different spatial directions, can achieve a wider signal reception coverage range, thereby improving AOA angle measurement performance.

[0004] Currently, while non-planar antenna arrays can theoretically extend the angle measurement range, in actual positioning processes, algorithms such as PDDA often encounter interference from non-ideal directions, i.e., antennas facing away from the signal, when calculating correlations among multiple antenna panels. These antenna panels have extremely low signal-to-noise ratios when facing the opposite direction of the signal, and their participation in calculations will introduce a large number of errors, even causing multipath interference problems, which seriously affect positioning accuracy.

[0005] Furthermore, the structural complexity of non-directional antennas makes it difficult for traditional unified algorithms to take into account the reception performance in all directions. Especially within a certain angle range, some antenna panels exhibit an "ineffective working condition," and their measurement data not only does not help improve positioning accuracy but also causes noise enhancement and misleading positioning.

[0006] Patent document CN118075867A discloses an angle accuracy verification method, system and storage medium for AoA positioning base stations. This solution cannot solve the problem that some antenna boards of the non-plane antennas are in an "ineffective working condition" state within a specific angle range. The measurement data not only does not help improve the positioning accuracy, but also causes the technical problem of noise enhancement and misleading positioning.

[0007] This problem urgently needs to be solved. Summary of the Invention

[0008] To address the shortcomings of existing technologies, the purpose of this invention is to provide a Bluetooth AOA (Automatic Area Allocation) partitioning positioning method and system based on heterogeneous conformal antennas.

[0009] A Bluetooth AOA (Optical Area Address) partitioning positioning method based on a non-conformal conformal antenna, provided by the present invention, includes:

[0010] Step S1: Construct a conformal antenna array;

[0011] Step S2: Set the scanning angle and confirm the effective working condition zones according to the scanning task;

[0012] Step S3: Calculate the angle between the signal incident direction in each effective working condition partition and the normal vector of each antenna plate of the conformal antenna array. Allow the antenna plate with the angle less than a preset threshold to collect signal data. Based on the signal data, extract the phase response data of the effective working condition partition, and then calculate the signal correlation value at the current angle. Repeat step S2 until all scanning tasks are completed. Record the antenna angle corresponding to the minimum correlation value as the optimal angle.

[0013] Step S4: Convert the optimal angle to the Cartesian coordinate system and output the terminal position estimate.

[0014] Preferably, in step S1, the conformal antenna array is composed of multiple antenna plates arranged in different planes; the number of antenna plates arranged in different planes is greater than or equal to 2; the layout of the conformal antenna array includes: polyhedral layout, spherical layout, cylindrical layout and irregular curved surface layout;

[0015] In step S2, with the base station as the center, the directional angle is divided into 360 angular divisions. During the scanning process from 0 to 360, it is divided into N effective working condition partitions; N is a positive integer.

[0016] Preferably, in step S3, the phase response data includes: a phase wavetable;

[0017] The signal correlation value at the current angle is calculated using the PDDA algorithm, based on the steering vector; the correlation value is the product of the steering vector and the pseudocode signal splitting result of the PDDA algorithm.

[0018] Preferably, in step S3, the mathematical expression of the guiding vector is:

[0019]

[0020] Where a(φ,θ) represents the steering vector, φ represents the incident azimuth angle, θ represents the incident elevation angle, k0 represents a constant, and s M is the physical location of the Mth element; j is the complex number representation of Euler's formula; e represents the exponential function.

[0021] A Bluetooth AOA (Optical Area Address) regional positioning system based on a non-conformal conformal antenna, provided by the present invention, includes:

[0022] Module M1: Constructs a conformal antenna array;

[0023] Module M2: Sets the scanning angle and confirms the effective working condition zones according to the scanning task;

[0024] Module M3: Calculates the angle between the signal incident direction and the normal vector of each antenna plate in the conformal antenna array within each effective operating condition partition. Antenna plates with angles less than a preset threshold are allowed to collect signal data. Based on the signal data, the phase response data of the effective operating condition partition is extracted, and the signal correlation value at the current angle is calculated. Module M2 is then triggered again until all scanning tasks are completed. The antenna angle corresponding to the minimum correlation value is recorded as the optimal angle.

[0025] Module M4: Converts the optimal angle to Cartesian coordinates and outputs the estimated terminal position.

[0026] Preferably, in module M1, the conformal antenna array is composed of multiple antenna plates arranged in different planes; the number of antenna plates arranged in different planes is greater than or equal to 2; the layout of the conformal antenna array includes: polyhedral layout, spherical layout, cylindrical layout and irregular curved surface layout.

[0027] Preferably, in module M3, the phase response data includes: a phase wavetable;

[0028] The signal correlation value at the current angle is calculated using the PDDA algorithm, based on the steering vector; the correlation value is the product of the steering vector and the pseudocode signal splitting result of the PDDA algorithm.

[0029] Preferably, in module M3, the mathematical expression of the guiding vector is:

[0030]

[0031] Where a(φ,θ) represents the steering vector, φ represents the incident azimuth angle, θ represents the incident elevation angle, k0 represents a constant, and s M is the physical location of the Mth element; j is the complex number representation of Euler's formula; e represents the exponential function.

[0032] According to the present invention, a computer-readable storage medium storing a computer program is provided, wherein when the computer program is executed by a processor, the steps of a Bluetooth AOA partition positioning method based on a heterogeneous conformal antenna are implemented.

[0033] An electronic device according to the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When executed by the processor, the computer program implements the steps of a Bluetooth AOA partition positioning method based on a heterogeneous conformal antenna.

[0034] Compared with the prior art, the present invention has the following beneficial effects:

[0035] 1. This invention uses planar antennas in multiple directions to form a non-planar conformal array, which significantly improves the antenna system's coverage capability for signal incident angles compared to traditional single-planar antenna arrays, breaks through the viewing angle limitation, and makes the positioning system applicable to a wider range of spatial scenarios, thus expanding the positioning coverage area.

[0036] 2. In the AOA positioning calculation, this invention selects only antenna boards in effective working condition within the current candidate angle range to participate in the PDDA algorithm, and shields antennas in back-facing or non-ideal working conditions, thereby effectively avoiding multipath interference and phase error, significantly improving positioning accuracy and stability. In other words, it improves positioning accuracy and robustness.

[0037] 3. This invention avoids introducing useless or interfering signals into correlation calculations through an effective working condition screening mechanism, reducing the risk of error propagation and amplification caused by poor data, and lowering the risk of algorithm error propagation. Furthermore, the number of partitions of the antenna array provided by this invention can be flexibly expanded to 2 or any number, which facilitates the deployment of the system under different accuracy requirements and installation conditions, and has good engineering adaptability. In other words, it has good scalability and adaptability.

[0038] 4. This invention only uses the currently valid partition for positioning calculation, reducing invalid data processing, improving the system's computing efficiency and response speed, making it suitable for resource-constrained device deployment and optimizing computing resources; furthermore, this invention can be directly integrated with existing PDDA algorithms and Bluetooth AOA positioning frameworks without modifying the underlying protocol or Bluetooth standard, facilitating rapid industrialization. Attached Figure Description

[0039] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0040] Figure 1 This is a flowchart provided for the present invention;

[0041] Figure 2 This is a schematic diagram of the PDDA principle provided by the present invention;

[0042] Figure 3 This is a schematic diagram of the coordinate system and symbol system feedback of the AOA base station provided by the present invention;

[0043] Figure 4 A schematic diagram of the guiding vector provided by the present invention. Detailed Implementation

[0044] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0045] This invention constructs multiple planar antenna plates arranged in different directions to form a non-planar conformal antenna array. Each antenna plate can independently participate in AOA measurement. The following technical means are used in the positioning process:

[0046] 1. Antenna Array Partition Modeling: Divide the non-plane antenna array into multiple sub-arrays according to the antenna board, which are called antenna partitions. Each partition is an independently operable AOA measurement unit.

[0047] 2. Operating Condition Judgment Mechanism: During PDDA algorithm calculation, the system determines whether each antenna section is in an effective operating condition based on the current candidate incident angle, i.e., the incident direction is within the effective angle measurement range of the antenna in that section. If a section is in a reverse or obstructed direction, the measurement data of that antenna section will be masked and will not be included in the calculation.

[0048] 3. Correlation calculation optimization: Correlation calculation is only performed on antenna partitions that are in effective operating conditions, thereby avoiding multipath errors or phase interference introduced by invalid antenna data.

[0049] 4. Scalable design: The number of antenna partitions is unlimited, from 2 to any number, all of which are within the protection scope of this invention and are applicable to AOA positioning scenarios with different coverage requirements.

[0050] 5. Dynamic switching strategy: The system can dynamically adjust the activation state of each antenna board based on real-time estimation results to achieve adaptive optimization of perception.

[0051] A Bluetooth AOA (Optical Area Address) partitioning positioning method based on a non-conformal conformal antenna, provided by the present invention, includes:

[0052] Step S1: Construct a conformal antenna array;

[0053] Step S2: Set the scanning angle and confirm the effective working condition zones according to the scanning task;

[0054] Step S3: Calculate the angle between the signal incident direction in each effective working condition partition and the normal vector of each antenna plate of the conformal antenna array. Allow the antenna plate with the angle less than a preset threshold to collect signal data. Based on the signal data, extract the phase response data of the effective working condition partition, and then calculate the signal correlation value at the current angle. Repeat step S2 until all scanning tasks are completed. Record the antenna angle corresponding to the minimum correlation value as the optimal angle.

[0055] Step S4: Convert the optimal angle to the Cartesian coordinate system and output the terminal position estimate.

[0056] Specifically, in step S1, the conformal antenna array is composed of multiple antenna plates arranged in opposite directions; the number of antenna plates arranged in opposite directions is greater than or equal to 2.

[0057] Each of the aforementioned antenna boards is considered an independent partition;

[0058] The conformal antenna array layout includes: polyhedral layout, spherical layout, cylindrical layout, and irregular curved surface layout.

[0059] Specifically, in step S2, the target scanning task includes an elevation angle scanning task and an azimuth angle scanning task;

[0060] To perform the elevation angle scanning task, fix the current azimuth angle of the conformal antenna array and iterate through all elevation angles until the task ends.

[0061] The azimuth scanning task is executed by causing the conformal antenna array to perform an elevation scanning task at the current azimuth angle; after the elevation scanning task is completed, the conformal antenna array is moved to the next azimuth angle position and the elevation scanning task is executed again, and so on, traversing all azimuth angles in sequence until the task is completed.

[0062] Specifically, in step S2, the effective operating condition partitioning is obtained as follows:

[0063] Assuming the base station is the center and the azimuth angle is divided into 360 angle divisions, during the scanning process from 0 to 360 degrees, taking six zones as an example, each zone is 60 degrees. Assuming the zone numbers are 1 to 6 in sequence, when the candidate angle is 142 degrees, one is randomly selected. Then 142 degrees belongs to the 3rd zone. Then all antenna elements in the 2nd, 3rd and 4th zones are selected for matching calculation to calculate the correlation value.

[0064] Specifically, in step S3, the phase response data includes a phase wave table.

[0065] The signal correlation value at the current angle is calculated using the PDDA algorithm, such as... Figure 2As shown in the figure; M represents the total number of antenna arrays; m x φ1 represents the signal received by the x-th antenna in the array; x represents the antenna number; φ1 represents the direction of the incident signal to be estimated, i.e., the angle; φ represents the elevation angle.

[0066] The solution for a one-dimensional linear array is as follows: Define r m s(t) represents the signal received by the m-th element, where t represents the time in the time domain and is obtained by discretization of the digital signal. s(t) is defined as the incident signal from the signal source. m (t) is defined as additive white Gaussian noise. The relationship between the transmitted signals and the received signal of the m-th antenna element is defined as follows:

[0067] r m (t)=a m s(t-τ m )+n m (t) (2.1)

[0068] Where, τ m It is the propagation delay between the transmitter and the m-th antenna element, a m This is the complex amplitude of the signal received by the m-th antenna element. The distance between the antennas is d. x Because of the propagation delay difference between antenna elements, a phase shift occurs. The arrival time difference between the two antennas can be calculated using the relationships between space, time, and velocity.

[0069] τ2-τ1=(d x / c0)cosφ) (2.2)

[0070] Where τ2 is the propagation delay between the transmitter and the second antenna element; τ1 is the propagation delay between the transmitter and the first antenna element; c0 represents the speed of light in vacuum, c0 = 3 × 10^8 m / s; φ represents the angle of incidence; d x Indicates the antenna spacing;

[0071] Therefore, the expression for the signal received by the second antenna element is as follows:

[0072]

[0073] Where r2(t) represents the signal received by the second antenna element, a2 represents the complex amplitude of the signal received by the second antenna element, λ0 represents the wavelength of the signal source, and n2(t) represents the additive white Gaussian noise of the second antenna element.

[0074] Substituting the delay equation given in (2.3) into the general equation (2.2) yields the received signal expressions for the remaining elements. Connecting all the received signal equations for each element, the present invention obtains the following general expression:

[0075] r(t)=a(φ)s(t)+n(t) (2.4)

[0076] Where r(t) is an M*K vector, s(t) is a 1*K vector, and n(t) is an M*K vector.

[0077] a(φ) is an M*1 dimensional steering vector, which yields the classic Vandermonde structure representation.

[0078]

[0079] Where k0 represents a constant; j represents the complex representation of Euler's formula; M represents the number of antenna elements forming the array; and K represents an M*K dimension vector.

[0080] According to (2.6), the present invention defines the guiding vector in a general form.

[0081] In this form, the invention considers solutions on two planes, therefore the guiding vector expression is as follows:

[0082]

[0083] Here, s M It is the physical position of the Mth element calculated based on rectangular coordinates (2.1).

[0084] like Figure 4 As shown, φ represents the incident azimuth angle, and θ represents the incident elevation angle. The two together form a complete three-dimensional polar coordinate system; both are components of one dimension of the incident angle and together describe the incident direction. Therefore, a(φ,θ) can cover all spatial angles.

[0085] Specifically, the core purpose of solving for the steering vector is to establish the mathematical relationship between the signal arrival direction, or Angle of Arrival (AOA), and the signal received by the antenna array.

[0086] In the PDDA (Phase-Difference Direction Algorithm) method used in this invention, the steering vector serves as the basis of the array response model and can reflect the relative phase change of each antenna element due to the difference in geometric position under different assumed angles.

[0087] PDDA is essentially a correlation calculation based on the basic steering vector in ULA. PDDA is a low-complexity method. Its main difference from MUSIC and SSS is that it does not require calculating the correlation matrix of the received signal or performing eigenvalue decomposition. This significantly reduces the computational cost.

[0088] PDDA, short for Phase-Difference Direction Algorithm, is a direction estimation algorithm based on phase difference. It is a commonly used algorithm for estimating the angle of incidence (AOA) of signals in antenna arrays. Its basic idea is as follows:

[0089] 1. Signal Reception Modeling: An array of M antenna elements is used to receive narrowband signals from a distant transmitter. The distance between the transmitter and the antennas is greater than or equal to the antenna spacing dx. Because the transmitted signal travels at different distances to each antenna element, this manifests as a phase difference in the received signal in the frequency domain.

[0090] 2. Steering Vector Construction: Based on the antenna geometry and the assumed signal incident angle φ, a corresponding steering vector is constructed for each assumed angle:

[0091] 3. Correlation Calculation: The received antenna signals are used to construct a receive vector, and the most likely angle is estimated by calculating the coherence index between the received antenna signals and the steering vector, such as normalized cross-correlation.

[0092] The biggest improvement of this invention is that the global PDDA algorithm is changed to a partitioned PDDA algorithm, which shields the influence of signals in the antenna group under adverse conditions. In actual measurements, the signals of the antenna group under these adverse conditions are often an adverse effect.

[0093] Specifically, the Pdda process is in the pseudocode. After obtaining the steering vector mentioned above, there is a steering vector a(φ,θ) corresponding to each position. Then, the signal of each frame source is split into h / H according to the pseudocode, and p can be obtained. e in the pseudocode is the augmentation of the splitting result p. The value obtained by multiplying the splitting result p and the steering vector a(φ,θ) is the correlation value. There is no related mathematical formula. The rest are all digital sampling things, which are calculated in the pseudocode.

[0094] The pseudocode for PDDA is as follows:

[0095]

[0096] In other words, the Bluetooth AOA (Optical Area Address) partitioning positioning method based on a non-conformal conformal antenna provided by the present invention includes:

[0097] Step 1: System initialization. Construct a conformal antenna array consisting of two or more planar antenna panels arranged in different planes, such as spherical, cylindrical, or irregular curved surface layouts. Each antenna panel is considered an independent partition.

[0098] Step 2: Set the initial scanning angle, that is, select the initial azimuth angle φ0 and elevation angle θ0 as the starting point for AOA calculation.

[0099] A Cartesian coordinate system and a corresponding spherical coordinate system are established with the AOA base station as the center, where the incident elevation angle is φ, the incident azimuth angle is θ, and r is the distance from the coordinate point to the origin.

[0100] Step 3: Dynamically filter effective antenna partitions

[0101] Based on the current candidate angle (φ) i ,θ j Determine the effective operating condition zone: Calculate the angle between the signal incident direction and the normal vector of each antenna plate.

[0102] Only antenna panels facing the signal with an angle less than a threshold, such as 90°, are included in the calculation. Antenna panels facing away from the signal are shielded to avoid multipath interference.

[0103] Step 4: Phase difference correlation calculation

[0104] For the selected valid partitions, extract the phase wave table of their antenna elements, as well as the preset or measured phase response data.

[0105] Based on the PDDA algorithm, namely the Phase Difference of Arrival algorithm, the current angle (φ) is calculated. i ,θ j The signal correlation value C(φ) under ) i ,θ j ).

[0106] Step 5: Angle Scan and Minimum Search

[0107] Pitch angle θ scan, i.e., fixing the current φ i traversing the pitch angle θ j →θ j+1 Repeat steps 3 to 4.

[0108] Azimuth angle φ scan, that is, after completing the θ scan of the current φ, switching to φ. i →φ i+1 Repeat the pitch angle scan.

[0109] Record the perspective of minimum correlation:

[0110] Compare the correlation values ​​of all angles, and denote the angle corresponding to the minimum correlation value as (φ). min ,θmin ).

[0111] Step 6: AOA positioning output

[0112] The optimal angle (φ) min ,θ min The coordinates are converted to Cartesian coordinates (x, y, z) and used as the estimated terminal position.

[0113] Step 7: Real-time frame update

[0114] Repeat steps 2 to 6 for the next Bluetooth signal frame to achieve dynamic continuous positioning.

[0115] The present invention also provides a Bluetooth AOA partition positioning system based on a non-surface conformal antenna. The Bluetooth AOA partition positioning system based on a non-surface conformal antenna can be implemented by executing the process steps of the Bluetooth AOA partition positioning method based on a non-surface conformal antenna. That is, those skilled in the art can understand the Bluetooth AOA partition positioning method based on a non-surface conformal antenna as a preferred embodiment of the Bluetooth AOA partition positioning system based on a non-surface conformal antenna.

[0116] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0117] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A Bluetooth AOA (Optical Area Address) partitioning positioning method based on a non-conformal conformal antenna, characterized in that, include: Step S1: Construct a conformal antenna array; Step S2: Set the scanning angle and confirm the effective working condition zones according to the scanning task; Step S3: Calculate the angle between the signal incident direction and the normal vector of each antenna plate in the conformal antenna array within each effective working condition partition. Allow the antenna plates with angles less than a preset threshold to collect signal data. Based on the signal data, extract the phase response data of the effective working condition partition, and then calculate the signal correlation value at the current angle. Repeat step S2 until all scanning tasks are completed. Record the antenna angle corresponding to the minimum correlation value as the optimal angle. Step S4: Convert the optimal angle to the Cartesian coordinate system and output the estimated terminal position; In step S1, the conformal antenna array is composed of multiple antenna plates arranged in opposite directions; the number of antenna plates arranged in opposite directions is greater than or equal to 2. The conformal antenna array layout includes: polyhedral layout, spherical layout, cylindrical layout and irregular curved surface layout; In step S2, with the base station as the center, the directional angle is divided into 360 angular divisions. During the scanning process from 0 to 360, it is divided into N effective working condition partitions; N is a positive integer. In step S3, the phase response data includes: a phase wave table; The signal correlation value at the current angle is calculated using the PDDA algorithm, based on the steering vector; the correlation value is the product of the steering vector and the pseudocode signal splitting result of the PDDA algorithm. In step S3, the mathematical expression for the guiding vector is: in, Represents the steering vector. Indicates the incident azimuth angle. Indicates the incident elevation angle. Represents a constant. It is the physical location of the Mth element; is the complex number representation symbol for Euler's formula; This represents an exponential function.

2. A Bluetooth AOA (Optical Area Address) regional positioning system based on a non-conformal antenna, characterized in that, include: Module M1: Constructs a conformal antenna array; Module M2: Sets the scanning angle and confirms the effective working condition zones according to the scanning task; Module M3: Calculates the angle between the signal incident direction and the normal vector of each antenna plate in the conformal antenna array within each effective operating condition partition. Antenna plates with angles less than a preset threshold are allowed to collect signal data. Based on the signal data, the phase response data of the effective operating condition partition is extracted, and the signal correlation value at the current angle is calculated. Module M2 is then triggered again until all scanning tasks are completed. The antenna angle corresponding to the minimum correlation value is recorded as the optimal angle. Module M4: Transforms the optimal angle to the Cartesian coordinate system and outputs the estimated terminal position. In module M1, the conformal antenna array is composed of multiple antenna plates arranged in opposite directions; the number of antenna plates arranged in opposite directions is greater than or equal to 2. The conformal antenna array layout includes: polyhedral layout, spherical layout, cylindrical layout and irregular curved surface layout; In module M3, the phase response data includes: a phase wavetable; The signal correlation value at the current angle is calculated using the PDDA algorithm, based on the steering vector; the correlation value is the product of the steering vector and the pseudocode signal splitting result of the PDDA algorithm. In module M3, the mathematical expression for the guiding vector is: in, Represents the steering vector. Indicates the incident azimuth angle. Indicates the incident elevation angle. Represents a constant. It is the physical location of the Mth element; is the complex number representation symbol for Euler's formula; This represents an exponential function.

3. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the Bluetooth AOA partition positioning method based on heterogeneous conformal antenna as described in claim 1.

4. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is executed by the processor, it implements the steps of the Bluetooth AOA partition positioning method based on heterogeneous conformal antenna as described in claim 1.

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