An angle measurement method based on signal frames and related devices

Abstract

Embodiments of the present application provide a signal frame-based angle measurement method and related equipment, which are used to realize angle measurement calculation of an antenna system through a frame signal frame. The method of the embodiments of the present application comprises: when a first receiving antenna is started, obtaining a signal estimation parameter in a target signal frame emitted by a transmitting antenna through a first signal receiving channel of the first receiving antenna; starting a second receiving antenna, and adjusting a signal synchronization state of a second signal receiving channel of the second receiving antenna according to the signal estimation parameter, so that the first signal receiving channel and the second signal receiving channel complete signal synchronization of the target signal frame; receiving pulse channel information in the target signal frame through the first signal receiving channel and the second signal receiving channel respectively; the pulse channel information comprises first pulse channel information and second pulse channel information; calculating the first pulse channel information obtained by the first receiving antenna and the second pulse channel information obtained by the second receiving antenna, to obtain an angle of arrival of a multi-antenna system.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to an angle measurement method and related equipment based on signal frames. Background Technology

[0002] Ultra-wideband (UWB) angle measurement is typically achieved using the angle of arrival (AoA). The receiver (RX) is equipped with multiple antennas (usually 2-4 antennas) forming an antenna array, which synchronously receives the UWB signal from the transmitter (TX). The angle of incidence is calculated by receiving the phase difference of arrival (PDoA) or time difference of arrival (TDoA) of the same UWB signal from multiple antennas.

[0003] However, traditional multi-antenna AoA angle measurement has certain limitations. For example, the traditional two-frame angle measurement method requires high power consumption, and the additional frame consumes even more power. Moreover, the two-frame scheme usually relies on multiple frames for synchronization and angle measurement, which increases the system response time and latency, making it susceptible to channel variations and resulting in inaccurate results. Summary of the Invention

[0004] This application provides an angle measurement method and related equipment based on signal frames, which is used to realize the angle measurement calculation of an antenna system through a single signal frame.

[0005] The first aspect of this application provides an angle measurement method based on signal frames, applied to a multi-antenna system, wherein the multi-antenna system includes at least a first receiving antenna, a second receiving antenna, and a transmitting antenna, and the method includes:

[0006] When the first receiving antenna is activated, signal estimation parameters in the target signal frame transmitted by the transmitting antenna are obtained through the first signal receiving channel of the first receiving antenna; the signal estimation parameters are used to adjust the signal synchronization state of the first signal receiving channel in receiving the target signal frame.

[0007] The second receiving antenna is activated, and the signal synchronization state of the second signal receiving channel of the second receiving antenna is adjusted according to the signal estimation parameters so that the first signal receiving channel and the second signal receiving channel can complete the signal synchronization of the target signal frame.

[0008] The pulse channel information in the target signal frame is received through the first signal receiving channel and the second signal receiving channel, respectively; the pulse channel information includes first pulse channel information and second pulse channel information.

[0009] The angle of arrival of the multi-antenna system is obtained by calculating the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna.

[0010] Optionally, if the signal detection estimation parameters include one or more of the following: radio frequency gain parameters, preamble detection parameters, or clock frequency offset parameters, after obtaining the signal detection estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna, the method further includes:

[0011] The receiving gain of the first signal receiving channel is adjusted according to the radio frequency gain parameter so that the target signal frame received by the first signal receiving channel is at the target signal strength.

[0012] Alternatively, the synchronization field of the target signal frame can be identified based on the preamble detection parameters to detect the preamble of the target signal frame and determine that the target signal frame has arrived at the first receiving antenna;

[0013] Alternatively, the clock offset of the first signal receiving channel can be determined based on the clock frequency offset parameter to ensure the accuracy of the pulse channel information in the pulse calculation parameter of the target signal frame.

[0014] Optionally, the step of calculating the first pulse calculation parameter pulse channel information obtained by the first receiving antenna and the second pulse calculation parameter pulse channel information obtained by the second receiving antenna to obtain the angle of arrival of the multi-antenna system includes:

[0015] Obtain the pulse phase value or arrival time value of the first pulse calculation parameter pulse channel information, and the pulse phase value and / or arrival time value of the second pulse calculation parameter pulse channel information;

[0016] The pulse phase value or time of arrival value of the first pulse calculation parameter pulse channel information and the pulse phase value or time of arrival value of the second pulse calculation parameter pulse channel information are calculated to obtain the angle of arrival of the multi-antenna system.

[0017] Optionally, calculating the pulse phase value or time of arrival value of the first pulse channel information and the pulse phase value or time of arrival value of the second pulse channel information to obtain the angle of arrival of the multi-antenna system includes:

[0018] Calculate the arrival time value of the first pulse channel information and the arrival time value of the second pulse channel information to obtain the arrival time difference; input the arrival time difference into the delay calculation formula of the first receiving antenna and the second receiving antenna to obtain the arrival angle; wherein, the delay calculation formula is: ; wherein, the The arrival time difference, the The distance between the first receiving antenna and the second receiving antenna is... For the angle of arrival, the The propagation speed of the target signal frame in the medium;

[0019] Alternatively, calculate the pulse phase value of the first pulse channel information and the pulse phase value of the second pulse channel information to obtain the pulse phase difference; input the pulse phase difference into the phase calculation formula of the first receiving antenna and the second receiving antenna to obtain the angle of arrival; wherein, the phase calculation formula is: ; wherein, the The pulse phase difference value, the The distance between the first receiving antenna and the second receiving antenna is... For the angle of arrival, the The wavelength of the target signal frame.

[0020] Optionally, before activating the second receiving antenna, the method further includes:

[0021] Lock the signal detection and estimation parameters;

[0022] The signal detection and estimation parameters are transmitted to the second receiving antenna, and a start command for the second receiving antenna is triggered; wherein, the start command for the second receiving antenna is used to start the second receiving antenna to enter the sampling phase.

[0023] Optionally, before obtaining the signal detection and estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna, the method further includes:

[0024] Control the first receiving antenna to trigger a listening mode, so that when the first receiving antenna listens to the target signal frame, it performs the step of obtaining the signal detection and estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna.

[0025] Optionally,

[0026] If the second receiving antenna includes the third receiving sub-antenna, the third receiving sub-antenna is used by the multi-antenna system to perform planar 2D angle measurement of the angle of arrival based on the first receiving antenna and the third receiving sub-antenna;

[0027] Alternatively, if the second receiving antenna includes the third receiving sub-antenna and the fourth receiving sub-antenna, the third receiving sub-antenna and the fourth receiving sub-antenna are used by the multi-antenna system to perform stereo 3D angle measurement of the angle of arrival based on the first receiving antenna, the third receiving sub-antenna and the fourth receiving sub-antenna; the first receiving antenna, the third receiving sub-antenna and the fourth receiving sub-antenna are not located on the same horizontal line.

[0028] A second aspect of this application provides an angle measurement system based on a signal frame, applied to a multi-antenna system. The multi-antenna system includes at least a first receiving antenna, a second receiving antenna, and a transmitting antenna. The angle measurement system includes:

[0029] The acquisition unit is configured to acquire signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna when the first receiving antenna is activated; the signal estimation parameters are used to adjust the signal synchronization state of the first signal receiving channel in receiving the target signal frame.

[0030] An adjustment unit is used to activate the second receiving antenna and adjust the signal synchronization state of the second signal receiving channel of the second receiving antenna according to the signal estimation parameters, so that the first signal receiving channel and the second signal receiving channel can complete the signal synchronization of the target signal frame.

[0031] The receiving unit is configured to receive pulse channel information in the target signal frame through the first signal receiving channel and the second signal receiving channel, respectively; the pulse channel information includes first pulse channel information and second pulse channel information.

[0032] The calculation unit is used to calculate the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna to obtain the angle of arrival of the multi-antenna system.

[0033] The signal frame-based angle measurement system provided in the second aspect of this application is used to execute the signal frame-based angle measurement method described in the first aspect.

[0034] A third aspect of this application provides an angle measurement device based on a signal frame, comprising:

[0035] Central processing unit, memory, input / output interfaces, wired or wireless network interfaces, and power supply;

[0036] The memory is either a short-term storage memory or a persistent storage memory;

[0037] The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the angle measurement method based on signal frames as described in the first aspect.

[0038] A fourth aspect of this application provides a computer-readable storage medium including instructions that, when executed on a computer, cause the computer to perform the angle measurement method based on signal frames described in the first aspect.

[0039] A fifth aspect of this application provides a computer program product including instructions that, when executed on a computer, cause the computer to perform the angle measurement method based on signal frames described in the first aspect.

[0040] As can be seen from the above technical solutions, the embodiments of this application have the following advantages: The angle measurement method based on signal frames disclosed in this application completes the angle measurement process of the antenna system using a single signal frame, thus improving real-time performance. Simultaneously, by employing a single-channel processing mechanism and multiplexing signal estimation parameters under other antenna channels, redundant calibration is avoided, computational resource consumption is reduced, and the accuracy of pulse channel information is ensured. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings.

[0042] Figure 1 This is a schematic diagram of the architecture of a multi-antenna system disclosed in an embodiment of this application;

[0043] Figure 2 This is a schematic diagram of the structure of a data packet disclosed in an embodiment of this application;

[0044] Figure 3 This is a schematic flowchart of an angle measurement method based on a signal frame disclosed in an embodiment of this application;

[0045] Figure 4 This is a schematic flowchart of another angle measurement method based on signal frames disclosed in an embodiment of this application;

[0046] Figure 5 This is a schematic flowchart of another angle measurement method based on signal frames disclosed in an embodiment of this application;

[0047] Figure 6 This is a power consumption diagram of a multi-antenna system disclosed in an embodiment of this application;

[0048] Figure 7 This is a schematic diagram of the structure of an angle measurement system based on a signal frame disclosed in an embodiment of this application;

[0049] Figure 8 This is a schematic diagram of the structure of an angle measuring device based on a signal frame disclosed in an embodiment of this application. Detailed Implementation

[0050] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a particular order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0051] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed in this application.

[0052] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0053] To address the drawbacks of high power consumption and high latency caused by multi-frame angle measurement in traditional multi-antenna AoA angle measurement schemes, this application discloses an angle measurement method based on signal frames. Please refer to the following for details. Figure 1 , Figure 1This is a schematic diagram of the architecture of a multi-antenna system disclosed in an embodiment of this application. The multi-antenna system includes a transmitting antenna TX and a receiving antenna RX. The receiving antennas include at least a first receiving antenna and a second receiving antenna. In some embodiments, the second receiving antenna may further include a third receiving sub-antenna and / or a fourth receiving sub-antenna, which will be described in detail below. In this embodiment, since the third and fourth receiving sub-antennas have similar functions, they are directly described as the second receiving antenna. Furthermore, in this embodiment, they are named the first receiving antenna RX0, the second receiving antenna RX1, the third receiving sub-antenna RX11, and the fourth receiving sub-antenna RX12.

[0054] In some embodiments, if the second receiving antenna RX1 includes a third receiving sub-antenna RX11, the multi-antenna system can perform planar 2D angle measurement of the angle of arrival based on the first receiving antenna RX0 and the third receiving sub-antenna RX11 (i.e., Figure 1 As shown, it can be Figure 1 The receiving antenna RX below is considered to be the first receiving antenna RX0 and the third receiving sub-antenna RX11. Alternatively, if the second receiving antenna RX1 includes the third receiving sub-antenna RX11 and the fourth receiving sub-antenna RX12, then the multi-antenna system can perform stereo 3D angle measurement of the angle of arrival based on the first receiving antenna RX0, the third receiving sub-antenna RX11, and the fourth receiving sub-antenna RX12, wherein the first receiving antenna RX0, the third receiving sub-antenna RX11, and the fourth receiving sub-antenna RX12 are not located on the same horizontal line.

[0055] To further understand the structure of the data packets transmitted by the transmitting antenna TX, please refer to [reference needed]. Figure 2 , Figure 2 This is a schematic diagram of the structure of a data packet disclosed in an embodiment of this application. The data packet consists of a SYNC (Synchronization) frame, a SFD (Start Frame Delimiter), a PHR (PHY Header), and a payload. The SYNC frame is a synchronization frame, typically 64 symbols in length. Since this embodiment primarily uses the SYNC portion of the synchronization frame, the subsequent SFD, PHR, and payload are not described in detail.

[0056] Please see Figure 3 , Figure 3 This is a flowchart illustrating an angle measurement method based on a signal frame disclosed in an embodiment of this application. It includes steps 301-304.

[0057] 301. When the first receiving antenna is activated, the signal estimation parameters in the target signal frame transmitted by the transmitting antenna are obtained through the first signal receiving channel of the first receiving antenna.

[0058] In this embodiment, the multi-antenna system can activate only one receiving antenna for signal prediction. In one specific embodiment, the multi-antenna system can activate the first receiving antenna RX0, thereby controlling the first receiving antenna to trigger a listening mode and enter a listening state. Then, the target signal frame (i.e., the aforementioned synchronization frame) transmitted by the transmitting antenna TX is obtained through the first signal receiving channel of the first receiving antenna. After detecting the target signal frame, the signal estimation parameters used for prediction in the target signal frame are obtained. These signal estimation parameters are used to adjust the signal synchronization state of the first signal receiving channel when receiving the target signal frame.

[0059] In some embodiments, the target signal frame has a length of 64 symbols, of which 20 symbols are used for pre-estimation. Further, the signal estimation parameters may include one or more of the following: an automatic gain control (AGC), a preamble detection (PD), or a crystal frequency offset (CFO). In this embodiment, AGC is an automatic gain control, and this application primarily describes the radio frequency gain. The AGC gain parameter dynamically adjusts the receive gain to adapt to different signal strengths, preventing signal over-saturation or weakness, thereby ensuring that the target signal frame received by the first signal receiving channel is at the target signal strength. This involves adjusting the front-end gain of the receiving antenna to ensure that the signal amplitude of the subsequent analog-to-digital converter (ADC) signal is within the optimal range. The preamble detection parameter identifies the synchronization field of the target signal frame, thereby detecting the preamble of the target signal frame and determining that the target signal frame has arrived at the first receiving antenna. Specifically, it mainly identifies the synchronization field of the UWB frame, detects the preamble, and confirms the arrival of a valid signal. The clock frequency offset parameter primarily determines the clock offset of the first signal receiving channel, thereby ensuring the accuracy of the pulse channel information in the target signal frame. This clock frequency offset parameter can also be understood as a clock frequency deviation, which estimates the clock frequency offset in the current channel, ensuring the accuracy of subsequent field sampling; that is, estimating and compensating for the clock frequency offset to avoid subsequent symbol timing and phase errors.

[0060] Specifically, the above operation is the signal capture phase of phase one. After phase one is completed, the following can be executed: Figure 5 The specific implementation details shown are not elaborated here.

[0061] 302. Start the second receiving antenna and adjust the signal synchronization state of the second signal receiving channel of the second receiving antenna according to the signal estimation parameters so that the first signal receiving channel and the second signal receiving channel can complete the signal synchronization of the target signal frame.

[0062] After the first receiving antenna completes signal acquisition, the multi-antenna system synchronously starts the second receiving antenna and enters the corresponding acquisition process for the channel. In some embodiments, the multi-antenna system adjusts the receiving gain and clock offset of the second signal receiving channel of the second receiving antenna according to the RF gain parameter and clock frequency offset parameter in the signal estimation parameters, thereby ensuring that the channel parameters of the first signal receiving channel can be reused in the second signal receiving channel, and thus ensuring that the first signal receiving channel and the second signal receiving channel achieve signal synchronization when receiving the target signal frame.

[0063] 303. Receive pulse channel information from the target signal frame through the first signal receiving channel and the second signal receiving channel, respectively.

[0064] In some embodiments, after the multi-antenna system activates the first and second receiving antennas, it can receive pulse channel information from the target signal frame through the first and second signal receiving channels, respectively. The pulse channel information includes first pulse channel information and second pulse channel information.

[0065] In one specific embodiment, during the acquisition process of the incoming channel, the first signal receiving channel and the second signal receiving channel can simultaneously receive the subsequent 44 symbols in the target signal frame (i.e., the channel information located in the subsequent 44 symbols in the 64-symbol signal frame described above).

[0066] It should be noted that when the first and second signal receiving channels continue to receive the signal frame, they will acquire the accumulated data of the corresponding Channel Impulse Response (CIR). For easier understanding, please refer to [link to relevant documentation]. Figure 6 , Figure 6 This is a power consumption diagram of a multi-antenna system disclosed in an embodiment of this application. (Combined with...) Figure 1 and Figure 6As shown, the second signal receiving channel reuses the AGC and CFO parameters obtained from the first signal receiving channel. However, the CIR data acquired by the first and second receiving antennas are not necessarily the same because the actual positions of the first and second receiving antennas are not the same. Furthermore, it is known that when the first receiving antenna is activated, only the hunting phase is entered, that is, only the signal estimation parameters of the first 20 symbols in the target signal frame are captured. When the first receiving antenna RX0 and the second receiving antenna RX1 (or another third receiving antenna RX2, not described above) are activated, the channel response accumulation phase (CIR Accumulation Phase) is entered, that is, the channel information of the last 44 symbols in the target signal frame is acquired, namely the first pulse channel information and the second pulse channel information. Combined with... Figure 6 As shown, the shaded area represents the power consumption of the multi-antenna system over time. Furthermore, it can be derived from... Figure 6 The shaded area shown indicates that the more receiving antennas activated, the higher the power consumption. Therefore, by activating only the first receiving antenna RX0 during the signal acquisition phase of Phase 1, the overall power consumption can be effectively reduced.

[0067] 304. Calculate the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna to obtain the angle of arrival of the multi-antenna system.

[0068] Then, the angle of arrival (AoA) of the multi-antenna system can be obtained by calculating the channel information of the first pulse and the channel information of the second pulse at this time. In some embodiments, see [reference needed]. Figure 4 The illustrated embodiment.

[0069] This embodiment discloses a signal frame-based angle measurement method that uses a single signal frame to complete the angle measurement process of the antenna system, improving real-time performance. Simultaneously, by employing a single-channel processing mechanism and reusing signal estimation parameters under other antenna channels, redundant calibration is avoided, computational resource consumption is reduced, and the accuracy of pulse channel information is ensured. Furthermore, this embodiment concentrates signal acquisition, CFO, and AGC processing in a single receiving channel and reuses the results in subsequent multi-channel CIR accumulation. This single-frame angle estimation structure effectively reduces overall system power consumption, improves response speed, and enhances the accuracy of angle estimation, making it particularly suitable for low-power, time-constrained UWB positioning or pointing control scenarios. Moreover, by first enabling only RX0 for preamble signal acquisition and calculating AGC and CFO parameters, single-channel signal preprocessing is achieved. Reusing these results avoids redundant calibration and reduces computational resource consumption. Secondly, RX1 (or RX11, RX12) is synchronously enabled after CFO stabilization, and calibration parameters are reused, ensuring the accuracy of synchronous CIR accumulation. Furthermore, the entire angle measurement process is completed within a single frame of data, which improves real-time performance and further reduces the complexity of timing management.

[0070] Please see Figure 4 , Figure 4 This is a flowchart illustrating another angle measurement method based on a signal frame disclosed in an embodiment of this application. It includes steps 401-402.

[0071] 401. Obtain the pulse phase value or arrival time value of the first pulse channel information and the pulse phase value or arrival time value of the second pulse channel information.

[0072] In some embodiments, after acquiring the first pulse channel information and the second pulse channel information, the multi-antenna system can calculate the AoA angle by comparing the CIR phase difference or time difference of arrival received by different receiving antennas, and complete the angle measurement.

[0073] In one specific embodiment, since the first receiving antenna and the second receiving antenna are located in different spatiotemporal positions in the multi-antenna system, there is a phase difference or arrival time difference between the CIRs of different antennas. Therefore, it is necessary to obtain the phase and arrival time of different antennas, that is, to obtain the pulse phase value and arrival time value of the first pulse channel information of the first receiving antenna, and the pulse phase value and arrival time value of the second pulse channel information.

[0074] 402. Calculate the pulse phase value or arrival time value of the first pulse channel information and the pulse phase value or arrival time value of the second pulse channel information to obtain the angle of arrival of the multi-antenna system.

[0075] In some embodiments, the angle of arrival of a multi-antenna system can be obtained by calculating the pulse phase value and arrival time value of the first pulse channel information, and the pulse phase value and arrival time value of the second pulse channel information.

[0076] In some specific embodiments, the arrival time values ​​of the first pulse channel information and the second pulse channel information are calculated to obtain the arrival time difference. This arrival time difference is then input into the delay calculation formula for the first and second receiving antennas to obtain the angle of arrival; wherein the delay calculation formula is:

[0077] After equation transformation, we get .in, The time difference of arrival. The distance between the first receiving antenna and the second receiving antenna. For the angle of arrival, The propagation speed of the target signal frame in the medium.

[0078] Therefore, by combining the above calculation formula, the angle of arrival can be obtained.

[0079] In some embodiments, the pulse phase difference between the signals received by the two antennas can also be calculated to obtain the angle of arrival. Here, the phase difference between the signals received by the first receiving antenna and the second receiving antenna is set to... (Obtained by subtracting the pulse phase value of the first pulse channel information from the pulse phase value of the second pulse channel information), the wavelength of the signal is... The distance between the first receiving antenna and the second receiving antenna is Then reach the angle .

[0080] The angle measurement method based on signal frames disclosed in this embodiment calculates the angle of arrival (AoA) by using the accumulated CIR data received by different receiving antennas, based on the multiplexing of calibration parameters. This reduces computational resource overhead and improves the accuracy of AoA angle measurement.

[0081] Please see Figure 5 , Figure 5 This is a flowchart illustrating another angle measurement method based on a signal frame disclosed in an embodiment of this application. It includes steps 501-502.

[0082] 501. Lock signal estimation parameters.

[0083] In combination with the above Figure 3 In the embodiment shown, during the first stage, if the first receiving antenna completes the acquisition of the target signal frame, it will lock the signal estimation parameters and simultaneously start the second receiving antenna.

[0084] 502. Transmit the signal estimation parameters to the second receiving antenna and trigger the start command of the second receiving antenna.

[0085] In some embodiments, the multi-antenna system synchronously transmits signal estimation parameters to the second receiving antenna and synchronously triggers the start command of the second receiving antenna so that the second receiving antenna enters the sampling stage of the signal frame.

[0086] Furthermore, the second receiving antenna performs channel synchronization through signal estimation parameters, thereby achieving signal synchronization between the first and second receiving antennas for the target signal frame.

[0087] The angle measurement method based on signal frames disclosed in this embodiment avoids repeated calibration and reduces computational resource consumption by reusing the signal estimation parameters of a single channel. Furthermore, the second receiving antenna is only activated synchronously after the first receiving antenna completes signal acquisition and parameter locking, and the corresponding acquisition process for the channel is initiated, ensuring the accuracy of CIR synchronous accumulation.

[0088] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the steps or stages of other steps.

[0089] Please see Figure 7 , Figure 7 This is a schematic diagram of the structure of an angle measurement system based on a signal frame disclosed in an embodiment of this application.

[0090] The acquisition unit 701 is used to acquire signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna when the first receiving antenna is activated; the signal estimation parameters are used to adjust the signal synchronization state of the first signal receiving channel receiving the target signal frame.

[0091] The adjustment unit 702 is used to activate the second receiving antenna and adjust the signal synchronization state of the second signal receiving channel of the second receiving antenna according to the signal estimation parameters, so that the first signal receiving channel and the second signal receiving channel can complete the signal synchronization of the target signal frame.

[0092] The receiving unit 703 is configured to receive pulse channel information in the target signal frame through the first signal receiving channel and the second signal receiving channel, respectively; the pulse channel information includes first pulse channel information and second pulse channel information.

[0093] The calculation unit 704 is used to calculate the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna to obtain the angle of arrival of the multi-antenna system.

[0094] For example, if the signal estimation parameters include one or more of the following: radio frequency gain parameters, preamble detection parameters, or clock frequency offset parameters, the system further includes: a determination unit 705;

[0095] The receiving unit 703 is also used to adjust the receiving gain of the first signal receiving channel according to the radio frequency gain parameter so that the target signal frame received by the first signal receiving channel is at the target signal strength.

[0096] Alternatively, the determining unit 705 is used to identify the synchronization field of the target signal frame according to the preamble detection parameters, so as to detect the preamble of the target signal frame and determine that the target signal frame has arrived at the first receiving antenna;

[0097] Alternatively, the determining unit 705 is further configured to determine the clock offset of the first signal receiving channel based on the clock frequency offset parameter, so as to ensure the accuracy of the pulse channel information in the target signal frame.

[0098] For example, the system includes:

[0099] The acquisition unit 701 is specifically used to acquire the pulse phase value or arrival time value of the first pulse channel information and the pulse phase value or arrival time value of the second pulse channel information.

[0100] The calculation unit 704 is specifically used to calculate the pulse phase value or arrival time value of the first pulse channel information and the pulse phase value or arrival time value of the second pulse channel information to obtain the angle of arrival of the multi-antenna system.

[0101] For example, the system includes:

[0102] The calculation unit 704 is specifically used to calculate the arrival time values ​​of the first pulse channel information and the second pulse channel information to obtain the arrival time difference; the arrival time difference is input into the delay calculation formula of the first receiving antenna and the second receiving antenna to obtain the arrival angle; wherein, the delay calculation formula is: ;in, The time difference of arrival. The distance between the first receiving antenna and the second receiving antenna. For the angle of arrival, The propagation speed of the target signal frame in the medium;

[0103] Alternatively, the calculation unit 704 is further configured to calculate the pulse phase value of the first pulse channel information and the pulse phase value of the second pulse channel information to obtain the pulse phase difference; input the pulse phase difference into the phase calculation formula of the first receiving antenna and the second receiving antenna to obtain the angle of arrival; wherein, the phase calculation formula is: ;in, This is the pulse phase difference value. The distance between the first receiving antenna and the second receiving antenna. For the angle of arrival, The wavelength of the target signal frame.

[0104] For example, the system further includes: a locking unit 706 and a transmission unit 707;

[0105] Locking unit 706 is used to lock the signal estimation parameters;

[0106] The transmission unit 707 is used to transmit the signal estimation parameters to the second receiving antenna and trigger the start command of the second receiving antenna; wherein, the start command of the second receiving antenna is used to start the second receiving antenna to enter the sampling stage.

[0107] For example, the system also includes: a control unit 708;

[0108] The control unit 708 is used to control the first receiving antenna to trigger the listening mode, so that when the first receiving antenna listens to the target signal frame, it performs the step of obtaining the signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna.

[0109] For example,

[0110] If the second receiving antenna includes a third receiving sub-antenna, the third receiving sub-antenna is used for a multi-antenna system to perform planar 2D angle measurement of the angle of arrival based on the first receiving antenna and the third receiving sub-antenna;

[0111] Alternatively, if the second receiving antenna includes a third receiving sub-antenna and a fourth receiving sub-antenna, the third receiving sub-antenna and the fourth receiving sub-antenna are used by a multi-antenna system to perform stereo 3D angle measurement of the angle of arrival based on the first receiving antenna, the third receiving sub-antenna and the fourth receiving sub-antenna; the first receiving antenna, the third receiving sub-antenna and the fourth receiving sub-antenna are not located on the same horizontal line.

[0112] Please refer to the following: Figure 8 The schematic diagram of a signal frame-based angle measuring device disclosed in this application includes:

[0113] Central processing unit 801, memory 805, input / output interface 804, wired or wireless network interface 803, and power supply 802;

[0114] Memory 805 is either a short-term storage memory or a persistent storage memory;

[0115] The central processing unit 801 is configured to communicate with the memory 805 and execute instructions stored in the memory 805 to perform the aforementioned operations. Figure 5 The angle measurement method based on signal frames in the illustrated embodiment.

[0116] This application also provides a chip system, which includes at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to perform the aforementioned... Figures 3 to 5 An angle measurement method based on signal frames in any of the illustrated embodiments.

[0117] This application also provides a computer-readable storage medium, which includes instructions that, when executed on a computer, cause the computer to perform the aforementioned actions. Figures 3 to 5 An angle measurement method based on signal frames in any of the illustrated embodiments.

[0118] This application also provides a computer program product containing instructions, which, when run on a computer, causes the computer to perform the aforementioned... Figures 3 to 5 An angle measurement method based on signal frames in any of the illustrated embodiments.

[0119] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0122] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0123] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

Claims

1. A signal frame based angle finding method, characterized in that, Applied to a multi-antenna system, wherein the multi-antenna system includes at least a first receiving antenna, a second receiving antenna, and a transmitting antenna, the method includes: When the first receiving antenna is activated, signal estimation parameters in the target signal frame transmitted by the transmitting antenna are obtained through the first signal receiving channel of the first receiving antenna; the signal estimation parameters are used to adjust the signal synchronization state of the first signal receiving channel in receiving the target signal frame. The second receiving antenna is activated, and the signal synchronization state of the second signal receiving channel of the second receiving antenna is adjusted according to the signal estimation parameters so that the first signal receiving channel and the second signal receiving channel can complete the signal synchronization of the target signal frame. The pulse channel information in the target signal frame is received through the first signal receiving channel and the second signal receiving channel, respectively; the pulse channel information includes first pulse channel information and second pulse channel information. The angle of arrival of the multi-antenna system is obtained by calculating the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna.

2. The signal frame based goniometry method of claim 1, wherein, If the signal estimation parameters include one or more of the following: radio frequency gain parameters, preamble detection parameters, or clock frequency offset parameters, after obtaining the signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna, the method further includes: The receiving gain of the first signal receiving channel is adjusted according to the radio frequency gain parameter so that the target signal frame received by the first signal receiving channel is at the target signal strength. Alternatively, the synchronization field of the target signal frame can be identified based on the preamble detection parameters to detect the preamble of the target signal frame and determine that the target signal frame has arrived at the first receiving antenna; Alternatively, the clock offset of the first signal receiving channel can be determined based on the clock frequency offset parameter to ensure the accuracy of the pulse channel information in the target signal frame.

3. The signal frame based goniometry method of claim 1, wherein, The step of calculating the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna to obtain the angle of arrival of the multi-antenna system includes: Obtain the pulse phase value or arrival time value of the first pulse channel information, and the pulse phase value or arrival time value of the second pulse channel information; The pulse phase value or time of arrival value of the first pulse channel information and the pulse phase value or time of arrival value of the second pulse channel information are calculated to obtain the angle of arrival of the multi-antenna system.

4. The signal frame based goniometry method of claim 3, wherein, The step of calculating the pulse phase value or time of arrival value of the first pulse channel information and the pulse phase value or time of arrival value of the second pulse channel information to obtain the angle of arrival of the multi-antenna system includes: calculating a time of arrival difference value by using a time of arrival value of the first pulse channel information and a time of arrival value of the second pulse channel information; inputting the time of arrival difference value into a time delay calculation formula of the first receiving antenna and the second receiving antenna to obtain the angle of arrival; wherein the time delay calculation formula is: ; wherein the is the time of arrival difference value, the is a distance between the first receiving antenna and the second receiving antenna, the is the angle of arrival, the is a propagation speed of the target signal frame in the medium; Alternatively, calculate the pulse phase value of the first pulse channel information and the pulse phase value of the second pulse channel information to obtain the pulse phase difference; input the pulse phase difference into the phase calculation formula of the first receiving antenna and the second receiving antenna to obtain the angle of arrival; wherein, the phase calculation formula is: ; wherein, the The pulse phase difference value, the The distance between the first receiving antenna and the second receiving antenna is... For the angle of arrival, the The wavelength of the target signal frame.

5. The angle measurement method based on signal frames according to claim 1, characterized in that, Before activating the second receiving antenna, the method further includes: Lock the signal estimation parameters; The signal estimation parameters are transmitted to the second receiving antenna, and a start command for the second receiving antenna is triggered; wherein, the start command for the second receiving antenna is used to start the second receiving antenna to enter the sampling phase.

6. The angle measurement method based on signal frames according to claim 1, characterized in that, Before obtaining the signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna, the method further includes: Control the first receiving antenna to trigger a listening mode, so that when the first receiving antenna listens to the target signal frame, it performs the step of obtaining the signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna.

7. The angle measurement method based on signal frames according to any one of claims 1 to 6, characterized in that, If the second receiving antenna includes a third receiving sub-antenna, the third receiving sub-antenna is used by the multi-antenna system to perform planar 2D angle measurement of the angle of arrival based on the first receiving antenna and the third receiving sub-antenna; Alternatively, if the second receiving antenna includes a third receiving sub-antenna and a fourth receiving sub-antenna, the third receiving sub-antenna and the fourth receiving sub-antenna are used by the multi-antenna system to perform stereo 3D angle measurement of the angle of arrival based on the first receiving antenna, the third receiving sub-antenna and the fourth receiving sub-antenna; The first receiving antenna, the third receiving sub-antenna, and the fourth receiving sub-antenna are not located on the same horizontal line.

8. An angle measurement system based on signal frames, characterized in that, The system is applied to a multi-antenna system, which includes at least a first receiving antenna, a second receiving antenna, and a transmitting antenna. The angle measurement system includes: The acquisition unit is configured to acquire signal estimation parameters in the target signal frame transmitted by the transmitting antenna through the first signal receiving channel of the first receiving antenna when the first receiving antenna is activated; the signal estimation parameters are used to adjust the signal synchronization state of the first signal receiving channel in receiving the target signal frame. An adjustment unit is used to activate the second receiving antenna and adjust the signal synchronization state of the second signal receiving channel of the second receiving antenna according to the signal estimation parameters, so that the first signal receiving channel and the second signal receiving channel can complete the signal synchronization of the target signal frame. The receiving unit is configured to receive pulse channel information in the target signal frame through the first signal receiving channel and the second signal receiving channel, respectively; the pulse channel information includes first pulse channel information and second pulse channel information. The calculation unit is used to calculate the first pulse channel information acquired by the first receiving antenna and the second pulse channel information acquired by the second receiving antenna to obtain the angle of arrival of the multi-antenna system.

9. An angle measuring device based on a signal frame, characterized in that, The device includes: Central processing unit, memory, input / output interfaces, wired or wireless network interfaces, and power supply; The memory is either a short-term storage memory or a persistent storage memory; The central processing unit is configured to communicate with the memory and execute instructions in the memory to perform the angle measurement method based on signal frames as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes instructions that, when executed on a computer, cause the computer to perform the angle measurement method based on a signal frame as described in any one of claims 1 to 7.

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