An ultrawideband goniometer, an ultrawideband goniometric method and an ultrawideband goniometric system

Abstract

The application provides an ultra-bandwidth goniometer, an ultra-bandwidth goniometer method and an ultra-bandwidth goniometer system. The ultra-bandwidth goniometer comprises a plurality of antennas, a switching switch and a controller. The plurality of antennas form a first antenna pair corresponding to a first goniometer mode and / or a second antenna pair corresponding to a second goniometer mode. Any antenna pair can support a plurality of different antenna spacings by selecting different feed points on each antenna in the antenna pair. The switching switch is electrically connected to all feed points on each antenna in any antenna pair and is used to select a feed point on each antenna in any antenna pair. The controller is connected to the switching switch and is used to control each antenna pair to work according to a specified antenna spacing at the beginning of measurement through the switching switch, receive a return signal of each antenna pair, and dynamically adjust the antenna spacing of the antenna pair during work according to the return signal of the antenna pair.

Description

Technical Field

[0001] This application relates to the field of positioning technology, and in particular to an ultra-wideband angle measuring device, an ultra-wideband angle measuring method, and an ultra-wideband angle measuring system. Background Technology

[0002] Ultra-wideband (UWB) angle measurement is a high-precision direction estimation method based on ultra-wideband signals. It receives the same pulse signal through an antenna array and analyzes the phase difference or time difference of arrival of the received signals to deduce the incident direction of the pulse signal. UWB angle measurement can estimate both horizontal and vertical angles and is widely used in indoor positioning, robot navigation, drone guidance, asset tracking, and behavior perception.

[0003] In recent years, as application scenarios have expanded to high dynamic, long-distance, and weak signal environments, how to further improve the angle measurement capability of ultra-wideband angle measuring devices has become a current research hotspot. Summary of the Invention

[0004] In view of this, this application provides an ultra-wideband angle measuring device, an ultra-wideband angle measuring method, and an ultra-wideband angle measuring system to improve the angle measuring capability of the ultra-wideband angle measuring device.

[0005] The first aspect of this application provides an ultra-wideband angle measuring device, which includes multiple antennas, a switching switch, and a controller;

[0006] The multiple antennas constitute a first antenna pair corresponding to the first angle measurement mode and / or a second antenna pair corresponding to the second angle measurement mode; any one of the first antenna pair and / or the second antenna pair can be connected by selecting different feed points on each antenna in the antenna pair to support a variety of different antenna spacings.

[0007] The switching switch is electrically connected to all feed points on each antenna in any antenna pair, and is used to select a feed point connected to each antenna in any antenna pair so that the antenna pair works according to the antenna spacing corresponding to the selected feed point.

[0008] The controller is connected to the switching switch and is used to control each antenna pair to operate at a specified antenna spacing at the start of the measurement.

[0009] The controller is also configured to receive the received signal returned by each antenna pair and dynamically adjust the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair.

[0010] A second aspect of this application provides an ultra-wideband angle measurement method, wherein the ultra-wideband angle measurement method is applied to the controller of any of the ultra-wideband angle measurement devices provided in the first aspect of this application, the ultra-wideband angle measurement method comprising:

[0011] Each antenna pair is controlled to operate at a specified antenna spacing at the start of the measurement by a toggle switch;

[0012] The system receives the received signal returned by each antenna pair and dynamically adjusts the antenna spacing of the antenna pair during operation based on the received signal returned by that antenna pair.

[0013] A third aspect of this application provides an ultra-wideband angle measurement system, the ultra-wideband angle measurement system including a transmitting device and any of the ultra-wideband angle measurement devices provided in the first aspect of this application;

[0014] The transmitting device is used to transmit detection signals;

[0015] The ultra-wideband angle measuring device is used to receive the detection signal through a first antenna pair and / or a second antenna pair, and to perform angle measurement based on the received signal received by the first antenna pair and / or the second antenna pair.

[0016] The ultra-wideband angle measurement device, method, and system provided in this application enable each antenna pair in the first antenna pair and / or the second antenna pair to support multiple different antenna spacings. A switching switch allows for switching between these spacings. Furthermore, a controller sets the initial antenna spacing at the start of measurement and dynamically adjusts the spacing based on the real-time received signal from the antenna pair during the measurement process. Because the same antenna pair can support multiple spacings, the device can flexibly select the most suitable spacing for different angle measurement ranges and accuracy requirements, achieving an adaptive balance between a large angle measurement range and high accuracy, thus significantly improving angle measurement stability and accuracy. Moreover, it eliminates the need to replace antennas or add extra hardware, reducing complexity, miniaturizing the structure, and enhancing adaptability and reliability in different scenarios.

[0017] Details of one or more embodiments of this application are set forth in the following drawings and description to make other features, objects and advantages of this application more readily apparent. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of this application and form part of this application, illustrate exemplary embodiments and are used to explain this application, but do not constitute an undue limitation of this application. In the drawings:

[0019] Figure 1 A schematic diagram of an embodiment of the ultra-wideband angle measuring device provided in this application;

[0020] Figure 2 A partial schematic diagram of Embodiment 2 of the ultra-wideband angle measuring device provided in this application;

[0021] Figure 3 A graph illustrating the relationship between phase difference and angle of arrival, as shown in an exemplary embodiment of this application;

[0022] Figure 4 A partial schematic diagram of Embodiment 3 of the ultra-wideband angle measuring device provided in this application;

[0023] Figure 5 This is a partial schematic diagram of an ultra-wideband angle measuring device shown in an exemplary embodiment of this application;

[0024] Figure 6 A partial schematic diagram of Embodiment 4 of the ultra-wideband angle measuring device provided in this application;

[0025] Figure 7 A flowchart of an embodiment of the ultra-wideband angle measurement method provided in this application;

[0026] Figure 8 A schematic diagram of an ultra-wideband angle measurement system is provided for the purposes of this application.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1: Multiple antennas;

[0029] 2: Switch;

[0030] 3: Controller. Detailed Implementation

[0031] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application.

[0032] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used herein are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

[0033] It should be understood that although the terms first, second, third, etc., may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to determination."

[0034] The following specific embodiments are given to illustrate the technical solution of this application in detail.

[0035] Figure 1 This is a schematic diagram of an embodiment of the ultra-wideband angle measuring device provided in this application. Please refer to... Figure 1 The ultra-wideband angle measuring device provided in this embodiment includes multiple antennas 1, a switching switch 2, and a controller 3; wherein,

[0036] The plurality of antennas 1 constitute a first antenna pair corresponding to the first angle measurement mode and / or a second antenna pair corresponding to the second angle measurement mode; any one of the first antenna pair and / or the second antenna pair can be connected by selecting different feed points on each antenna in the antenna pair to support a variety of different antenna spacings.

[0037] The switching switch 2 is electrically connected to all the feed points on each antenna in any antenna pair, and is used to select a feed point to be connected to each antenna in any antenna pair, so that the antenna pair works according to the antenna spacing corresponding to the selected feed point.

[0038] The controller 3 is connected to the switching switch 2 and is used to control each antenna pair to work at a specified antenna spacing when the measurement begins;

[0039] The controller 3 is also configured to receive the received signal returned by each antenna pair and dynamically adjust the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair.

[0040] It should be noted that the ultra-wideband angle measuring device provided in this embodiment is adapted to the transmitting device and is used to receive the detection signal emitted by the transmitting device through an antenna, and to measure the angle of the received signal using the antenna in order to determine the orientation information of the transmitting device relative to this ultra-wideband angle measuring device.

[0041] Specifically, the exact number of antennas 1 is determined according to actual needs, and is not limited in this embodiment. For example, in one possible implementation, the multiple antennas 1 may include two antennas, three antennas, or four antennas.

[0042] Please refer to Figure 1 For example, in one embodiment, the ultra-wideband angle measuring device may include a first antenna and a second antenna, the first antenna and the second antenna constituting a first antenna pair corresponding to a first angle measuring mode or a second antenna pair corresponding to a second angle measuring mode.

[0043] It should be noted that the first angle measurement mode can be horizontal angle measurement, i.e., performing horizontal angle measurement, and the second angle measurement mode is pitch angle measurement, i.e., performing pitch angle measurement. When the ultra-wideband angle measurement device includes two antennas, it can support either horizontal or pitch angle measurement. For example, in... Figure 1 In the example shown, the first antenna and the second antenna constitute the first antenna pair corresponding to horizontal angle measurement, and the ultra-wideband angle measurement device supports horizontal angle measurement.

[0044] Furthermore, for example, in another possible implementation, the ultra-wideband angle measurement device may include a first antenna, a second antenna, and a third antenna. The first and second antennas constitute a first antenna pair corresponding to a first angle measurement mode, and the second and third antennas constitute a second antenna pair corresponding to a second angle measurement mode. In this way, the ultra-wideband angle measurement device can simultaneously support horizontal and pitch angle measurement.

[0045] Furthermore, in another possible implementation, the ultra-wideband angle measuring device may include a first antenna, a second antenna, a third antenna, and a fourth antenna. The first and second antennas form a first antenna pair corresponding to a first angle measuring mode, and the third and fourth antennas form a second antenna pair corresponding to a second angle measuring mode. In this way, the ultra-wideband angle measuring device can simultaneously measure horizontal and vertical angles.

[0046] Please continue to refer to Figure 1 Any antenna pair can support multiple different antenna spacings. For example, in one possible implementation, when the ultra-wideband angle measuring device includes two or four antennas, for any antenna pair, one antenna in the pair can have one feed point, and the other antenna can have two symmetrical feed points. Thus, by selectively connecting the feed point of the other antenna, the antenna pair can support two different antenna spacings. As another example, in an ultra-wideband angle measuring device including a first antenna, a second antenna, and a third antenna, where the first antenna and the second antenna form a first antenna pair, and the second antenna and the third antenna form a second antenna pair, they share the second antenna, in one embodiment, the second antenna can have one feed point, and the first and third antennas can each have two symmetrical feed points. This allows both the first antenna pair and the second antenna pair to support two antenna spacings.

[0047] It should be noted that the specific value of the antenna spacing supported by each antenna pair is set according to actual needs, and is not limited in this embodiment.

[0048] Please continue to refer to Figure 1 The ultra-wideband angle measuring device provided in this embodiment also includes a switching switch 2, which is connected to all feed points of each antenna and is used to select a feed point connected to the antenna for each antenna.

[0049] Combination Figure 1 For example, in the figure, the first antenna has a feed point A, the second antenna has a feed point B and a feed point C, and the switch is connected to these three feed points respectively. For the first antenna, feed point A is selected, and for the second antenna, either feed point B or feed point C is selected.

[0050] As described above, it can be understood that each antenna operates with only one feed point during angle measurement; this feed point is the equivalent point source location of that antenna. For an antenna pair, the distance between the equivalent power source locations of the two antennas constituting the pair is the antenna spacing during operation.

[0051] Please continue to refer to Figure 1 It is understandable that the switching switch 2 is controlled by the controller 3, and under the control of the controller 3, it selects the power supply point to be connected.

[0052] Furthermore, the controller 3 is used to control each antenna pair to operate at a specified antenna spacing at the start of the measurement via the switching switch 2.

[0053] It should be noted that an antenna pair as a whole is treated as a controlled object, supporting multiple different antenna spacings. Controller 3 controls the antenna spacing during operation via switch 2. For example, in... Figure 1 In the example shown, the antenna pair supports two antenna spacings, and the controller 3 can switch the antenna spacing during operation via the switch 2.

[0054] Furthermore, the specified antenna spacing is set according to actual needs, and is not limited in this embodiment. For example, in one possible implementation, the specified antenna spacing can be any antenna spacing supported by the antenna pair. As another possible implementation, the specified antenna spacing can be the maximum value of the antenna spacing supported by the antenna pair.

[0055] Furthermore, the controller 3 is also configured to receive the received signal returned by each antenna pair, and dynamically adjust the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair.

[0056] In a specific implementation, during the measurement process, when dynamically adjusting the antenna spacing of the antenna pair when it is working by means of the received signal returned by the antenna pair, for example, in one possible implementation, the phase difference of two consecutive times can be obtained, and then it can be determined whether the phase difference of two consecutive times changes abruptly (for example, if the phase difference of two consecutive times exceeds a preset threshold, it is considered to be abruptly changing). If so, then switch to a smaller antenna spacing.

[0057] Understandably, the controller is also used to perform angle measurement based on the returned received signal from the antenna. For example, it can perform angle measurement based on the phase difference or time difference of the returned received signal. The specific implementation principles and processes of angle measurement can be found in descriptions in related technologies, and will not be elaborated upon here.

[0058] Based on the above description, the working principle of this ultra-wideband angle measurement device is briefly introduced below: Specifically, at the start of the measurement, the controller first controls the switching switch according to the preset configuration to select the corresponding feed point for the antenna pair in the first or second angle measurement mode, so that the antenna pair receives the detection signal at a specified antenna spacing. Further, after receiving the signal, the antenna pair returns it to the controller. The controller analyzes the received signal returned by the antenna pair and dynamically adjusts the working antenna spacing of the antenna pair based on the analysis results.

[0059] The ultra-wideband angle measurement device provided in this embodiment enables each antenna pair in the first antenna pair and / or the second antenna pair to support multiple different antenna spacings. A switching switch allows for switching between these spacings. Furthermore, a controller sets the initial antenna spacing of the antenna pair at the start of measurement and dynamically adjusts the spacing during operation based on the real-time received signal returned by the antenna pair. Because the same antenna pair can support multiple antenna spacings, the device can flexibly select the most suitable antenna spacing for different angle measurement ranges and accuracy requirements, achieving an adaptive balance between a large angle measurement range and high angle measurement accuracy, thereby significantly improving angle measurement stability and accuracy. Moreover, the ultra-wideband angle measurement device provided in this embodiment does not require antenna replacement or additional hardware, which helps reduce complexity, achieve miniaturization, and improves the adaptability and reliability of the device in different scenarios.

[0060] Several more specific embodiments are given below to illustrate the specific structure of the ultra-wideband angle measuring device provided in this application.

[0061] Figure 2 This is a partial schematic diagram of Embodiment 2 of the ultra-wideband angle measuring device provided in this application. Please refer to... Figure 2Based on the above embodiments, this embodiment provides an ultra-wideband angle measuring device, which includes a first antenna and a second antenna; the first antenna and the second antenna constitute a first antenna pair corresponding to a first angle measuring mode, or the first antenna and the second antenna constitute a second antenna pair corresponding to a second angle measuring mode;

[0062] Both the first antenna and the second antenna are symmetrical antennas including a first feed point and a second feed point; the antenna pair formed by the first antenna and the second antenna supports three antenna spacings;

[0063] The first antenna, the second antenna, and the transmitting device have a polarization mode that matches the current angle measurement mode.

[0064] Reference Figure 2 The ultra-wideband angle measuring device provided in this embodiment has a first antenna and a second antenna, both of which are symmetrical antennas including a first feed point and a second feed point.

[0065] Specifically, a symmetrical antenna refers to an antenna that is symmetrical about its mirror axis. This antenna has a first feed point and a second feed point, which are symmetrical about their mirror axis. The first and second feed points can create opposite symmetrical field distributions on the antenna. That is, the first and second feed points have the same type of radiation mode, and the excitation currents are 180° out of phase.

[0066] See Figure 2 For ease of explanation, the first feed point of the first antenna is denoted as feed point A1, and the second feed point as feed point A2; the first feed point of the second antenna is denoted as feed point B1, and the second feed point as feed point B2. The antenna pair formed by the first and second antennas can be connected by selecting different feed points on each antenna, supporting three different antenna spacings. The correspondence between the antenna spacing and the connection method is shown in Table 1.

[0067] Table 1. Correspondence between antenna spacing and access method

[0068]

[0069] Please refer to the following at the same time Figure 2 Based on Table 1, it can be understood that the spacing between the first antenna d1 > the spacing between the second antenna d2 > the spacing between the third antenna d3.

[0070] It should be noted that the specific values ​​of the first antenna spacing d1, the second antenna spacing d2, and the third antenna spacing d3 are set according to actual needs, and are not limited in this embodiment.

[0071] Specifically, for PDOA (Phase Difference of Arrival) angle measurement, the angle of arrival can be calculated using the following formula:

[0072] ;

[0073] Where θ is the angle of arrival (measurement angle), Δφ is the phase difference between the received signal and the antenna pair, λ is the operating wavelength of the transmitting device, and d is the antenna spacing when the antenna pair is in operation.

[0074] According to the PDOA angle measurement principle, different antenna spacings correspond to different angle measurement characteristics. Figure 3 The graph illustrating the relationship between phase difference and angle of arrival is shown in an exemplary embodiment of this application. Please refer to... Figure 3 When the antenna spacing is greater than half a wavelength, for example, when the antenna spacing is 1λ, the angle measurement range corresponding to the change of phase difference within one period cannot cover ±90°. However, the relationship curve between phase difference and angle of arrival is relatively flat, that is, the change of angle of arrival caused by a 1° phase difference change is small, and the angle measurement accuracy is high.

[0075] When the antenna spacing is less than half a wavelength, for example, 0.1λ, a small phase difference change is sufficient to cover an angle measurement range of ±90°. However, the relationship between phase difference and angle of arrival is quite steep, meaning a 1° phase difference change results in a significant change in the angle of arrival. This increases the angle measurement range but reduces measurement accuracy. Furthermore, when the antenna spacing is half a wavelength, the optimal balance between angle measurement range and measurement accuracy is achieved.

[0076] Therefore, in one possible implementation, the first antenna spacing d1 can be greater than half a wavelength, the second antenna spacing d2 is equal to half a wavelength, and the third antenna spacing d3 is less than half a wavelength. In this way, the first antenna spacing d1 can improve measurement accuracy, the second antenna spacing d2 achieves a balance between measurement range and measurement accuracy, and the third antenna spacing d3 can improve the angle measurement range.

[0077] Furthermore, the polarization modes of the first and second antennas are set according to actual needs, and are not limited in this embodiment.

[0078] Please continue to refer to Figure 2 It should be noted that, in Figure 2 In the example shown, the first antenna, the second antenna, and the transmitting device have polarization modes that match the current angle measurement mode.

[0079] Specifically, in one possible implementation, the first antenna, the second antenna, and the transmitting device have the same polarization mode. For example, when measuring the horizontal angle (first angle measurement mode), the first antenna, the second antenna, and the transmitting device are all horizontally polarized. As another example, when measuring the elevation angle (second angle measurement mode), the first antenna, the second antenna, and the transmitting device are all vertically polarized.

[0080] Furthermore, in another possible implementation, the polarization mode of the transmitting device is circular polarization, and the polarization modes of the first antenna and the second antenna are ±45° polarization.

[0081] Furthermore, in another possible implementation, the polarization mode of the transmitting device is circular polarization, the polarization modes of the first antenna and the second antenna are different from those of the transmitting device, and the first antenna and the second antenna have polarization modes that match the current angle measurement mode.

[0082] It should be noted that, based on the above description, the first angle measurement mode is horizontal angle measurement, and the second angle measurement mode is pitch angle measurement. Therefore, when the current angle measurement mode is the first angle measurement mode, the polarization mode matching the current angle measurement mode is horizontal polarization; when the current angle measurement mode is the second angle measurement mode, the polarization mode matching the current angle measurement mode is vertical polarization.

[0083] For example, in one embodiment, when measuring the horizontal angle, the polarization mode of the transmitting device is circular polarization, and the polarization modes of the first antenna and the second antenna are horizontal polarization. As another example, in another embodiment, when measuring the elevation angle, the polarization mode of the transmitting device is circular polarization, and the polarization modes of the first antenna and the second antenna are vertical polarization.

[0084] For further details, please refer to [link / reference]. Figure 2 In one possible implementation, the polarization mode of the transmitting device is ±45° polarization, and the polarization modes of the first antenna and the second antenna are the same as those of the transmitting device. For example, in one embodiment, the polarization mode of the transmitting device, the first antenna, and the second antenna is +45° polarization.

[0085] For further details, please refer to [link / reference]. Figure 2 In another possible implementation, the polarization mode of the transmitting device is ±45° polarization, and the polarization modes of the first antenna and the second antenna are different from those of the transmitting device, and the first antenna and the second antenna have polarization modes that match the current angle measurement mode. For example, when measuring the horizontal angle, the polarization mode of the transmitting device is +45° polarization, and the polarization mode of the first antenna and the second antenna is horizontal polarization. As another example, when measuring the elevation angle, the polarization mode of the transmitting device is -45° polarization, and the polarization mode of the first antenna and the second antenna is vertical polarization.

[0086] It should be noted that in this embodiment, a symmetrical antenna structure is adopted, which enables the antenna to maintain a stable radiation mode and polarization direction when switching to different feed points, avoiding additional directional shifts or polarization mismatches introduced by changes in feed position, thereby maintaining the consistency of angle measurement during the switching of multiple antenna spacings and improving the stability of angle measurement results.

[0087] The ultra-wideband angle measurement device provided in this embodiment can form an antenna pair corresponding to the angle measurement mode by setting a first antenna and a second antenna, thereby supporting the corresponding angle measurement mode. Furthermore, by making both the first and second antennas adopt a symmetrical antenna structure with a first feed point and a second feed point, the antenna pair formed by the first and second antennas can achieve three different antenna spacings. This provides a wider range of antenna spacing options for the device between large-angle range measurement and high-precision measurement, thereby improving the adjustability and adaptability of the angle measurement performance. In addition, by keeping the polarization mode of the first antenna, the second antenna, and the transmitting device consistent with the current angle measurement mode, it is beneficial to improve signal reception quality and reduce polarization mismatch loss, thereby further enhancing the stability and accuracy of the angle measurement results.

[0088] Figure 4 This is a partial schematic diagram of Embodiment 3 of the ultra-wideband angle measuring device provided in this application. Please refer to... Figure 4 The ultra-wideband angle measurement device includes a first antenna, a second antenna, and a third antenna; wherein the first antenna and the second antenna constitute a first antenna pair corresponding to a first angle measurement mode, and the second antenna and the third antenna constitute a second antenna pair corresponding to a second angle measurement mode;

[0089] The first antenna, the second antenna, and the third antenna are all symmetrical antennas including a first feed point and a second feed point; one of the first antenna pair and the second antenna pair supports three antenna spacings, and the other antenna pair supports two antenna spacings;

[0090] The first antenna, the second antenna, and the transmitting device have a polarization mode that matches the first angle measurement mode;

[0091] The second antenna, the third antenna, and the transmitting device have a polarization mode that matches the second angle measurement mode.

[0092] The ultra-wideband angle measurement device provided in this embodiment is equipped with both a first antenna pair and a second antenna pair, enabling simultaneous measurement of horizontal and elevation angles. The first and second antenna pairs share the second antenna.

[0093] Specifically, either the first antenna pair or the second antenna pair supports three antenna spacings, while the third supports two antenna spacings. For example, in Figure 4 In the example shown, the first antenna pair used to measure the horizontal angle supports three antenna spacings: d1, d2, and d3. Similarly, the second antenna pair used to measure the elevation angle supports two antenna spacings: d4 and d5 (e.g., d1, d2, and d3). Figure 4 As shown, the first feed point on the third antenna is denoted as feed point C1, and the second feed point on the third antenna is denoted as feed point C2.

[0094] Furthermore, the polarization modes of the first antenna, the second antenna, and the third antenna are set according to actual needs, and are not limited in this embodiment.

[0095] Please continue to refer to Figure 4 For example, in Figure 4 In the example shown, the polarization mode of the transmitting device is circular polarization or ±45°, the polarization mode of the first antenna and the second antenna is horizontal polarization, and the polarization mode of the third antenna is vertical polarization.

[0096] Furthermore, in one possible implementation, the polarization mode of the transmitting device is circular polarization, and the polarization modes of the first antenna, the second antenna, and the third antenna are ±45° polarization. For example, in one possible implementation, the polarization mode of the transmitting device is circular polarization, and the polarization modes of the first antenna, the second antenna, and the third antenna are all +45° polarization.

[0097] Furthermore, in one possible implementation, the polarization mode of the transmitting device is ±45° polarization, and the first antenna, the second antenna, and the third antenna have the same polarization mode as the transmitting device. For example, Figure 5 This is a partial schematic diagram of an ultra-wideband angle measuring device illustrated in an exemplary embodiment of this application. Please refer to... Figure 5 ,exist Figure 5 In the example shown, the polarization mode of the transmitting device is +45° polarization, and the polarization modes of the first antenna, the second antenna, and the third antenna are also +45° polarization.

[0098] It should be noted that in this embodiment, the two angle measurement modes share a single antenna, which has the advantages of low hardware resource consumption and a more compact structure.

[0099] The ultra-wideband angle measurement device provided in this embodiment, by setting up a first antenna, a second antenna, and a third antenna, and forming antenna pairs for two angle measurement modes, enables the device to implement two angle measurement modes on the same hardware structure. Furthermore, since each antenna adopts a symmetrical antenna structure with a first feed point and a second feed point, one antenna pair can support three antenna spacings, and the other antenna pair can support two antenna spacings, thereby providing differentiated adjustable antenna spacings for different angle measurement modes, further enhancing the device's flexible switching capability between a large angle measurement range and high angle measurement accuracy. In addition, using symmetrical antennas helps maintain a stable radiation pattern and radiation pattern, making the switching of multiple antenna spacings more controllable and consistent.

[0100] Figure 6 This is a partial schematic diagram of Embodiment 4 of the ultra-wideband angle measuring device provided in this application. Please refer to... Figure 6 Based on the above embodiments, the ultra-wideband angle measuring device provided in this embodiment includes a first antenna, a second antenna, a third antenna, and a fourth antenna.

[0101] The first antenna and the second antenna constitute the first antenna pair corresponding to the first angle measurement mode; the third antenna and the fourth antenna constitute the second antenna pair corresponding to the second angle measurement mode;

[0102] The first antenna, the second antenna, the third antenna, and the fourth antenna are all symmetrical antennas including a first feed point and a second feed point; the first antenna pair and the second antenna pair both support three antenna spacings;

[0103] The first antenna, the second antenna, and the transmitting device have a polarization mode that matches the first angle measurement mode;

[0104] The third antenna, the fourth antenna, and the transmitting device have a polarization mode that matches the second angle measurement mode.

[0105] See Figure 6 For ease of explanation, the first feed point on the third antenna will be denoted as feed point C1 and the second feed point as feed point C2. Similarly, the first feed point on the fourth antenna will be denoted as feed point D1 and the second feed point as feed point D2.

[0106] Referring to the description in the embodiments, the first antenna pair, consisting of the first antenna and the second antenna, can support three antenna spacings, denoted as d1, d2, and d3, respectively. Similarly, see... Figure 6 The second antenna pair, consisting of the third and fourth antennas, can also support three antenna spacings, denoted as d5, d6, and d7 respectively.

[0107] Furthermore, the polarization modes of the first antenna, the second antenna, the third antenna, and the fourth antenna are set according to actual needs, and are not limited in this embodiment.

[0108] For example, in one possible implementation, the polarization mode of the transmitting device is circular polarization or +45° polarization, the polarization mode of the first antenna and the second antenna is horizontal polarization, and the polarization mode of the third antenna and the fourth antenna is vertical polarization.

[0109] The ultra-wideband angle measurement device provided in this embodiment enables the device to achieve two angle measurement modes by setting up a first antenna, a second antenna, a third antenna, and a fourth antenna to form antenna pairs for two different angle measurement modes. Furthermore, in this embodiment, the antenna pairs for different angle measurement modes are independent of each other, and the different angle measurement modes do not interfere with each other on the same hardware platform.

[0110] After detailing the specific structure of the ultra-wideband angle measuring device provided in this application, the specific implementation principle of adaptively adjusting the antenna spacing will be described in detail below.

[0111] Optionally, in one possible implementation, dynamically adjusting the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair may include:

[0112] (1) Determine the current measurement angle based on the received signal returned by the antenna pair.

[0113] Specifically, in this embodiment, one antenna pair is controlled as the controlled object. When the device includes two antenna pairs, each antenna pair is controlled one by one.

[0114] The following section uses one antenna pair as an example to explain in detail the specific implementation principle of adaptive adjustment of antenna spacing.

[0115] In practice, this step involves determining the current measurement angle based on the phase difference between the antenna and the received signal. The specific principles and processes for determining the measurement angle can be found in relevant technical descriptions, and will not be elaborated upon here.

[0116] (2) Obtain the straight-line distance from the transmitting device to this ultra-wideband angle measuring device, and determine the current measurement distance corresponding to the current angle measuring mode based on the straight-line distance and the measuring angle.

[0117] Specifically, while measuring the angle, other devices or this ultra-wideband angle measuring device simultaneously perform distance measurement, that is, simultaneously measure the straight-line distance from the transmitting device to this ultra-wideband angle measuring device. The specific implementation principle and process of distance measurement can be found in relevant technical descriptions, and will not be repeated here. In this step, the straight-line distance measured by the distance measurement is directly obtained.

[0118] It should be noted that, as explained above, each antenna pair corresponds to a specific angle measurement mode, and the current angle measurement mode is the angle measurement mode corresponding to that antenna pair. Furthermore, when the current angle measurement mode is horizontal angle measurement, the corresponding measurement distance is the horizontal distance between the transmitting device and this ultrabandwidth angle measurement device; similarly, when the current angle measurement mode is pitch angle measurement, the corresponding measurement distance is the vertical distance between the transmitting device and this ultrabandwidth angle measurement device.

[0119] As described above, when the current angle measurement mode is horizontal, the current measurement distance can be determined using the following formula:

[0120] Where K is the current measurement distance, and L is the straight-line distance from the transmitting device to this ultra-wideband angle measuring device. This is the current measured angle.

[0121] Similarly, when the current angle measurement mode is pitch angle measurement, the current measurement distance can be determined using the following formula:

[0122] Where F is the current measurement distance, and L is the straight-line distance from the transmitting device to this ultra-wideband angle measuring device. This is the current measured angle.

[0123] (3) Based on the current measurement distance and the pre-established angle measurement configuration table corresponding to the antenna pair, determine the target antenna spacing that matches the current measurement distance; wherein, the angle measurement configuration table is used to record the correspondence between the antenna spacing supported by the antenna pair, the optimal measurement distance corresponding to the antenna spacing, and the angle measurement range of the antenna spacing under the optimal measurement distance.

[0124] It should be noted that the angle measurement configuration table corresponding to an antenna pair is used to record the correspondence between the antenna spacing supported by the antenna pair, the optimal measurement distance corresponding to the antenna spacing, and the angle measurement range of the antenna spacing at the optimal measurement distance.

[0125] The optimal measurement distance corresponding to the antenna spacing refers to the measurement distance at which the best measurement accuracy can be obtained given the antenna spacing. The angular measurement range of the antenna spacing at this optimal measurement distance refers to the range of angles that can be accurately measured given the antenna spacing and the optimal measurement distance.

[0126] The following is based on Figure 2 The following explanation uses an ultra-wideband angle measuring device as an example. For instance, in... Figure 2 In the illustrated embodiment, the first antenna pair supports a first antenna spacing d1, a second antenna spacing d2, and a third antenna spacing d3. The corresponding angle measurement configuration table for this antenna pair is shown in Table 2.

[0127] Table 2. Angle Measurement Configuration Table for Antenna Pairs

[0128]

[0129] As described above, it can be understood that when the first antenna spacing d1 > the second antenna spacing d2 > the third antenna spacing d3, K1 < K2 < K3.

[0130] Furthermore, referring to Table 2, in this step, the absolute value of the difference between the current measured distance and the optimal measured distance corresponding to each antenna spacing can be calculated, and then the minimum absolute value can be found. Thus, the optimal measured distance corresponding to the minimum value can be determined. Further, referring to the angle measurement configuration table, the antenna spacing corresponding to this optimal measured distance is determined as the target antenna spacing.

[0131] It should be noted that the angle measurement configuration table corresponding to the antenna pair can be pre-established through experimental or simulation methods.

[0132] Optionally, in one possible implementation, the process of establishing the pre-established angle measurement configuration table corresponding to the antenna pair may include:

[0133] Step 1: For each antenna spacing supported by the antenna pair, perform a preset number of samplings at each combination point to obtain the sampling results of each combination point; the combination point is a combination point composed of each measurement distance within a preset measurement distance range and each incident angle within a preset angle measurement range.

[0134] It should be noted that the preset measurement distance range and preset angle range are set according to actual needs, and are not limited in this embodiment.

[0135] For ease of explanation, the preset measurement distance range is denoted as [Kmin, Kmax], and the preset angle measurement range is denoted as [θmin, θmax].

[0136] Specifically, the preset measurement distance range is discretized into several measurement distance points according to a preset first step length, and the preset angle measurement range is discretized into several incident angle points according to a second step length. The specific values ​​of the first and second step lengths are set according to actual needs. For example, in one embodiment, the first step length is 0.5m, and the second step length is 1°.

[0137] Furthermore, each measurement distance and each incident angle constitute a combined point: (measurement distance, incident angle). In this step, a preset number of samples are taken for each combined point. The preset number is set according to actual needs; in this embodiment, it is not limited.

[0138] It should be noted that during a single sampling process, for each combination point, the antenna pair operates at the current antenna spacing. Then, the relative positions of the transmitting device and the ultra-wideband angle measuring device are set to satisfy the measurement distance and incident angle corresponding to that combination point. Furthermore, the transmitting device is controlled to transmit a detection signal, and correspondingly, the ultra-wideband angle measuring device receives the detection signal through the antenna pair and estimates the angle of arrival based on the received signal. It should be noted that the estimated angle of arrival is the sampling result for that combination point.

[0139] Step 2: For each measurement distance, determine the standard deviation of the angle measurement error at that measurement distance based on all sampling results of all combination points corresponding to that measurement distance.

[0140] In practice, for a given measurement distance d, multiple samplings are performed for all incident angles θ. The angle measurement error for each sampling is calculated, and the angle measurement error for each sampling is equal to the difference between the estimated angle of arrival and the actual angle of incidence. Furthermore, based on the angle measurement errors of all combined points at that measurement distance, the standard deviation of the angle measurement error at that measurement distance can be calculated.

[0141] Specifically, the standard deviation of the angular measurement error at this measurement distance can be calculated using the following formula:

[0142] ;

[0143] Where σ(d) is the standard deviation of the angle measurement error at the measured distance d; N is the number of all combination points corresponding to the measured distance d; Let be the angle of arrival corresponding to the i-th combination point; Let be the incident angle corresponding to the i-th combination point.

[0144] Step 3: Find the minimum value among the standard deviations of the angle measurement error for all measurement distances, and determine the measurement distance corresponding to the minimum value as the optimal measurement distance for that antenna spacing.

[0145] Specifically, compare the standard deviations of all measured distances d, and find the measured distance with the smallest standard deviation. This measured distance is the optimal measured distance corresponding to the antenna spacing.

[0146] Step 4: Calculate the standard deviation of the angle measurement error for each incident angle at the optimal measurement distance.

[0147] Specifically, in this step, for each incident angle at the optimal measurement distance, the standard deviation σ(θ) of the angle measurement error is calculated. In practice, this can be calculated using the following formula:

[0148] ;

[0149] Where M is the number of samplings corresponding to the incident angle.

[0150] Step 5: Based on the standard deviation of the angle measurement error of each incident angle, select a continuous range of angles with a standard deviation less than or equal to a preset threshold as the angle measurement range of the antenna spacing at the optimal measurement distance.

[0151] Specifically, the specific value of the preset threshold is set according to actual needs, and is not limited in this embodiment. For example, in one possible implementation, the preset threshold is 1°.

[0152] In this step, angle points with a standard deviation less than or equal to a preset threshold are found, and then a continuous angle interval is taken as the angle measurement range.

[0153] It should be noted that by pre-establishing an angle measurement configuration table for each antenna pair, angle measurement performance data can be systematically acquired for different antenna spacings at various measurement distances and incident angles. Furthermore, by analyzing the standard deviation of the angle measurement error, the optimal measurement distance and effective angle measurement range for each antenna spacing can be determined. In this way, during actual measurement, the controller can quickly select the most suitable antenna spacing based on the current measurement distance, ensuring the antenna pair operates at the optimal measurement distance. This achieves an adaptive balance between angle measurement accuracy and measurement range and distance. Moreover, by pre-establishing the angle measurement configuration table, the need for repeated adjustments to the antenna spacing under different measurement conditions can be avoided.

[0154] (4) Using the target antenna spacing as the working antenna spacing, control the antenna pair to work according to the working antenna spacing.

[0155] Specifically, for example, in one possible implementation, in step (3), the target antenna spacing is determined to be the first antenna spacing d1, and in this step, the antenna pair is controlled to operate according to the first antenna spacing d1.

[0156] (5) If no angular ambiguity occurs during the operation of the antenna pair according to the working antenna spacing, the working antenna spacing is maintained; otherwise, the alternative antenna spacing is used as the working antenna spacing, and the step of controlling the antenna pair to operate according to the working spacing is executed again; wherein the alternative antenna spacing is smaller than the target antenna spacing.

[0157] Specifically, after the antenna pair operates according to the specified working antenna spacing, the system further determines whether angular ambiguity occurs based on the received signal returned by the antenna pair. Angular ambiguity specifically refers to a phase exceeding ±π.

[0158] Furthermore, when no angular ambiguity occurs, the working antenna spacing is maintained. However, when angular ambiguity occurs, the alternative antenna spacing is used as the working antenna spacing, and the step of controlling the antenna pair to operate according to the working spacing is executed again; wherein, the alternative antenna spacing is smaller than the target antenna spacing.

[0159] It should be noted that the alternative antenna spacing can be any antenna spacing smaller than the target antenna spacing. Preferably, in one possible implementation, the alternative antenna spacing is the antenna spacing that is smaller than the target antenna spacing and is closest to the target antenna spacing. That is, when angular ambiguity occurs, the antenna spacing is adjusted in the direction of decreasing spacing, and adjusted step by step, to resolve the ambiguity problem while maintaining angular measurement accuracy as much as possible.

[0160] The ultra-wideband angle measuring device provided in this embodiment first calculates the current measuring angle based on the received signal during the measurement process, and determines the current measuring distance by combining the straight-line distance from the transmitting device to this device. Then, it selects the most suitable target antenna spacing as the working antenna spacing through a pre-established angle measuring configuration table. Furthermore, when the antenna pair is working according to the working antenna spacing, if no angle ambiguity occurs during the angle measuring process, the antenna spacing is maintained; otherwise, it switches to a smaller alternative antenna spacing to eliminate angle ambiguity. In this way, the antenna spacing can be dynamically optimized under different distance measuring conditions, so that the device can expand the applicable range of angle measuring while ensuring the angle measuring accuracy, and significantly improve the stability and accuracy of angle measuring.

[0161] Corresponding to the aforementioned embodiment of an ultra-wideband angle measuring device, this application also provides an embodiment of an ultra-wideband angle measuring method, which is described below.

[0162] Figure 7 This is a flowchart of an embodiment of the ultra-wideband angle measurement method provided in this application. Please refer to... Figure 7 The ultra-wideband angle measurement method provided in this embodiment is applied to the controller in any ultra-wideband angle measurement device provided in the first aspect of this application. The ultra-wideband angle measurement method may include:

[0163] S701: Each antenna pair is controlled by a switch to operate at a specified antenna spacing at the start of the measurement.

[0164] S702. Receive the received signal returned by each antenna pair, and dynamically adjust the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair.

[0165] The specific implementation principles and processes of steps S701 to S702 can be found in the descriptions in the previous embodiments, and will not be repeated here.

[0166] Optionally, in one possible implementation, dynamically adjusting the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair includes:

[0167] The current measurement angle is determined based on the received signal returned by the antenna.

[0168] Obtain the straight-line distance from the transmitting device to this ultra-wideband angle measuring device, and determine the current measurement distance corresponding to the current angle measuring mode based on the straight-line distance and the measuring angle;

[0169] Based on the current measurement distance and the pre-established angle measurement configuration table corresponding to the antenna pair, the target antenna spacing that matches the current measurement distance is determined; wherein, the angle measurement configuration table is used to record the correspondence between the antenna spacing supported by the antenna pair, the optimal measurement distance corresponding to the antenna spacing, and the angle measurement range of the antenna spacing at the optimal measurement distance;

[0170] Using the target antenna spacing as the working antenna spacing, the antenna pair is controlled to operate according to the working antenna spacing.

[0171] During the operation of the antenna pair according to the working antenna spacing, if no angular ambiguity occurs, the working antenna spacing is maintained; otherwise, the alternative antenna spacing is used as the working antenna spacing, and the step of controlling the antenna pair to operate according to the working antenna spacing is executed again; wherein, the alternative antenna spacing is smaller than the target antenna spacing.

[0172] Optionally, in one possible implementation, the process of establishing the pre-established angle measurement configuration table corresponding to the antenna pair includes:

[0173] For each antenna spacing supported by the antenna pair, a preset number of samples are taken at each combination point to obtain the sampling results of each combination point; each combination point is a combination point composed of each measurement distance within a preset measurement distance range and each incident angle within a preset angle measurement range;

[0174] For each measurement distance, the standard deviation of the angle measurement error at that measurement distance is determined based on all sampling results of all combination points corresponding to that measurement distance.

[0175] Find the minimum value among the standard deviations of the angle measurement error for all measurement distances, and determine the measurement distance corresponding to the minimum value as the optimal measurement distance for that antenna spacing.

[0176] The standard deviation of the angular measurement error for each incident angle at the optimal measurement distance is calculated.

[0177] Based on the standard deviation of the angle measurement error for each incident angle, a continuous range of angles with a standard deviation less than or equal to a preset threshold is selected as the angle measurement range of the antenna spacing at the optimal measurement distance.

[0178] This application also provides an ultra-wideband angle measurement system, which is described below.

[0179] Figure 8 A schematic diagram of an ultra-wideband angle measurement system, provided as an exemplary embodiment of this application, is shown below. Figure 8 The ultra-wideband angle measurement system provided in this embodiment includes a transmitting device and an ultra-wideband angle measurement device as described in any of the first aspects of this application;

[0180] The transmitting device is used to transmit detection signals;

[0181] The ultra-wideband angle measuring device is used to receive the detection signal through a first antenna pair and / or a second antenna pair, and to perform angle measurement based on the received signal received by the first antenna pair and / or the second antenna pair.

[0182] The specific implementation principles and methods of angle measurement can be found in the descriptions in the previous embodiments, and will not be repeated here.

[0183] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An ultra-wideband angle measuring device, characterized in that, The ultra-wideband angle measurement device includes multiple antennas, a switching switch, and a controller; The multiple antennas constitute a first antenna pair corresponding to the first angle measurement mode and / or a second antenna pair corresponding to the second angle measurement mode; any one of the first antenna pair and / or the second antenna pair can be connected by selecting different feed points on each antenna in the antenna pair to support a variety of different antenna spacings. The switching switch is electrically connected to all feed points on each antenna in any antenna pair, and is used to select a feed point connected to each antenna in any antenna pair so that the antenna pair works according to the antenna spacing corresponding to the selected feed point. The controller is connected to the switching switch and is used to control each antenna pair to operate at a specified antenna spacing at the start of the measurement. The controller is also configured to receive the received signal returned by each antenna pair and dynamically adjust the antenna spacing of the antenna pair during operation based on the received signal returned by the antenna pair.

2. The ultra-wideband angle measuring device according to claim 1, characterized in that, The antenna spacing during operation is dynamically adjusted based on the received signal returned by the antenna pair, including: The current measurement angle is determined based on the received signal returned by the antenna. Obtain the straight-line distance from the transmitting device to this ultra-wideband angle measuring device, and determine the current measurement distance corresponding to the current angle measuring mode based on the straight-line distance and the measuring angle; Based on the current measurement distance and the pre-established angle measurement configuration table corresponding to the antenna pair, the target antenna spacing that matches the current measurement distance is determined; wherein, the angle measurement configuration table is used to record the correspondence between the antenna spacing supported by the antenna pair, the optimal measurement distance corresponding to the antenna spacing, and the angle measurement range of the antenna spacing at the optimal measurement distance; Using the target antenna spacing as the working antenna spacing, the antenna pair is controlled to operate according to the working antenna spacing. During the operation of the antenna pair according to the working antenna spacing, if no angular ambiguity occurs, the working antenna spacing is maintained; otherwise, the alternative antenna spacing is used as the working antenna spacing, and the step of controlling the antenna pair to operate according to the working antenna spacing is executed again; wherein, the alternative antenna spacing is smaller than the target antenna spacing.

3. The ultra-wideband angle measuring device according to claim 2, characterized in that, The process of establishing the pre-established angle measurement configuration table corresponding to the antenna pair includes: For each antenna spacing supported by the antenna pair, a preset number of samples are taken at each combination point to obtain the sampling results of each combination point; each combination point is a combination point composed of each measurement distance within a preset measurement distance range and each incident angle within a preset angle measurement range; For each measurement distance, the standard deviation of the angle measurement error at that measurement distance is determined based on all sampling results of all combination points corresponding to that measurement distance. Find the minimum value among the standard deviations of the angle measurement error for all measurement distances, and determine the measurement distance corresponding to the minimum value as the optimal measurement distance for that antenna spacing. The standard deviation of the angular measurement error for each incident angle at the optimal measurement distance is calculated. Based on the standard deviation of the angle measurement error for each incident angle, a continuous range of angles with a standard deviation less than or equal to a preset threshold is selected as the angle measurement range of the antenna spacing at the optimal measurement distance.

4. The ultra-wideband angle measuring device according to claim 1, characterized in that, The ultra-wideband angle measurement device includes a first antenna and a second antenna; the first antenna and the second antenna constitute a first antenna pair corresponding to a first angle measurement mode, or the first antenna and the second antenna constitute a second antenna pair corresponding to a second angle measurement mode; Both the first antenna and the second antenna are symmetrical antennas including a first feed point and a second feed point; the antenna pair formed by the first antenna and the second antenna supports three antenna spacings; The first antenna, the second antenna, and the transmitting device have a polarization mode that matches the current angle measurement mode.

5. The ultra-wideband angle measuring device according to claim 1, characterized in that, The ultra-wideband angle measurement device includes a first antenna, a second antenna, and a third antenna; wherein, the first antenna and the second antenna constitute a first antenna pair corresponding to a first angle measurement mode, and the second antenna and the third antenna constitute a second antenna pair corresponding to a second angle measurement mode; The first antenna, the second antenna, and the third antenna are all symmetrical antennas including a first feed point and a second feed point; one of the first antenna pair and the second antenna pair supports three antenna spacings, and the other antenna pair supports two antenna spacings; The first antenna, the second antenna, and the transmitting device have a polarization mode that matches the first angle measurement mode; The second antenna, the third antenna, and the transmitting device have a polarization mode that matches the second angle measurement mode.

6. The ultra-wideband angle measuring device according to claim 4, characterized in that, The first antenna, the second antenna, and the transmitting device have the same polarization mode; or, The polarization mode of the transmitting device is circular polarization, and the polarization modes of the first antenna and the second antenna are ±45° polarization. Alternatively, the polarization modes of the first antenna and the second antenna are different from those of the transmitting device, and the first antenna and the second antenna have a polarization mode that matches the current angle measurement mode. or, The polarization mode of the transmitting device is ±45° polarization. The polarization modes of the first antenna and the second antenna are the same as those of the transmitting device, or the polarization modes of the first antenna and the second antenna are different from those of the transmitting device, and the first antenna and the second antenna have a polarization mode that matches the current angle measurement mode.

7. The ultra-wideband angle measuring device according to claim 5, characterized in that, The polarization mode of the transmitting device is circular polarization or ±45°, the polarization mode of the first antenna and the second antenna is horizontal polarization, and the polarization mode of the third antenna is vertical polarization. or, The polarization mode of the transmitting device is ±45° polarization, and the polarization modes of the first antenna, the second antenna, and the third antenna are the same as those of the transmitting device. or, The polarization mode of the transmitting device is circular polarization, and the polarization mode of the first antenna, the second antenna, and the third antenna is ±45° polarization.

8. The ultra-wideband angle measuring device according to claim 1, characterized in that, The plurality of antennas includes a first antenna, a second antenna, a third antenna, and a fourth antenna; The first antenna and the second antenna constitute the first antenna pair corresponding to the first angle measurement mode; the third antenna and the fourth antenna constitute the second antenna pair corresponding to the second angle measurement mode; The first antenna, the second antenna, the third antenna, and the fourth antenna are all symmetrical antennas including a first feed point and a second feed point; the first antenna pair and the second antenna pair both support three antenna spacings; The first antenna, the second antenna, and the transmitting device have a polarization mode that matches the first angle measurement mode; The third antenna, the fourth antenna, and the transmitting device have a polarization mode that matches the second angle measurement mode.

9. A method for ultra-wideband angle measurement, characterized in that, The ultra-wideband angle measurement method is applied to the controller in the ultra-wideband angle measurement device according to any one of claims 1 to 8, and the ultra-wideband angle measurement method includes: Each antenna pair is controlled to operate at a specified antenna spacing at the start of the measurement by a toggle switch; The system receives the received signal returned by each antenna pair and dynamically adjusts the antenna spacing of the antenna pair during operation based on the received signal returned by that antenna pair.

10. An ultra-wideband angle measurement system, characterized in that, The ultra-wideband angle measurement system includes a transmitting device and an ultra-wideband angle measurement device as described in any one of claims 1 to 8; The transmitting device is used to transmit detection signals; The ultra-wideband angle measuring device is used to receive the detection signal through a first antenna pair and / or a second antenna pair, and to perform angle measurement based on the received signal received by the first antenna pair and / or the second antenna pair.

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