CN113093096A

CN113093096A - Method for determining arrival angle and related device

Info

Publication number: CN113093096A
Application number: CN202110354617.3A
Authority: CN
Inventors: 王泽卫; 王瑜琨
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2021-03-31
Filing date: 2021-03-31
Publication date: 2021-07-09
Anticipated expiration: 2041-03-31
Also published as: WO2022206139A1; CN113093096B

Abstract

The application provides an arrival angle determining method and a related device, wherein the method comprises the following steps: acquiring a first signal arrival phase difference measurement value data set; determining a first arrival angle calibration value data set associated with the first signal arrival phase difference measurement value data set according to the first signal arrival phase difference measurement value data set and a preset first mapping relation set; a first angle-of-arrival target value data set including a first angle-of-arrival measurement value in the horizontal direction and a first angle-of-arrival measurement value in the vertical direction as final measurement results is determined from the first angle-of-arrival calibration value data set. The embodiment of the application is favorable for improving the accuracy of the electronic equipment in measuring the azimuth angle and the pitch angle through the short-distance wireless communication module.

Description

Method for determining arrival angle and related device

Technical Field

The application belongs to the technical field of angle of arrival measurement, and particularly relates to an angle of arrival determination method and a related device.

Background

An Ultra Wide Band (UWB) technology is used as a carrier-free communication technology, uses nanosecond energy pulse sequences, and directly expands pulses into a frequency range through orthogonal frequency division modulation, so that the occupied frequency spectrum range is large, the power spectrum density is low, and the Ultra Wide Band (UWB) technology has the characteristics of high transmission rate, large space capacity, strong anti-interference capability, insensitivity to channel fading (such as multipath, non-line-of-sight and other channels) and the like.

Currently, a short-range wireless communication module having three UWB antennas is used to measure a Phase-Difference-of-Arrival (PDoA) between a horizontal direction and a vertical direction in a device such as a mobile phone, and the device can further calculate an Angle-of-Arrival (AOA), which is a horizontal azimuth Angle and a vertical pitch Angle, between the horizontal direction and the vertical direction based on the PDoA and the AOA.

The short-distance wireless communication module of the present device is affected by factors such as antenna polarization, signal emitted by an antenna of a tag device being an imperfect spherical wave, etc., and when the arrival angle of the short-distance wireless communication module in the actual vertical direction is not changed, the signal arrival phase difference measurement value in the vertical direction changes due to the change of the arrival angle in the horizontal direction.

Disclosure of Invention

The application provides an arrival angle determining method and a related device, aiming to improve the accuracy of azimuth angle and pitch angle measurement of electronic equipment through a short-distance wireless communication module.

In a first aspect, the present application provides a method for determining an angle of arrival, the method comprising:

acquiring a first signal arrival phase difference measurement value data set, wherein the first signal arrival phase difference measurement value data set comprises a first signal arrival phase difference measurement value in the horizontal direction and a first signal arrival phase difference measurement value in the vertical direction;

determining a first arrival angle calibration value data set associated with the first signal arrival phase difference measurement value data set according to the first signal arrival phase difference measurement value data set and a preset first mapping relation set, wherein the first mapping relation set comprises a corresponding relation between an arrival angle calibration value data set and a signal arrival phase difference reference value data set, the arrival angle calibration value data set comprises a preset arrival angle reference value in the horizontal direction and a preset arrival angle reference value in the vertical direction, and the signal arrival phase difference reference value data set comprises a signal arrival phase difference reference value in the horizontal direction and a signal arrival phase difference reference value in the vertical direction;

determining a first angle-of-arrival target value data set from the first angle-of-arrival calibration value data set, the first angle-of-arrival target value data set including the first angle-of-arrival measurement value in the horizontal direction and the first angle-of-arrival measurement value in the vertical direction as final measurement results.

It can be seen that, in the embodiment of the present application, the electronic device first acquires a first signal arrival phase difference PDoA measurement value data set detected by the wireless communication module, then determines a first angle of arrival AOA calibration value data set associated with the first PDoA measurement value data set according to the first PDoA measurement value data set and a preset first mapping relationship set, and finally determines a first angle of arrival target value data set according to the first angle of arrival calibration value data set, where the first angle of arrival target value data set includes a first angle of arrival measurement value in a horizontal direction and a first angle of arrival measurement value in a vertical direction as final measurement results, and since the first PDoA measurement value data set includes a first PDoA measurement value in the horizontal direction and a first PDoA measurement value in the vertical direction, the first mapping relationship set includes a correspondence relationship between the AOA calibration value data set and the PDoA reference value data set, the AOA calibration value data set comprises a preset horizontal AOA reference value and a preset vertical AOA reference value, the PDoA reference value data set comprises a horizontal PDoA reference value and a vertical PDoA reference value, and therefore each AOA calibration value data set has a unique PDoA reference value data set corresponding to the PDoA reference value data set, namely under the constraint of the horizontal AOA reference value and the vertical AOA reference value, the horizontal PDoA reference value and the vertical PDoA reference value are fixed and unchangeable, the electronic equipment does not substitute the actually detected PDoA measurement value into a calculation formula to calculate the AOA, but directly queries the corresponding relation to determine the calibration A, so that the PDoA measurement error is not introduced into the AOA determination process, and AOA calculation accuracy is improved.

In a second aspect, the present application provides an angle of arrival determination apparatus, the apparatus comprising:

an acquisition unit configured to acquire a first signal arrival phase difference measurement value data set including a first signal arrival phase difference measurement value in a horizontal direction and a first signal arrival phase difference measurement value in a vertical direction;

a determining unit, configured to determine, according to the first signal arrival phase difference measurement value data set and a preset first mapping relationship set, a first arrival angle calibration value data set associated with the first signal arrival phase difference measurement value data set, where the first mapping relationship set includes a correspondence between an arrival angle calibration value data set and a signal arrival phase difference reference value data set, the arrival angle calibration value data set includes preset arrival angle reference values in the horizontal direction and in the vertical direction, and the signal arrival phase difference reference value data set includes a signal arrival phase difference reference value in the horizontal direction and a signal arrival phase difference reference value in the vertical direction;

the determining unit is further configured to determine a first angle-of-arrival target value data set including the first angle-of-arrival measurement value in the horizontal direction and the first angle-of-arrival measurement value in the vertical direction as final measurement results, from the first angle-of-arrival calibration value data set.

In a third aspect, the present application provides an electronic device, one or more processors;

one or more memories for storing programs,

the one or more memories and the program are configured to control the electronic device, by the one or more processors, to execute the instructions of the steps in any of the methods of the first aspect of the embodiments of the present application.

In a fourth aspect, the present application provides an electronic device comprising:

an antenna assembly comprising a first antenna, a second antenna, and a third antenna, the first antenna and the second antenna for measuring an angle of arrival in a horizontal direction, the first antenna and the third antenna for measuring an angle of arrival in a vertical direction;

a short-range wireless communication module electrically connected to the antenna assembly for: determining a first signal arrival phase difference measurement value in the horizontal direction according to the phase difference of target short-range wireless communication signals received by the first antenna and the second antenna, and determining a first signal arrival phase difference measurement value in the vertical direction according to the phase difference of target short-range wireless communication signals received by the first antenna and the third antenna; determining a first angle-of-arrival calibration value data set associated with the first signal phase-difference-of-arrival measurement value data set based on the first signal phase-difference-of-arrival measurement value data set and a preset first mapping relationship set, the first set of mappings includes a correspondence between angle-of-arrival nominal value data sets and signal phase difference reference value data sets, the arrival angle calibration value data set contains preset arrival angle reference values in the horizontal direction and arrival angle reference values in the vertical direction, the signal arrival phase difference reference value data group includes the signal arrival phase difference reference value in the horizontal direction and the signal arrival phase difference reference value in the vertical direction, the first signal arrival phase difference measurement data group includes the first signal arrival phase difference measurement value in the horizontal direction and the first signal arrival phase difference measurement value in the vertical direction; and determining a first angle-of-arrival target value data set from the first angle-of-arrival calibration value data set, the first angle-of-arrival target value data set including the first angle-of-arrival measurement value in the horizontal direction and the first angle-of-arrival measurement value in the vertical direction as final measurement results.

In a fifth aspect, the present application provides a chip comprising: and the processor is used for calling and running the computer program from the memory so that the device provided with the chip executes part or all of the steps described in any method of the first aspect of the embodiment of the application.

In a sixth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program causes a computer to perform some or all of the steps as described in any one of the methods of the first aspect of the embodiments of the present application.

In a seventh aspect, the present application provides a computer program, wherein the computer program is operable to cause a computer to perform some or all of the steps as described in any of the methods of the first aspect of the embodiments of the present application. The computer program may be a software installation package.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1a is a schematic diagram of an electronic device provided with a three-antenna UWB communication module according to an embodiment of the present application;

FIG. 1b is a schematic diagram of a horizontal antenna pair measuring azimuth angle through a three-antenna UWB communication module according to an embodiment of the present application;

fig. 1c is a schematic diagram illustrating a three-antenna UWB communication module according to an embodiment of the present application with a constant azimuth and a varying elevation;

fig. 1d is a schematic diagram of a three-antenna UWB communication module provided in an embodiment of the present application with a changed azimuth angle and a constant pitch angle;

fig. 1e is a schematic diagram of another electronic device provided in the embodiments of the present application;

fig. 2 is a schematic flowchart of an angle of arrival determination method according to an embodiment of the present application;

fig. 3 is a block diagram of functional units of an angle-of-arrival determining apparatus according to an embodiment of the present disclosure;

fig. 4 is a block diagram of functional units of another apparatus for determining an angle of arrival according to an embodiment of the present disclosure;

fig. 5 is a schematic diagram of another electronic device provided in an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1a, fig. 1a is a schematic view of an electronic device provided with a three-antenna UWB communication module according to an embodiment of the present application. The electronic device includes a short-range wireless communication module including a first antenna (illustrated as ANT1) and a second antenna (illustrated as ANT2) for measuring an angle of arrival in a horizontal direction, and a first antenna and a third antenna (illustrated as ANT3) for measuring an angle of arrival in a vertical direction, wherein the first antenna, the second antenna, and the third antenna are disposed in an L shape, the first antenna and the second antenna constitute an antenna pair for measuring an azimuth angle, which is an AOA in the horizontal direction, and the first antenna and the third antenna constitute an antenna pair for measuring an elevation angle, which is an AOA in the vertical direction.

Referring to fig. 1b, fig. 1b is a schematic diagram illustrating a horizontal antenna pair measuring an azimuth angle through a three-antenna UWB communication module according to an embodiment of the present application. In the figure, θ 1 represents an azimuth angle of a first antenna and a tag device (e.g., UWB device, etc.), θ 2 represents an azimuth angle of a second antenna and the tag device, θ represents an azimuth angle of the electronic device and the tag device as a result of calculation of the azimuth angle, D represents a distance between the first antenna and the second antenna, D1 represents a distance between the first antenna and the tag device, D represents a distance between a midpoint between the first antenna and the second antenna and the tag device, dsinθ represents a vertical distance of the tag device with respect to a direction in which the first antenna and the second antenna are located, Dcos θ represents a horizontal mapping distance of D in a direction in which the first antenna and the second antenna are located, (Dcos θ -2 ÷ D) represents a horizontal mapping distance of the second antenna from the tag device in a direction in which the first antenna and the second antenna are located, (Dcos θ +2 ÷ D) represents a horizontal mapping distance of the first antenna from the tag device in a direction in which the first antenna and the second antenna are located, the frequency f range of the electromagnetic wave signal used by the electronic equipment is 6.24GHz to 8.34GHz, the wavelength range of the electromagnetic wave signal used by the electronic equipment is 36.4mm to 48mm, and the maximum allowable distance between the first antenna and the second antenna is d_maxThe propagation speed of an electromagnetic wave signal used by the electronic device is c.

The time t1 for the electromagnetic wave signal to travel from the tag device to the first antenna is greater than the time t for the signal to travel from the second antenna of the tag device.

The distance d1 that the electromagnetic wave signal travels from the tag device to the first antenna is greater than the distance d × cos θ that the signal travels from the second antenna of the tag device.

The distance difference d1 ═ Δ Φ × λ ÷ 360 ° can be calculated from the phase difference Δ Φ between the electromagnetic wave signal from the tag device to the first antenna and the wavelength λ of the electromagnetic wave signal from the second antenna of the tag device, and the phase difference Δ Φ between the signal from the tag device to the first antenna and the signal from the second antenna of the tag device is 360 ° × d × cos θ ÷ λ.

Referring to fig. 1c, fig. 1c is a schematic diagram illustrating an azimuth angle of a three-antenna UWB communication module is constant and a pitch angle of the three-antenna UWB communication module is changed according to an embodiment of the present application. In the figure, V denotes a pitch angle, TRX _ C denotes a position of ANT1 in fig. 1a, that is, an antenna which is located at an intermediate position and can simultaneously transmit and receive signals, RX _ H denotes a position of ANT3, that is, an antenna which is located in a horizontal direction and is used for receiving signals, TX denotes a position of a tag device, and PDoA values in a horizontal direction measured by the horizontal antenna pair RX _ H and TRX _ C are equal when V is different values such as 30 °/0 °/30 ° (the symbol "/" in the present application indicates "or") in a horizontal measurement of an azimuth angle according to a conventional method.

Referring to fig. 1d, fig. 1d is a schematic diagram illustrating a three-antenna UWB communication module according to an embodiment of the present application with a changed azimuth angle and a constant pitch angle; in the drawing, H denotes an azimuth angle, TRX _ C denotes a position of ANT1 in fig. 1a, that is, an antenna which is located at an intermediate position and can simultaneously transmit and receive signals, RX _ V denotes a position of ANT2, that is, an antenna which is located in a vertical direction and is used for receiving signals, TX denotes a position of a tag device, and PDoA values in a vertical direction measured by the vertical antenna for RX _ V and TRX _ C are equal when H is regarded as different values such as 30 °/0 °/30 ° (denoted by "/" in the present application or) in a vertical direction by a conventional method.

As a result of the analysis of the ideal state shown in fig. 1c, in an actual product, due to various factors such as polarization of the antenna, and an imperfect spherical wave of a signal emitted from a transmitting antenna of the tag device, when the actual V is different from 30 °/0 °/-30 °, the PDoA measurement value in the horizontal direction is different, so that the AOA value in the horizontal direction calculated according to the calculation method illustrated in fig. 1b is also different, and the AOA in the horizontal direction in the geometric relationship is the same, which leads to an error in the PDoA measurement in the horizontal direction. The analysis results of the ideal state shown in FIG. 1d are similar and will not be described herein.

Referring to fig. 1e, fig. 1e is a schematic view of another electronic device according to an embodiment of the disclosure. The electronic device comprises an application processor 120, a memory 130, a communication module 140, and one or more programs 131, wherein the application processor 120 is communicatively connected to the memory 130 and the communication module 140 via an internal communication bus.

In a specific implementation, the one or more programs 131 are stored in the memory 130 and configured to be executed by the application processor 120, and the one or more programs 131 include instructions for performing any of the steps in the embodiments of the present application.

Wherein the communication module 140 may include a UWB wireless communication module.

The Application Processor 120 may be, for example, a Central Processing Unit (CPU), a general purpose Processor, a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), other Programmable logic devices (Programmable Gate Array), a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, units, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication unit may be the communication module 140, the transceiver, the transceiving circuit, etc., and the storage unit may be the memory 130.

The memory 130 may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of Random Access Memory (RAM) are available, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), Enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct bus RAM (DR RAM).

Referring to fig. 2, fig. 2 is a schematic flowchart of an angle of arrival determination method provided in an embodiment of the present application, and is applied to an electronic device, where the electronic device includes a short-range wireless communication module, where the short-range wireless communication module includes a first antenna and a second antenna for measuring an angle of arrival in a horizontal direction, and includes the first antenna and a third antenna for measuring an angle of arrival in a vertical direction; as shown in the figure, the present angle-of-arrival determination method includes the following operations.

Step 201, a first signal arrival phase difference measurement value data set is obtained, where the first signal arrival phase difference measurement value data set includes a first signal arrival phase difference measurement value in a horizontal direction and a first signal arrival phase difference measurement value in a vertical direction.

The short-distance wireless communication module comprises an ultra-bandwidth UWB communication module, the first antenna, the second antenna and the third antenna are placed in an L shape, the first antenna and the second antenna form an antenna pair for measuring the horizontal AOA (angle of azimuth), and the first antenna and the third antenna form an antenna pair for measuring the vertical AOA (angle of elevation).

Step 202, determining a first arrival angle calibration value data set associated with the first signal arrival phase difference measurement value data set according to the first signal arrival phase difference measurement value data set and a preset first mapping relation set, where the first mapping relation set includes a correspondence between an arrival angle calibration value data set and a signal arrival phase difference reference value data set, the arrival angle calibration value data set includes the preset arrival angle reference value in the horizontal direction and the preset arrival angle reference value in the vertical direction, and the signal arrival phase difference reference value data set includes the signal arrival phase difference reference value in the horizontal direction and the signal arrival phase difference reference value in the vertical direction.

The first mapping relationship set may be embodied in the form of a matrix as shown in tables 1 and 2, where a row header of table 1 is a horizontal AOA reference value (indicated as H _ Angle in the table), a column header is a vertical AOA reference value (indicated as V _ Angle in the table), and the numerical step sizes of the horizontal arrival Angle reference value and the vertical arrival Angle reference value are 10 °, a horizontal PDoA reference value (indicated as HP _ H _ Angle _ V _ Angle) under the constraint of the horizontal arrival Angle reference value and the vertical arrival Angle reference value is recorded in each element of the matrix, a row header of table 2 is a horizontal AOA reference value, a column header is a vertical AOA reference value, and the numerical step sizes of the horizontal arrival Angle reference value and the vertical arrival Angle reference value are 10 °, in each element of the matrix, a PDoA reference value in the vertical direction (shown as VP _ H _ Angle _ V _ Angle) under the constraint of the corresponding arrival Angle reference value in the horizontal direction and the arrival Angle reference value in the vertical direction is recorded.

TABLE 1

TABLE 2

In addition, after the electronic device obtains the first angle of arrival measurement value in the horizontal direction and the first angle of arrival measurement value in the vertical direction, any one of the following filtering methods can be adopted for further processing so as to eliminate abnormal values caused by fluctuation.

The first method is as follows: after 10 first AOA target values are obtained, the numerical value of the fluctuation range obviously exceeding 10 average values in the 10 AOA target values is judged, and the abnormal value can be identified.

The second method comprises the following steps: and judging the difference between the current value and the former numerical value and the latter numerical value, and if the difference is obviously large, determining that the difference is an abnormal value.

Step 203, determining a first arrival angle target value data set according to the first arrival angle calibration value data set, the first arrival angle target value data set including the first arrival angle measurement value in the horizontal direction and the first arrival angle measurement value in the vertical direction as final measurement results.

Further, after determining a first angle-of-arrival target value data set from the first angle-of-arrival calibration value data set, the method further comprises: displaying the first angle-of-arrival measurement for the horizontal direction and the first angle-of-arrival measurement for the vertical direction.

It can be seen that, in the present example, the electronic device is able to determine the first angle-of-arrival target value data set from the first angle-of-arrival calibration value data set, for the purpose of further improving the accuracy of the result.

In this possible example, the signal arrival phase difference reference value data group corresponding to the first arrival angle scaling value data group in the first set of mappings is a first signal arrival phase difference reference value data group, and the first signal arrival phase difference reference value data group is a signal arrival phase difference reference value data group closest in numerical distance to the first signal arrival phase difference measurement value data group in the first set of mappings;

said determining a first angle-of-arrival target value data set from said first angle-of-arrival calibration value data set comprises: determining a first arrival angle checking angle range according to the first arrival angle calibration value data set; and determining a first arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the first arrival angle checking angle range.

The first angle-of-arrival refinement angle range may be determined by a first numerical step of the angle-of-arrival reference value and a first angle-of-arrival calibration value data set in the first set of mappings. For example, the first numerical step may be 10 °, the first angle of arrival calibration data set H _ AOA-30 °, V _ AOA-30 °, the angle of arrival refinement angle range for H _ AOA may be-35 ° to-25 °, and the angle of arrival refinement angle range for V _ AOA may be 25 ° to 35 °.

In a specific implementation, the electronic device may search for a signal arrival phase difference reference value data set with a closest numerical distance in a mode of root mean square minimum.

For example, for the AOA-PDoA matrix with 10 ° step size as shown in table 1, the AOA lattice point position with the closest distance to the first PDoA measurement value in the horizontal direction, i.e., H _ PDoA _ R, and the first PDoA measurement value in the vertical direction, i.e., V _ PDoA _ R, is found. Searching a nearest point by using a mode of root mean square minimum, and adopting the following formula:

wherein EVM _ coarse_mnDenotes a root mean square in the horizontal direction and the vertical direction, H _ PDoA _ S denotes a PDoA reference value, and m is-90, -80, -70, …, 70, 80, 90, n is-90, -80, -70, …, 70, 80, 90.

Through the method, the matrix of the EVM _ coarse can be obtained, the minimum value is searched in the matrix of the EVM _ coarse, and the position of the minimum value is the signal arrival phase difference reference value data group with the closest numerical distance.

As can be seen, in this example, the electronic device supports determining the refined angle range first, and then further determining the first arrival angle target value data set according to the refined angle range.

In one possible example, the determining a first angle-of-arrival target value data set from the first signal phase-difference-of-arrival measurement data set and the first angle-of-arrival refinement angle range includes: determining a reference mapping relation set corresponding to the arrival angle precision angle range in a preset second mapping relation set, where the second mapping relation set includes a correspondence between an arrival angle target value data set and a signal arrival phase difference reference value data set, the arrival angle target value data set includes a preset arrival angle reference value in the horizontal direction and an arrival angle reference value in the vertical direction, the signal arrival phase difference reference value data set includes a signal arrival phase difference reference value in the horizontal direction and a signal arrival phase difference reference value in the vertical direction, and a first numerical step of the arrival angle reference value in the first mapping relation set is greater than a second numerical step of the arrival angle reference value in the second mapping relation set; and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the reference mapping relation set.

Wherein the first numerical step may be 10 °, the second numerical step may be 1 °, and so on.

The second mapping relationship set may be embodied in a matrix as shown in tables 3 and 4, where a row header of table 3 is an AOA reference value in the horizontal direction, a column header is an AOA reference value in the vertical direction, and numerical steps of the arrival Angle reference value in the horizontal direction and the arrival Angle reference value in the vertical direction are 1 °, a PDoA reference value in the horizontal direction (shown as HP _ H _ Angle _ V _ Angle) under the constraint of the arrival Angle reference value in the corresponding horizontal direction and the arrival Angle reference value in the vertical direction is recorded in each element of the matrix, a row header of table 4 is an AOA reference value in the horizontal direction, a column header is an AOA reference value in the vertical direction, and numerical steps of the arrival Angle reference value in the horizontal direction and the arrival Angle reference value in the vertical direction are 1 °, and an arrival Angle reference value in the corresponding horizontal direction and an arrival Angle reference value in the vertical direction are recorded in each element of the matrix The PDoA reference value in the vertical direction (shown as VP _ -H _ Angle _ -V _ Angle).

TABLE 3

TABLE 4

In a specific implementation, when the reference mapping relation set is an AOA-PDoA matrix, the reference mapping relation set may be a matrix whose row width and column height are both the first numerical step length. Determining an angle of arrival target value data set from the first signal phase difference of arrival measurement data set and the reference mapping relationship set, comprising: traversing the root mean square of each element in the reference mapping relation set and the first signal arrival phase difference measurement value data set to obtain a root mean square set; and determining an AOA target value data set corresponding to the PDoA reference value data set corresponding to the root-mean-square with the minimum value in the root-mean-square set.

For example, assuming that the reference mapping relation set is a 10 ° × 10 ° refinement region in the matrix of table 3 and table 4, the distance closest point is found by means of root mean square minimum, and the root mean square calculation formula is as follows:

wherein EVM _ coarse_ijDenotes a root mean square in the horizontal direction and the vertical direction, and H _ PDoA _ S denotes a PDoA reference value, i ═ m-5, m-4, m-3, …, m +3, m +4, m +5, j ═ n-5, n-4, n-3, …, n +3, n +4, n +5, m ═ 90, -80, -70, …, 70, 80, 90, n ═ 90, -80, -70, …, 70, 80, 90.

By the method, the root-mean-square matrix corresponding to the refined area can be obtained, and the minimum value is searched in the root-mean-square matrix, wherein the position of the minimum value is the signal arrival phase difference reference value data group with the closest numerical distance.

As can be seen, in this example, the electronic device can determine the first angle-of-arrival target value data set by querying the set of mapping relationships with higher degrees of refinement and smaller AOA numerical step size.

In this possible example, the signal arrival phase difference reference value in the horizontal direction in the second set of mappings, excluding the signal arrival phase difference reference value in the horizontal direction in the first set of mappings, corresponds to the signal arrival phase difference measurement value in the horizontal direction determined by a numerical approximation method, and the signal arrival phase difference reference value in the vertical direction in the second set of mappings, excluding the signal arrival phase difference reference value in the vertical direction in the first set of mappings, corresponds to the signal arrival phase difference measurement value in the vertical direction determined by a numerical approximation method.

Wherein the numerical approximation method comprises interpolation or fitting. The second set of mapping relationships may be obtained by interpolating or fitting the first set of mapping relationships.

In addition, the second mapping relationship set can be obtained through detection.

In a specific implementation, the electronic device can obtain the second mapping relationship set by adopting an interpolation or fitting method on the basis of the first mapping relationship set.

As can be seen, in this example, the electronic device can process the first mapping relationship set by a numerical approximation method to obtain a second mapping relationship set with a higher refinement degree, and query the second mapping relationship set to determine the first angle-of-arrival target value data set.

In one possible example, the determining a first angle-of-arrival target value data set from the first signal phase-difference-of-arrival measurement data set and the first angle-of-arrival refinement angle range includes: determining at least one second angle-of-arrival calibration value data set different from the first angle-of-arrival calibration value data set within the angle-of-arrival refinement angle range; determining a functional relationship between an arrival angle value and a signal arrival phase difference value within the arrival angle fine-tuning angle range according to the first arrival angle calibration value data set and the at least one second arrival angle calibration value data set; and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the functional relation.

Wherein the angle-of-arrival refinement angle range is at least greater than the first numerical step to satisfy a condition including a plurality of angle-of-arrival calibration value data sets.

Preferably, two second arrival angle calibration value data sets are selected, and the numerical value relationship is distributed on two sides of the first arrival angle calibration value data set.

In a specific implementation, the functional relationship includes a functional relationship between an AOA value and a PDoA value in a horizontal direction and a functional relationship between an AOA value and a PDoA value in a vertical direction, a first signal arrival phase difference measurement value in the horizontal direction in which a first signal arrives in the phase difference measurement value data set is introduced into the functional relationship in the horizontal direction to obtain a first AOA target value in the horizontal direction, and a first signal arrival phase difference measurement value in the vertical direction in which the first signal arrives in the phase difference measurement value data set is introduced into the functional relationship in the horizontal direction to obtain a first AOA target value in the vertical direction.

In this example, after determining the first arrival angle calibration value data set and the arrival angle precision check angle range, the electronic device may further screen the second arrival angle calibration value data set within the arrival angle precision check angle range, determine a functional relationship between the AOA value and the PDoA value within the arrival angle precision check angle range according to the first arrival angle calibration value data set and the second arrival angle calibration value data set, introduce the first signal arrival phase difference measurement value data set into the functional relationship, and dynamically calculate to obtain the arrival angle target value data set.

In this possible example, the determining at least one second angle of arrival calibration value data set different from the first angle of arrival calibration value data set within the angle of arrival refinement range includes: determining a plurality of angle-of-arrival calibration value data sets within the angle-of-arrival refinement angle range in the first set of mapping relationships; at least one second angle of arrival calibration value data set different from the first angle of arrival calibration value data set is screened from the plurality of angle of arrival calibration value data sets.

Wherein the plurality of angle-of-arrival calibration value data sets includes at least the first angle-of-arrival calibration value data set and a single first angle-of-arrival calibration value data set adjacent to the first angle-of-arrival calibration value data set.

As can be seen, in this example, the electronic device screens the data set used to determine the functional relationship from the first set of mapping relationships to ensure accuracy.

In one possible example, the signal arrival phase difference reference value data set corresponding to the first arrival angle scaling value data set in the first set of mappings is a first signal arrival phase difference reference value data set, and the first signal arrival phase difference reference value data set is at least two signal arrival phase difference reference value data sets in the first set of mappings that are most numerically distance-ordered from the first signal arrival phase difference measurement value data set;

said determining a first angle-of-arrival target value data set from said first angle-of-arrival calibration value data set comprises: determining a functional relation between an arrival angle value and a signal arrival phase difference value according to the at least two signal arrival phase difference reference value data sets; and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the functional relation.

The functional relationship may be determined by linear interpolation or polynomial interpolation.

Wherein the at least two may be 2, 3, etc.

In a specific implementation, the electronic device may search for at least two signal arrival phase difference reference value data sets with the numerical distances ranked most forward in a mode of root mean square minimum.

It can be seen that, in the present example, the electronic device can directly screen out at least two signal arrival phase difference reference value data sets, and determine the functional relationship between the AOA value and the PDoA value according to the at least two signal arrival phase difference reference value data sets.

In one possible example, the horizontal-direction signal arrival phase difference reference value corresponds to the horizontal-direction signal arrival phase difference measurement value actually detected by the short-range wireless communication module, and the vertical-direction signal arrival phase difference reference value corresponds to the vertical-direction signal arrival phase difference measurement value actually detected by the short-range wireless communication module.

And obtaining the signal arrival phase difference measurement value in the first mapping relation set through experimental detection.

The reference value may be equal to the measurement value, or the reference value may be obtained by compensating and descrambling the measurement value, and the latter may calibrate an error caused by the routing of the circuit board, so as to overcome a detection result error due to routing difference and structural difference.

In a specific implementation, the specific implementation manner of the compensation process may be: the PDoA reference value is obtained by compensating the PDoA measurement value actually measured by using the PDoA compensation value in the corresponding direction, using the H _ PDoA, which is the horizontal PDoA at the position of the angle of arrival (H _0, V _0), and the V _ PDoA, which is the vertical PDoA, as the compensation values for the PDoA in the respective directions.

For example, the compensation processing is performed on tables 3 and 4, and then the matrices shown in tables 5 and 6 are obtained.

In table 5, H _ PDoA extracted at the position where the angle of arrival AOA is (H _0, V _0) is H _ offset, as shown in the table: h _ offset is HP _00_00, and then H _ offset and V _ offset are subtracted from all elements in the H _ PDoA matrix to obtain a compensated AOA-PDoA matrix in the horizontal direction.

In table 6, V _ PDoA extracted at the position where the angle of arrival AOA is (H _0, V _0) is V _ offset, as shown in the table: and if V _ offset is VP _00_00, then V _ offset is subtracted from all elements in the V _ PDoA matrix to obtain a compensated AOA-PDoA matrix in the vertical direction.

TABLE 5

TABLE 6

In a specific implementation, PdoA is periodic at (-180 °, +180 °), so the AOA-PdoA matrix element after compensation processing may exceed the range of (-180 °, +180 °), and at this time, the unwinding processing is required, that is:

PDoA of < -180 DEG +360 DEG is such that it is in the range (-180 DEG, +180 DEG);

a PDoA of +180 DEG-360 DEG makes it in the range of (-180 DEG, +180 deg).

For example, the compensation processing is performed on tables 5 and 6, and then the matrices shown in tables 7 and 8 are obtained. In table 7, HPU _ H _ Angle _ V _ Angle represents an element in the AOA-PDoA matrix in the horizontal direction after the deconvolution processing. In table 8, VPU _ H _ Angle _ V _ Angle represents an element in the AOA-PDoA matrix in the vertical direction after the deconvolution processing.

TABLE 7

TABLE 8

As can be seen, in this example, the PDoA reference value in the first mapping relationship set may be obtained based on the PDoA measurement value, so as to improve the accuracy.

It can be seen that, in the embodiment of the present application, the electronic device first acquires the PDoA measurement value data set of the first signal arrival phase difference detected by the wireless communication module, and then determines the AOA calibration value data set of the first angle of arrival associated with the PDoA measurement value data set according to the first PDoA measurement value data set and the preset first mapping relationship set, where the AOA calibration value data set includes the preset AOA reference value in the horizontal direction and the preset AOA reference value in the vertical direction, and the first mapping relationship set includes the correspondence between the AOA calibration value data set and the PDoA reference value data set, the AOA calibration value data set includes the preset AOA reference value in the horizontal direction and the preset AOA reference value in the vertical direction, and the PDoA reference value data set includes the PDoA reference value in the horizontal direction and the PDoA reference value in the vertical direction, and it can be seen that each AOA calibration value data set has a unique PDoA reference value set corresponding to it, under the constraint of the AOA reference value in the horizontal direction and the AOA reference value in the vertical direction, the PDoA reference value in the horizontal direction and the PDoA reference value in the vertical direction are fixed and unchanged, the electronic equipment does not substitute the actually detected PDoA measurement value into a calculation formula to calculate the AOA, but directly queries the corresponding relation to determine the calibrated AOA, so that the PDoA measurement error is not introduced into the determination process of the AOA, and the AOA calculation accuracy is improved.

The embodiment of the application provides an arrival angle determining device, which can be an electronic device. Specifically, the arrival angle determining apparatus is configured to perform the steps performed by the electronic device in the distance relationship determining method. The device for determining the arrival angle provided by the embodiment of the application can comprise modules corresponding to the corresponding steps.

In the embodiment of the present application, the arrival angle determining apparatus may be divided into the functional modules according to the above method example, for example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one processing module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The division of the modules in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation.

Fig. 3 shows a schematic diagram of a possible structure of the angle-of-arrival determining apparatus according to the above embodiment, in a case where each functional module is divided according to each function. As shown in fig. 3, the arrival angle determining apparatus 3 is applied to an electronic device; the device comprises:

an acquisition unit 30 for acquiring a first signal arrival phase difference measurement value data set including a first signal arrival phase difference measurement value in the horizontal direction and a first signal arrival phase difference measurement value in the vertical direction;

a determining unit 31, configured to determine, according to the first signal arrival phase difference measurement value data set and a preset first mapping relationship set, a first arrival angle calibration value data set associated with the first signal arrival phase difference measurement value data set, where the first mapping relationship set includes a correspondence between an arrival angle calibration value data set and a signal arrival phase difference reference value data set, the arrival angle calibration value data set includes preset arrival angle reference values in the horizontal direction and in the vertical direction, and the signal arrival phase difference reference value data set includes the signal arrival phase difference reference value in the horizontal direction and the signal arrival phase difference reference value in the vertical direction.

The determining unit 31 is further configured to determine a first angle-of-arrival target value data set from the first angle-of-arrival target value data set, the first angle-of-arrival target value data set including the first angle-of-arrival measurement value in the horizontal direction and the first angle-of-arrival measurement value in the vertical direction as final measurement results.

In one possible example, the signal arrival phase difference reference value data group corresponding to the first arrival angle scaling value data group in the first set of mappings is a first signal arrival phase difference reference value data group, and the first signal arrival phase difference reference value data group is a signal arrival phase difference reference value data group closest in numerical distance to the first signal arrival phase difference measurement value data group in the first set of mappings; in said determining a first angle-of-arrival target value data set from said first angle-of-arrival target value data set, said determining unit 31 is specifically configured to: determining a first arrival angle checking angle range according to the first arrival angle calibration value data set; and determining a first angle-of-arrival target value data set from the first signal phase-difference-of-arrival measurement value data set and the first angle-of-arrival refinement angle range.

In one possible example, in the determining of the first angle-of-arrival target value data set from the first signal phase-difference-of-arrival measurement data set and the first angle-of-arrival refinement angle range, the determining unit 31 is specifically configured to: determining a reference mapping relation set corresponding to the arrival angle precision angle range in a preset second mapping relation set, where the second mapping relation set includes a correspondence between an arrival angle target value data set and a signal arrival phase difference reference value data set, the arrival angle target value data set includes a preset arrival angle reference value in the horizontal direction and an arrival angle reference value in the vertical direction, the signal arrival phase difference reference value data set includes a signal arrival phase difference reference value in the horizontal direction and a signal arrival phase difference reference value in the vertical direction, and a first numerical step of the arrival angle reference value in the first mapping relation set is greater than a second numerical step of the arrival angle reference value in the second mapping relation set; and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the reference mapping relation set.

In one possible example, the horizontal-direction signal arrival phase difference reference value in the second set of mappings other than the horizontal-direction signal arrival phase difference reference value in the first set of mappings corresponds to the horizontal-direction signal arrival phase difference measurement value determined by a numerical approximation method, and the vertical-direction signal arrival phase difference reference value in the second set of mappings other than the vertical-direction signal arrival phase difference reference value in the first set of mappings corresponds to the vertical-direction signal arrival phase difference measurement value determined by a numerical approximation method.

In one possible example, in the determining of the first angle-of-arrival target value data set from the first signal phase-difference-of-arrival measurement data set and the first angle-of-arrival refinement angle range, the determining unit 31 is specifically configured to: determining at least one second angle-of-arrival calibration value data set different from the first angle-of-arrival calibration value data set within the angle-of-arrival refinement angle range; and determining a functional relationship between an angle of arrival value and a signal arrival phase difference value within the angle of arrival refinement angle range according to the first angle of arrival calibration value data set and the at least one second angle of arrival calibration value data set; and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the functional relation.

In one possible example, in determining at least one second angle-of-arrival calibration value data set different from the first angle-of-arrival calibration value data set within the angle-of-arrival refinement angle range, the determining unit 31 is specifically configured to: determining a plurality of angle-of-arrival calibration value data sets within the angle-of-arrival refinement angle range in the first set of mapping relationships; and filtering at least one second angle of arrival calibration value data set, different from the first angle of arrival calibration value data set, from the plurality of angle of arrival calibration value data sets.

In one possible example, the signal arrival phase difference reference value data set corresponding to the first arrival angle scaling value data set in the first set of mappings is a first signal arrival phase difference reference value data set, and the first signal arrival phase difference reference value data set is at least two signal arrival phase difference reference value data sets in the first set of mappings that are most numerically distance-ordered from the first signal arrival phase difference measurement value data set; in said determining a first angle-of-arrival target value data set from said first angle-of-arrival target value data set, said determining unit 31 is specifically configured to: determining a functional relation between an arrival angle value and a signal arrival phase difference value according to the at least two signal arrival phase difference reference value data sets; and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the functional relation.

In the case of an integrated unit, a schematic structural diagram of another angle of arrival determination apparatus provided in the embodiments of the present application is shown in fig. 4. In fig. 4, the arrival angle determining device 4 includes: a processing module 40 and a communication module 41. The processing module 40 is used for controlling and managing actions of the device control apparatus, such as steps performed by the obtaining unit 30, the determining unit 31, and/or other processes for performing the techniques described herein. The communication module 41 is used to support interaction between the device control apparatus and other devices. As shown in fig. 4, the angle of arrival determining means may further comprise a storage module 42, the storage module 42 being adapted to store program codes and data of the angle of arrival determining means.

The Processing module 40 may be a Processor or a controller, and may be, for example, a Central Processing Unit (CPU), a general-purpose Processor, a Digital Signal Processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. Which may implement or perform the various illustrative logical blocks, modules, and circuits described in connection with the disclosure. The processor may also be a combination of computing functions, e.g., comprising one or more microprocessors, DSPs, and microprocessors, among others. The communication module 41 may be a transceiver, an RF circuit or a communication interface, etc. The storage module 42 may be a memory.

All relevant contents of each scene related to the method embodiment may be referred to the functional description of the corresponding functional module, and are not described herein again. Both the arrival angle determining means 3 and the arrival angle determining means 4 can execute the steps executed by the electronic device in the distance relationship determining method shown in fig. 2.

As shown in fig. 5, an embodiment of the present application further provides an electronic device 50, including:

an antenna assembly 510 comprising a first antenna 511, a second antenna 512 and a third antenna 513, the first antenna 511 and the second antenna 512 being used for measuring an angle of arrival in a horizontal direction, the first antenna 511 and the third antenna 513 being used for measuring an angle of arrival in a vertical direction;

a short-range wireless communication module 520 electrically connected to the antenna assembly 510 for: determining the first signal arrival phase difference measurement value in the horizontal direction according to the phase difference of the target short-range wireless communication signals received by the first antenna 511 and the second antenna 512, and determining the first signal arrival phase difference measurement value in the vertical direction according to the phase difference of the target short-range wireless communication signals received by the first antenna 511 and the third antenna 513; determining a first angle-of-arrival calibration value data set associated with the first signal phase-difference-of-arrival measurement value data set based on the first signal phase-difference-of-arrival measurement value data set and a preset first mapping relationship set, the first set of mappings includes a correspondence between angle-of-arrival nominal value data sets and signal phase difference reference value data sets, the arrival angle calibration value data set contains preset arrival angle reference values in the horizontal direction and arrival angle reference values in the vertical direction, the signal arrival phase difference reference value data group includes the signal arrival phase difference reference value in the horizontal direction and the signal arrival phase difference reference value in the vertical direction, the first signal arrival phase difference measurement data group includes the first signal arrival phase difference measurement value in the horizontal direction and the first signal arrival phase difference measurement value in the vertical direction.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. The procedures or functions according to the embodiments of the present application are wholly or partially generated when the computer instructions or the computer program are loaded or executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire or wirelessly. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.

Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, the computer program enabling a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device.

It should be understood that, in the various embodiments of the present application, the sequence numbers of the above-mentioned processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

In the several embodiments provided in the present application, it should be understood that the disclosed method, apparatus and system may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative; for example, the division of the unit is only a logic function division, and there may be another division manner in actual implementation; for example, various elements or components may be combined or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications can be easily made by those skilled in the art without departing from the spirit and scope of the present invention, and it is within the scope of the present invention to include different functions, combination of implementation steps, software and hardware implementations.

Claims

1. A method for determining an angle of arrival, comprising:

2. The method of claim 1, wherein the signal arrival phase difference reference value data set corresponding to the first angle-of-arrival calibration value data set in the first set of mappings is a first signal arrival phase difference reference value data set, and the first signal arrival phase difference reference value data set is a signal arrival phase difference reference value data set closest in numerical distance to the first signal arrival phase difference measurement value data set in the first set of mappings;

said determining a first angle-of-arrival target value data set from said first angle-of-arrival calibration value data set comprises:

determining a first arrival angle checking angle range according to the first arrival angle calibration value data set;

and determining a first arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the first arrival angle checking angle range.

3. The method according to claim 2, wherein said determining a first angle-of-arrival target value data set from said first signal phase-difference-of-arrival measurement data set and said first angle-of-arrival refinement angle range, comprises:

determining a reference mapping relation set corresponding to the arrival angle precision angle range in a preset second mapping relation set, where the second mapping relation set includes a correspondence between an arrival angle target value data set and a signal arrival phase difference reference value data set, the arrival angle target value data set includes a preset arrival angle reference value in the horizontal direction and an arrival angle reference value in the vertical direction, the signal arrival phase difference reference value data set includes a signal arrival phase difference reference value in the horizontal direction and a signal arrival phase difference reference value in the vertical direction, and a first numerical step of the arrival angle reference value in the first mapping relation set is greater than a second numerical step of the arrival angle reference value in the second mapping relation set;

and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the reference mapping relation set.

4. The method according to claim 3, wherein the signal arrival phase difference reference value in the horizontal direction in the second set of mappings, excluding the signal arrival phase difference reference value in the horizontal direction in the first set of mappings, corresponds to the signal arrival phase difference measurement value in the horizontal direction determined by a numerical approximation method, and the signal arrival phase difference reference value in the vertical direction in the second set of mappings, excluding the signal arrival phase difference reference value in the vertical direction in the first set of mappings, corresponds to the signal arrival phase difference measurement value in the vertical direction determined by a numerical approximation method.

5. The method according to claim 2, wherein said determining a first angle-of-arrival target value data set from said first signal phase-difference-of-arrival measurement data set and said first angle-of-arrival refinement angle range, comprises:

determining at least one second angle-of-arrival calibration value data set different from the first angle-of-arrival calibration value data set within the angle-of-arrival refinement angle range;

determining a functional relationship between an arrival angle value and a signal arrival phase difference value within the arrival angle fine-tuning angle range according to the first arrival angle calibration value data set and the at least one second arrival angle calibration value data set;

and determining an arrival angle target value data set according to the first signal arrival phase difference measurement value data set and the functional relation.

6. The method according to claim 5, wherein said determining at least one second angle of arrival calibration value data set, different from said first angle of arrival calibration value data set, within said angle of arrival refinement angular range comprises:

determining a plurality of angle-of-arrival calibration value data sets within the angle-of-arrival refinement angle range in the first set of mapping relationships;

at least one second angle of arrival calibration value data set different from the first angle of arrival calibration value data set is screened from the plurality of angle of arrival calibration value data sets.

7. The method of claim 1, wherein the signal arrival phase difference reference value data sets of the first set of mappings corresponding to the first angle of arrival calibration value data set are first signal arrival phase difference reference value data sets, and the first signal arrival phase difference reference value data sets are at least two signal arrival phase difference reference value data sets of the first set of mappings most ordered in numerical distance from the first signal arrival phase difference measurement value data set;

determining a functional relation between an arrival angle value and a signal arrival phase difference value according to the at least two signal arrival phase difference reference value data sets;

8. The method according to any one of claims 1 to 7, wherein the horizontal direction signal arrival phase difference reference value corresponds to the horizontal direction signal arrival phase difference measurement value actually detected by the short-range wireless communication module, and the vertical direction signal arrival phase difference reference value corresponds to the vertical direction signal arrival phase difference measurement value actually detected by the short-range wireless communication module.

9. An angle-of-arrival determination apparatus, comprising:

10. An electronic device, characterized in that the electronic device comprises:

one or more processors;

one or more memories for storing programs,

the one or more memories and the program are configured to control the apparatus to perform the steps in the method of any one of claims 1-8 by the one or more processors.

11. An electronic device, comprising:

12. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-8.