CN112731274A - Angle determination method and device, electronic equipment and storage medium - Google Patents
Angle determination method and device, electronic equipment and storage medium Download PDFInfo
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- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
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Abstract
The embodiment of the application discloses an angle determining method, an angle determining device and a storage medium, wherein the method comprises the following steps: acquiring current attitude information of the electronic equipment; acquiring a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives in the electronic equipment; and determining the current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
Description
Technical Field
The embodiment of the application relates to the technical field of communication, and in particular relates to an angle determination method and device, electronic equipment and a storage medium.
Background
Ultra Wide Band (UWB) is a short-range wireless communication technology, and the transmission distance is usually within 10m, and a bandwidth of 1GHz or more is used.
UWB does not employ carriers, but rather utilizes nanosecond to picosecond-level narrow non-sinusoidal pulses to transmit data, and therefore occupies a wide spectrum, and is suitable for high-speed, close-range wireless personal communications. The Federal Communications Commission (FCC) of the united states stipulates that UWB operates in a frequency band ranging from 3.1GHz to 10.6Hz with a minimum operating bandwidth of 500 MHz. The center frequency of the mainstream UWB frequency band is 6.5GHz and 8GHz, and the bandwidth is required to be more than 500 MHz.
Currently, Phase Difference of arrival (PDOA) of signals received by different ultra-wideband antennas of electronic equipment is a key parameter for calculating an Angle of arrival (AOA), and the calculated Angle of arrival has low accuracy.
Disclosure of Invention
The embodiment of the application provides an angle determining method and device, electronic equipment and a storage medium, and angle measuring accuracy of the electronic equipment is improved.
The technical scheme of the embodiment of the application is realized as follows:
the embodiment of the application provides an angle determining method, which comprises the following steps:
acquiring current attitude information of the electronic equipment;
acquiring a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives in the electronic equipment;
and determining a current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
In the above method, the acquiring current attitude information of the electronic device includes:
acquiring current pitch angle information of the electronic equipment, which is acquired by the gyroscope sensor;
and determining the current pitch angle information as the current attitude information.
In the above method, the determining a current accurate arrival angle of the target ultra-wideband signal at the electronic device based on the current attitude information and the current arrival phase difference includes:
searching for an accurate arrival angle corresponding to the current attitude information and the current arrival phase difference from a corresponding relation among preset attitude information, arrival phase differences and accurate arrival angles;
and determining the found accurate arrival angle as the current accurate arrival angle.
In the above method, before the searching for the accurate angle of arrival corresponding to the current attitude information and the current phase difference of arrival, the method further includes:
acquiring attitude information of the electronic equipment under different attitudes;
acquiring the corresponding relation between the arrival phase difference and the accurate arrival angle of the electronic equipment under different postures;
and associating the attitude information of the electronic equipment in the same attitude with the corresponding relation between the arrival phase difference and the accurate arrival angle to obtain the corresponding relation between the preset attitude information, the arrival phase difference and the accurate arrival angle.
In the method, the obtaining a corresponding relationship between an arrival phase difference and a precise arrival angle of the electronic device in different postures includes:
acquiring arrival phase differences of ultra-wideband signals sent from different directions to the first ultra-wideband antenna and the second ultra-wideband antenna under a first posture of the electronic equipment to obtain a plurality of arrival phase differences;
obtaining accurate arrival angles of the ultra-wideband signals sent from different directions to the electronic equipment to obtain a plurality of accurate arrival angles;
and correspondingly associating the multiple arrival phase differences with the multiple accurate arrival angles to obtain a corresponding relation between the arrival phase differences and the accurate arrival angles of the electronic equipment in the first posture.
The embodiment of the application provides an angle determining device, including:
the first acquisition module is used for acquiring current attitude information of the electronic equipment;
the second acquisition module is used for acquiring the current arrival phase difference of the first ultra-wideband antenna and the second ultra-wideband antenna when the target ultra-wideband signal arrives in the electronic equipment;
and the angle determining module is used for determining the current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
An embodiment of the present application provides an electronic device, including:
a posture acquisition device for acquiring current posture information of the electronic device;
the antenna comprises a first ultra-wideband antenna and a second ultra-wideband antenna, wherein the first ultra-wideband antenna and the second ultra-wideband antenna are used for respectively receiving target ultra-wideband signals;
the processor is connected with the attitude acquisition device, the first ultra-wideband antenna and the second ultra-wideband antenna, and is used for acquiring a current arrival phase difference of the target ultra-wideband signal arriving at the first ultra-wideband antenna and the second ultra-wideband antenna; and determining a current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
In the above electronic apparatus, the attitude acquisition device is a gyro sensor;
the gyroscope sensor is specifically used for acquiring current pitch angle information of the electronic equipment; and the current pitch angle information is the current attitude information.
In the electronic device, the processor is specifically configured to search for an accurate arrival angle corresponding to the current attitude information and the current arrival phase difference from a corresponding relationship among preset attitude information, an arrival phase difference, and an accurate arrival angle; and determining the found accurate arrival angle as the current accurate arrival angle.
An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-described angle determination method.
The embodiment of the application provides an angle determining method, which comprises the following steps: acquiring current attitude information of the electronic equipment; acquiring a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives in the electronic equipment; and determining the current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference. According to the technical scheme provided by the embodiment of the application, the accurate arrival angle of the signal to the electronic equipment is determined by utilizing the attitude information of the electronic equipment and the arrival phase difference of the received signal between the antennas, and the angle measurement precision of the electronic equipment is improved.
Drawings
Fig. 1 is a schematic flowchart of an angle determining method according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of an exemplary signal propagation provided by an embodiment of the present application;
fig. 3 is a schematic diagram illustrating an exemplary corresponding relationship between preset attitude information, an arrival phase difference, and an accurate arrival angle according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram illustrating the determination of an angle of arrival according to the prior art;
fig. 5 is a schematic structural diagram of an angle determining apparatus according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The embodiment of the application provides an angle determining method which is realized by an angle determining device. The angle determining means may be provided in the electronic device, i.e. the electronic device may comprise the angle determining means. Fig. 1 is a schematic flow chart of an angle determining method according to an embodiment of the present application. As shown in fig. 1, in an embodiment of the present application, an angle determining method includes the steps of:
s101, obtaining current posture information of the electronic equipment.
In an embodiment of the application, the angle determining apparatus may obtain current posture information of the electronic device.
It should be noted that, in the embodiment of the present application, the current posture information of the electronic device, that is, the information representing the current posture of the electronic device, and the embodiment of the present application is not limited.
Specifically, in an embodiment of the present application, the electronic device includes a gyroscope sensor, and the obtaining, by the angle determining device, current attitude information of the electronic device includes: acquiring current pitch angle information of the electronic equipment, which is acquired by a gyroscope sensor; and determining the current pitch angle information as the current attitude information.
It should be noted that, in the embodiment of the present application, the electronic device may include a gyroscope sensor, and the gyroscope sensor may obtain pitch angle information of the electronic device in real time, where the pitch angle information is current attitude information of the electronic device. Of course, other devices capable of collecting the posture information of the electronic device may also be arranged in the electronic device, and the current posture information of the electronic device may also be other types of information capable of representing the current posture of the electronic device, which is not limited in the embodiment of the present application.
It should be noted that, in the embodiment of the present application, the current attitude information of the resistive device, acquired by the angle determining device, may include not only the current pitch angle information of the electronic device, but also information of other dimensions, such as the landscape screen information and the portrait screen information of the electronic device, and the embodiment of the present application is not limited.
S102, obtaining a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives at the electronic equipment.
In the embodiment of the application, the angle determining device can obtain the current arrival phase difference of the first ultra-wideband antenna and the second ultra-wideband antenna when the target ultra-wideband signal arrives at the electronic device while obtaining the current attitude information of the electronic device.
It should be noted that, in the embodiment of the present application, the electronic device may include a plurality of ultra-wideband antennas, the first ultra-wideband antenna and the second ultra-wideband antenna may be two of the antennas, the target ultra-wideband signal may be an ultra-wideband signal sent by any device around the electronic device, the first ultra-wideband antenna and the second ultra-wideband antenna may receive the target ultra-wideband signal respectively, and the angle determining device may thereby obtain a current arrival phase difference of the target ultra-wideband signal arriving at the first ultra-wideband antenna and the second ultra-wideband antenna.
Fig. 2 is a schematic diagram of exemplary signal propagation provided by an embodiment of the present application. As shown in fig. 2, TX is an antenna for sending out a target ultra wide band signal, RX1 is a first ultra wide band antenna, RX2 is a second ultra wide band antenna, and a certain path difference exists between the target ultra wide band signal transmitted to the first ultra wide band antenna RX1 and the second ultra wide band antenna RX2, so that a certain phase difference exists between the target ultra wide band signal arriving at the first ultra wide band antenna RX1 and the second ultra wide band antenna RX2, that is, a current arriving phase difference exists.
S103, determining a current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
In an embodiment of the application, after obtaining the current attitude information and the current arrival phase difference, the angle determining apparatus may determine a current accurate arrival angle at which the target ultra-wideband signal arrives at the electronic device based on the current attitude information and the current arrival phase difference.
Specifically, in an embodiment of the present application, the determining a current accurate arrival angle of the target ultra-wideband signal at the electronic device based on the current attitude information and the current arrival phase difference by the angle determining apparatus includes: searching for an accurate arrival angle corresponding to the current attitude information and the current arrival phase difference from the corresponding relation of the preset attitude information, the arrival phase difference and the accurate arrival angle; and determining the found accurate arrival angle as the current accurate arrival angle.
It should be noted that, in the embodiment of the present application, a corresponding relationship between the preset posture information, the arrival phase difference, and the accurate arrival angle is stored in the angle determining device, and the specific corresponding relationship between the preset posture information, the arrival phase difference, and the accurate arrival angle is not limited in the embodiment of the present application.
It should be noted that, in the embodiment of the present application, the angle determining device may determine the current accurate arrival angle by searching from the corresponding relationship among the preset posture information, the arrival phase difference, and the accurate arrival angle according to the current posture information and the current arrival phase difference, or may calculate the current accurate arrival angle by using a specific calculation method according to the current posture information and the current arrival phase difference. The specific mode of determining the current accurate arrival angle based on the current attitude information and the current arrival phase difference can be set according to actual requirements, and the embodiment of the application is not limited.
It can be understood that, in the embodiment of the present application, under the condition that the angle determining device obtains the current posture information and the current arrival phase difference, the current posture information and the current arrival phase difference may be matched with the corresponding relationship between the preset posture information, the arrival phase difference, and the accurate arrival angle, so as to find out the corresponding accurate arrival angle as the current accurate arrival angle.
For example, in the embodiment of the present application, the preset posture information, the arrival phase difference, and the accurate arrival angle are in a corresponding relationship as shown in the following table 1:
TABLE 1
Where phi is pitch angle information, theta is an accurate angle of arrival, and the angle determining device may search for the corresponding accurate angle of arrival in table 1 after obtaining the current pitch angle information and the current phase difference of arrival.
Fig. 3 is a schematic diagram illustrating an exemplary corresponding relationship between preset attitude information, an arrival phase difference, and an accurate arrival angle according to an embodiment of the present disclosure. As shown in fig. 3, for different pitch angle information phi, a series of corresponding values of the phase difference of arrival and the accurate angle of arrival are respectively corresponded.
Fig. 4 is a schematic diagram of determining an angle of arrival according to the prior art. As shown in fig. 4, in the prior art, the arrival angle θ can be determined according to the phase difference PDOA of a certain ultra-wideband signal arriving at the ultra-wideband antenna a and the ultra-wideband antenna B, the signal wavelength λ, and the distance d between the ultra-wideband antenna a and the ultra-wideband antenna B, and the relationship between PDOA, λ, d, and θ is shown in the following formula (1):
since λ and d are known fixed values and PDOA is a value actually acquired, the arrival angle θ can be calculated based on the formula (1). However, since different postures of the electronic device will cause the acquired PDOA to be inaccurate, the arrival angle θ calculated by using the acquired PDOA in the prior art is also inaccurate in practice, and for this reason, in the embodiment of the present application, the angle determining device stores the correspondence between the preset posture information and the arrival phase difference and the accurate arrival angle, that is, stores the high-precision arrival angle corresponding to the acquired different arrival phase differences in different postures in advance, so that the accurate arrival angle corresponding to the acquired arrival phase difference can be searched according to the current posture information, thereby improving the precision of the arrival angle.
It should be noted that, in the embodiment of the present application, before the angle determining apparatus finds the accurate arrival angle corresponding to the current attitude information and the current arrival phase difference, the following steps may be further performed: acquiring attitude information of the electronic equipment in different attitudes; acquiring the corresponding relation between the arrival phase difference and the accurate arrival angle of the electronic equipment under different postures; and associating the attitude information of the electronic equipment in the same attitude with the corresponding relation between the arrival phase difference and the accurate arrival angle to obtain the corresponding relation between the preset attitude information, the arrival phase difference and the accurate arrival angle.
It can be understood that, in the embodiment of the present application, the angle determining device may obtain the posture information of the electronic device in different postures in advance, and the corresponding relationship between the arrival phase difference and the accurate arrival angle in different postures, so as to associate the posture information corresponding to each posture, and the corresponding relationship between the arrival phase difference and the accurate arrival angle, and form the corresponding relationship between the preset posture information, the arrival phase difference, and the accurate arrival angle.
Specifically, in an embodiment of the present application, the obtaining, by the angle determining device, a corresponding relationship between an arrival phase difference and an accurate arrival angle of the electronic device in different postures includes: acquiring arrival phase differences of ultra-wideband signals sent from different directions to a first ultra-wideband antenna and a second ultra-wideband antenna of the electronic equipment in a first posture to obtain a plurality of arrival phase differences; obtaining accurate arrival angles of ultra-wideband signals sent from different directions to the electronic equipment to obtain a plurality of accurate arrival angles; and correspondingly associating the multiple arrival phase differences with the multiple accurate arrival angles to obtain a corresponding relation between the arrival phase differences and the accurate arrival angles of the electronic equipment in the first posture.
It can be understood that, in the embodiment of the application, for an electronic device in any posture, that is, in a first posture, the angle determining device may acquire the ultra-wideband signals sent from different directions, the arrival phase difference reaching the first ultra-wideband antenna and the second ultra-wideband antenna, and the accurate arrival angle reaching the electronic device, so as to correspondingly associate the arrival phase difference corresponding to the ultra-wideband signals sent from the same direction with the accurate arrival angle, that is, to obtain the corresponding relationship between the arrival phase difference and the accurate arrival angle of the electronic device in the first posture. In addition, for the electronic device in the posture different from the first posture, the corresponding relationship may be obtained in the same manner, which is not described herein again.
The embodiment of the application provides an angle determining method, which comprises the following steps: acquiring current attitude information of the electronic equipment; acquiring a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives in the electronic equipment; and determining the current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference. According to the technical scheme provided by the embodiment of the application, the accurate arrival angle of the signal to the electronic equipment is determined by utilizing the attitude information of the electronic equipment and the arrival phase difference between the antennas, and the angle measurement precision of the electronic equipment is improved.
The embodiment of the application also provides an angle determining device. Fig. 5 is a schematic structural diagram of an angle determining apparatus according to an embodiment of the present application. As shown in fig. 5, the angle determining apparatus includes:
a first obtaining module 501, configured to obtain current posture information of an electronic device;
a second obtaining module 502, configured to obtain a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives at the electronic device;
an angle determining module 503, configured to determine a current accurate arrival angle at which the target ultra-wideband signal arrives at the electronic device based on the current attitude information and the current arrival phase difference.
In an embodiment of the present application, the first obtaining module 501 is specifically configured to obtain current pitch angle information of the electronic device, which is acquired by a gyroscope sensor in the electronic device; and determining the current pitch angle information as the current attitude information.
In an embodiment of the present application, the angle determining module 503 is specifically configured to search for an accurate arrival angle corresponding to the current attitude information and the current arrival phase from a corresponding relationship among preset attitude information, an arrival phase difference, and an accurate arrival angle; and determining the found accurate arrival angle as the current accurate arrival angle.
In an embodiment of the present application, the first obtaining module 501 is further configured to obtain posture information of the electronic device in different postures, so as to obtain a plurality of posture information;
the second obtaining module 502 is further configured to obtain a corresponding relationship between an arrival phase difference and an accurate arrival angle of the electronic device in different postures; and associating the attitude information of the electronic equipment in the same attitude with the corresponding relation between the arrival phase difference and the accurate arrival angle to obtain the corresponding relation between the preset attitude information, the arrival phase difference and the accurate arrival angle.
In an embodiment of the application, the second obtaining module 502 is specifically configured to obtain an arrival phase difference that the ultra-wideband signals sent from different directions reach the first ultra-wideband antenna and the second ultra-wideband antenna in a first posture of the electronic device, so as to obtain a plurality of arrival phase differences; obtaining accurate arrival angles of the ultra-wideband signals sent from different directions to the electronic equipment to obtain a plurality of accurate arrival angles; and correspondingly associating the multiple arrival phase differences with the multiple accurate arrival angles to obtain a corresponding relation between the arrival phase differences and the accurate arrival angles of the electronic equipment in the first posture.
The embodiment of the application also provides the electronic equipment. Fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present application. As shown in fig. 6, the electronic apparatus includes:
a posture acquiring device 601, wherein the posture acquiring device 601 is used for acquiring current posture information of the electronic equipment;
a first ultra-wideband antenna 602 and a second ultra-wideband antenna 603, wherein the first ultra-wideband antenna 602 and the second ultra-wideband antenna 603 are configured to receive a target ultra-wideband signal, respectively;
a processor 604 connected to the attitude obtaining device 601, the first ultra-wideband antenna 602, and the second ultra-wideband antenna 603, where the processor 604 is configured to obtain a current arrival phase difference of the target ultra-wideband signal arriving at the first ultra-wideband antenna 602 and the second ultra-wideband antenna 603; and determining a current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
In an embodiment of the present application, the gesture obtaining device 601 is a gyroscope sensor;
the gyroscope sensor is specifically used for acquiring current pitch angle information of the electronic equipment; and the current pitch angle information is the current attitude information.
In an embodiment of the present application, the processor 604 is specifically configured to search for an accurate arrival angle corresponding to the current attitude information and the current arrival phase difference from a corresponding relationship among preset attitude information, an arrival phase difference, and an accurate arrival angle; and determining the found accurate arrival angle as the current accurate arrival angle.
It should be noted that in the embodiment of the present application, as shown in fig. 6, the electronic device may actually include three ultra-wideband antennas disposed at specific positions, each of which is connected to the processor 604, and the first ultra-wideband antenna 602 and the second ultra-wideband antenna 603 may be any two of them.
An embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the above-described angle determination method. The computer-readable storage medium may be a volatile memory (volatile memory), such as a Random-access memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard disk (Hard disk Drive, HDD) or a Solid-State Drive (SSD); or may be a respective device, such as a mobile phone, computer, tablet device, personal digital assistant, etc., that includes one or any combination of the above-mentioned memories.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of implementations of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart block or blocks and/or flowchart block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks in the flowchart and/or block diagram block or blocks.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application are included in the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method of angle determination, the method comprising:
acquiring current attitude information of the electronic equipment;
acquiring a current arrival phase difference of a first ultra-wideband antenna and a second ultra-wideband antenna when a target ultra-wideband signal arrives in the electronic equipment;
and determining a current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
2. The method of claim 1, wherein the electronic device comprises a gyroscope sensor, and wherein obtaining current pose information of the electronic device comprises:
acquiring current pitch angle information of the electronic equipment, which is acquired by the gyroscope sensor;
and determining the current pitch angle information as the current attitude information.
3. The method of claim 1, wherein determining a current accurate angle of arrival of the target ultra-wideband signal at the electronic device based on the current pose information and the current phase difference of arrival comprises:
searching for an accurate arrival angle corresponding to the current attitude information and the current arrival phase difference from a corresponding relation among preset attitude information, arrival phase differences and accurate arrival angles;
and determining the found accurate arrival angle as the current accurate arrival angle.
4. The method of claim 3, wherein prior to finding the precise angle of arrival corresponding to the current pose information and the current phase difference of arrival, the method further comprises:
acquiring attitude information of the electronic equipment under different attitudes;
acquiring the corresponding relation between the arrival phase difference and the accurate arrival angle of the electronic equipment under different postures;
and associating the attitude information of the electronic equipment in the same attitude with the corresponding relation between the arrival phase difference and the accurate arrival angle to obtain the corresponding relation between the preset attitude information, the arrival phase difference and the accurate arrival angle.
5. The method according to claim 4, wherein the obtaining the corresponding relationship between the arrival phase difference and the accurate arrival angle of the electronic device in different postures comprises:
acquiring arrival phase differences of ultra-wideband signals sent from different directions to the first ultra-wideband antenna and the second ultra-wideband antenna under a first posture of the electronic equipment to obtain a plurality of arrival phase differences;
obtaining accurate arrival angles of the ultra-wideband signals sent from different directions to the electronic equipment to obtain a plurality of accurate arrival angles;
and correspondingly associating the multiple arrival phase differences with the multiple accurate arrival angles to obtain a corresponding relation between the arrival phase differences and the accurate arrival angles of the electronic equipment in the first posture.
6. An angle determining apparatus, comprising:
the first acquisition module is used for acquiring current attitude information of the electronic equipment;
the second acquisition module is used for acquiring the current arrival phase difference of the first ultra-wideband antenna and the second ultra-wideband antenna when the target ultra-wideband signal arrives in the electronic equipment;
and the angle determining module is used for determining the current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
7. An electronic device, comprising:
a posture acquisition device for acquiring current posture information of the electronic device;
the antenna comprises a first ultra-wideband antenna and a second ultra-wideband antenna, wherein the first ultra-wideband antenna and the second ultra-wideband antenna are used for respectively receiving target ultra-wideband signals;
the processor is connected with the attitude acquisition device, the first ultra-wideband antenna and the second ultra-wideband antenna, and is used for acquiring a current arrival phase difference of the target ultra-wideband signal arriving at the first ultra-wideband antenna and the second ultra-wideband antenna; and determining a current accurate arrival angle of the target ultra-wideband signal to the electronic equipment based on the current attitude information and the current arrival phase difference.
8. The electronic device of claim 7,
the attitude acquisition device is a gyroscope sensor;
the gyroscope sensor is specifically used for acquiring current pitch angle information of the electronic equipment; and the current pitch angle information is the current attitude information.
9. The electronic device of claim 7,
the processor is specifically configured to search for an accurate arrival angle corresponding to the current attitude information and the current arrival phase difference from a corresponding relationship among preset attitude information, an arrival phase difference and an accurate arrival angle; and determining the found accurate arrival angle as the current accurate arrival angle.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the angle determination method according to any one of claims 1 to 5.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113296053A (en) * | 2021-05-27 | 2021-08-24 | 维沃移动通信有限公司 | UWB calibration method and device and electronic equipment |
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