CN111077492B - Method for estimating incoming wave angle by utilizing three co-point-mounted plate-shaped directional antennas - Google Patents
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- G—PHYSICS
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/08—Systems for determining direction or position line
- G01S1/20—Systems for determining direction or position line using a comparison of transit time of synchronised signals transmitted from non-directional antennas or antenna systems spaced apart, i.e. path-difference systems
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- H—ELECTRICITY
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- H04B17/10—Monitoring; Testing of transmitters
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- H—ELECTRICITY
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- H04B—TRANSMISSION
- H04B17/00—Monitoring; Testing
- H04B17/30—Monitoring; Testing of propagation channels
- H04B17/309—Measuring or estimating channel quality parameters
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Abstract
A method for estimating an incoming wave angle by using three co-point-mounted plate-shaped directional antennas comprises the following steps: selecting directional diagram beam width and directional diagram included angle of the directional antenna according to the area to be positioned and the estimation precision of the incoming wave angle; assembling an anchor node antenna according to the directional antenna parameters; constructing three-dimensional directional diagram data according to the measurement data of the horizontal directional diagram and the vertical directional diagram to obtain differential curved surface data of the three-dimensional directional diagrams; installing an anchor node antenna; obtaining the incoming wave signal intensity collected by the three plate-shaped directional antennas in a set time, filtering, and carrying out difference calculation on the incoming wave signal intensity to obtain three difference values; estimating an incoming wave angle according to the differential surface data and the three differential values to obtain a group of intermediate values; and repeating the setting for n times to obtain n groups of intermediate values, filtering, and converting reference points to obtain an incoming wave angle value applied to a positioning site. The invention can inhibit the multipath interference and the noise interference to a certain degree.
Description
Technical Field
The invention relates to an estimation method of an incoming wave angle. In particular to a method for estimating an incoming wave angle by adopting a directional diagram superposition antenna aiming at the height difference of a receiving and transmitting node.
Background
With the popularization of wireless local area networks as common network architectures, indoor positioning technologies based on Wireless Local Area Networks (WLANs) have been rapidly developed. In an environment where WLAN signals are covered in a large area, such as a warehouse, a library, an airport hall, a hospital, etc., since a Global Positioning System (GPS) signal is weak and cannot provide a positioning service, it has become a key point for commercial applications to realize indoor-based positioning by means of a WLAN device carried by a smart phone, a mobile computer, or other mobile communication devices.
In an indoor WLAN-based positioning system, measured physical quantities for positioning mainly include radio frequency signal propagation time, incident angle, and received signal strength (Rss). For WLAN, the measurement complexity of the signal propagation time is high, which requires a very high frequency measurement clock and an accurate synchronization design. The method for measuring the incident angle is usually based on an array antenna and precise phase measurement, and for the WLAN, the use of the array antenna with many array elements makes the design cost high and unacceptable, and the precise phase measurement requires a very high-frequency and precise measurement clock as well as the measurement of the propagation signal. And the Rss is easy to obtain, almost all mobile terminals can realize the Rss, the cost is low, and the method is more suitable for indoor positioning under the WLAN condition.
At present, positioning based on Rss is mainly carried out according to a functional relationship between Rss and a signal propagation distance in a radio frequency signal propagation model, and the radio frequency signal propagation model is influenced by signal transmitting and receiving equipment (such as equipment noise) and is more influenced by environment (such as signal shielding, multipath interference, co-channel interference and the like). In order to overcome the signal shielding and the influence of multipath, the anchor node antenna in the positioning system is usually installed at a higher height than the measured node antenna. Such a design increases the likelihood of a direct path being present, but multipath interference is still present.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a method for estimating an incoming wave angle by utilizing three co-point-mounted plate-shaped directional antennas, which can improve positioning accuracy and stability.
The technical scheme adopted by the invention is as follows: a method for estimating an incoming wave angle by utilizing three co-point-mounted plate-shaped directional antennas is used for indoor positioning and adopts antennas with three-dimensional directional diagram superposition effects to estimate the horizontal angle and the vertical angle of the incoming wave angle, and specifically comprises the following steps:
1) selecting directional antenna parameters in anchor node design according to the area of a region to be positioned and the requirement of the estimation precision of an incoming wave angle: the beam width of a directional diagram and the included angle of the directional diagram;
2) assembling three plate-shaped directional antennas according to the directional antenna parameters in the step 1) to form an anchor node antenna;
3) under the darkroom condition, measuring a horizontal directional diagram and a vertical directional diagram of each plate-shaped directional antenna in the anchor node antenna, constructing three-dimensional directional diagram data according to the measurement data of the horizontal directional diagram and the measurement data of the vertical directional diagram, and obtaining difference curved surface data of three-dimensional directional diagrams according to the three-dimensional directional diagram data of the three plate-shaped directional antennas;
4) installing an anchor node antenna on a positioning site, and measuring the height h of the anchor node antenna, an included angle alpha between an extension line of the main shaft direction of the anchor node antenna and the horizontal plane of the positioning site, and an included angle beta between the projection of the extension line on the horizontal plane and the X axis;
5) reading the incoming wave signal intensity collected by three plate-shaped directional antennas forming the anchor node antenna in a time-sharing mode within a set time; filtering the read incoming wave signal strength values by adopting an averaging method to obtain filtered incoming wave signal strengths from the three plate-shaped directional antennas, and then carrying out differential calculation on the incoming wave signal strengths to obtain three differential values;
6) estimating incoming wave angles according to the difference curved surface data of the three-dimensional directional diagrams obtained in the step 3) and the three difference values obtained in the step 5), and obtaining a group of intermediate values of the incoming wave angle estimation in the time set in the step 5);
7) repeating the steps 5) to 6) until the set n times of repetition is achieved, and obtaining n groups of intermediate values;
8) filtering the n groups of intermediate values in the step 7) to obtain an incoming wave angle estimation result taking the anchor node antenna of the positioning site as an angle reference point, and then obtaining an incoming wave angle value applied to the positioning site through conversion of the reference point.
The step 1) comprises the following steps:
the selection range of the directional diagram beam width and the directional diagram included angle of the directional antenna is as follows: the beam width is 20-40 degrees, the directional diagram included angle is an included angle between main shaft directions of three-dimensional directional diagrams of any two directional antennas in the three plate-shaped directional antennas, the change trend of the beam width of the directional diagram and the included angle of the directional diagram is set to be consistent, the change of the beam width of the directional diagram and the included angle of the directional diagram is combined into the change of one parameter, when the area of the positioning area is increased, the value of the beam width of the directional diagram is increased along with the area of the positioning area, and the final incoming wave angle estimation precision is reduced; conversely, when the area of the positioning area is reduced, the value of the directional diagram beam width is reduced along with the area of the positioning area, and the final incoming wave angle estimation precision is improved.
In step 3):
the three-dimensional directional diagram data is obtained by the following formula:
wherein
Is a three-dimensional directional diagram, in decibels, of
Theta corresponds to a horizontal angle and a vertical angle respectively, and the unit is degree;
is a horizontal directional diagram with unit of decibel; gV(theta) is a vertical directional diagram in decibels;
for normalized horizontal directional pattern, gV(θ) is a normalized vertical pattern;
the differential surface data of the three-dimensional directional diagrams are obtained by the following steps: and obtaining the difference curved surface data of the three-dimensional directional diagrams by pairwise differencing the three-dimensional directional diagram data under the same horizontal angle and vertical angle indexes, wherein the horizontal angle and vertical angle indexes of the three-dimensional directional diagram difference curved surface data are the same, so that a difference curved surface data table of the three-dimensional directional diagrams is formed.
The difference calculation of the incoming wave signal strength in the step 5) is to perform pairwise difference calculation on the incoming wave signal strengths from the three plate-shaped directional antennas after filtering to obtain three difference values, which are respectively defined as a first difference value, a second difference value and a third difference value.
Step 6) finding out horizontal angles and vertical angles corresponding to the three differential values in a differential curved surface data table of the three-dimensional directional diagrams by adopting a table look-up method; the method comprises the following steps:
(1) performing table look-up processing on the first differential value from the antenna 1 and the antenna 2 in a differential curved surface data table of a three-dimensional directional diagram corresponding to the antenna 1 and the antenna 2 to obtain one or more contour coils, defining the contour coils as first contour coils, and obtaining a second contour coil and a third contour coil in a similar manner;
(2) the following two situations exist in the spatial relationship between the first contour coil, the second contour coil and the third contour coil: a, when two equal-height coils are intersected, an intersection point exists; b, when two equal-height coils do not intersect, two closest points exist between the two equal-height coils, and the mean value of the coordinates of the two closest points is defined as a quasi-intersection point;
(3) and defining the horizontal angle and the vertical angle corresponding to the obtained intersection point or quasi-intersection point as a group of intermediate values of the incoming wave angle estimation.
Step 8) comprises the following steps:
clustering analysis is carried out on multiple groups of intermediate values of incoming wave angle estimation obtained by multiple continuous set time by adopting a clustering algorithm in a statistical method, a group of intermediate values obtained in each set time are screened by taking clustering density and confidence index as judgment standards, and a screening result is used as an incoming wave angle estimation value in the set time;
converting an incoming wave angle estimation value taking an anchor node as an angle reference point into an incoming wave angle estimation value taking a positioning site origin as a reference point, which is specifically as follows:
(1) converting an incoming wave angle estimation value taking the anchor node as an angle reference point from the coordinates of a spherical coordinate system into the coordinates of a rectangular coordinate system taking the anchor node as an origin;
(2) according to the mounting space parameters h, alpha and beta of the anchor node antenna in the positioning field obtained in the step 4), carrying out origin movement transformation on coordinates of a rectangular coordinate system with the anchor node as an origin, wherein a new origin is the origin of the positioning field, and carrying out three-dimensional coordinate conversion by adopting a Boolean sand model;
(3) and converting the coordinates of the rectangular coordinate system after the movement and transformation of the origin into the coordinates of a spherical coordinate system.
The method for estimating the incoming wave angle by utilizing the three co-point-mounted plate-shaped directional antennas has the following advantages:
1, in a certain angle range in the axial direction of the anchor node, multipath interference and noise interference can be suppressed to a certain degree.
2, the problem of three-dimensional angle estimation can be solved. Namely, the height difference exists between the anchor node and the measured node, and under the condition, the horizontal angle and the vertical angle of the measured node are estimated by utilizing the three-dimensional concurrent installation of three directional antennas.
3, because the signal processing is only completed at the anchor node side, the requirement for the positioned mobile terminal is very low, and only a signal transmitting function is needed, so that the method has higher universality.
Drawings
Fig. 1 is a schematic diagram of three plate-shaped directional antennas in an anchor node antenna, wherein arrows indicate the main axis directions of the plate-shaped directional antennas;
FIG. 2 is a schematic diagram of a rectangular coordinate system of three-dimensional antenna patterns having an overlapping relationship;
FIG. 3 is a schematic diagram of a directional diagram difference surface of FIG. 2 in which two directional diagram surfaces are differenced with each other;
FIG. 4 is a schematic diagram of the spatial relationship between the anchor node antenna and the positioning region;
FIG. 5 is a schematic diagram of contour coils with differential values obtained on a differential surface of a directional diagram;
fig. 6 is a schematic diagram of a plurality of contour coils intersecting or quasi-intersecting, where 12 denotes a first contour coil, 13 denotes a second contour coil, and 23 denotes a third contour coil.
Detailed Description
The following describes the method for estimating the incoming wave angle by using three co-point mounted plate-shaped directional antennas according to the present invention in detail with reference to the following embodiments and the accompanying drawings.
The invention relates to a method for estimating an incoming wave angle by utilizing three co-point-mounted plate-shaped directional antennas, which is used for indoor positioning and adopts an antenna with a three-dimensional directional diagram superposition effect to estimate a horizontal angle and a vertical angle of the incoming wave angle (AoA), and specifically comprises the following steps:
1) selecting directional antenna parameters in anchor node design according to the area of a region to be positioned and the requirement of the estimation precision of an incoming wave angle: the beam width of a directional diagram and the included angle of the directional diagram; the method comprises the following steps:
the selection range of the directional diagram beam width and the directional diagram included angle of the directional antenna is as follows: the beam width is 20-40 degrees, the directional diagram included angle is an included angle between main shaft directions of three-dimensional directional diagrams of any two directional antennas in the three plate-shaped directional antennas, the change trend of the beam width of the directional diagram and the included angle of the directional diagram is set to be consistent, the change of the beam width of the directional diagram and the included angle of the directional diagram is combined into the change of one parameter, when the area of the positioning area is increased, the value of the beam width of the directional diagram is increased along with the area of the positioning area, and the final incoming wave angle estimation precision is reduced; conversely, when the area of the positioning area is reduced, the value of the directional diagram beam width is reduced along with the area of the positioning area, and the final incoming wave angle estimation precision is improved.
2) Assembling three plate-shaped directional antennas according to the directional antenna parameters in the step 1) to form an anchor node antenna; the schematic view is shown in FIG. 1.
3) Under the darkroom condition, measuring a horizontal directional diagram and a vertical directional diagram of each plate-shaped directional antenna in the anchor node antenna, constructing three-dimensional directional diagram data according to the measurement data of the horizontal directional diagram and the measurement data of the vertical directional diagram, and obtaining difference curved surface data of three-dimensional directional diagrams according to the three-dimensional directional diagram data of the three plate-shaped directional antennas; wherein the content of the first and second substances,
the three-dimensional directional diagram data is obtained by the following formula:
wherein
Is a three-dimensional directional diagram, in decibels, of
Theta corresponds to a horizontal angle and a vertical angle respectively, and the unit is degree;
is a horizontal directional diagram with unit of decibel; gV(theta) is a vertical directional diagram in decibels;
for normalized horizontal directional pattern, gVAnd (theta) is a normalized vertical directional diagram.
The differential surface data of the three-dimensional directional diagrams are obtained by the following steps: included angles (directional diagram included angles) exist among the main axis directions of three-dimensional directional diagrams of three plate-shaped directional antennas in the anchor node antenna, and the three-dimensional directional diagrams of the three plate-shaped directional antennas cannot be completely repeated but are mutually overlapped. From the perspective of a rectangular coordinate system, three-dimensional directional diagrams of three plate-shaped directional antennas have different antenna gain values under the same horizontal angle and vertical angle indexes. A schematic diagram of a rectangular coordinate system of three-dimensional antenna patterns with overlapping relationships is shown in fig. 2. And obtaining the difference curved surface data of three-dimensional directional diagrams (antenna 1-antenna 2), (antenna 1-antenna 3) and (antenna 2-antenna 3) by pairwise differencing the three-dimensional directional diagram data under the same horizontal angle and vertical angle indexes, wherein the horizontal angle and vertical angle indexes of the three-dimensional directional diagram difference curved surface data are the same, so that a difference curved surface data table of the three-dimensional directional diagrams is formed. Fig. 3 is a schematic diagram of a directional diagram differential surface.
4) Installing an anchor node antenna on a positioning site, and measuring the height h of the anchor node antenna, an included angle alpha between an extension line of the main shaft direction of the anchor node antenna and the horizontal plane of the positioning site, and an included angle beta between the projection of the extension line on the horizontal plane and the X axis; fig. 4 is a schematic view of installation parameters.
5) Reading the incoming wave signal intensity (Rss) collected by three plate-shaped directional antennas forming the anchor node antenna in a time-sharing mode within a set time; and filtering the read incoming wave signal strength values by adopting an averaging method to obtain the filtered incoming wave signal strengths from the three plate-shaped directional antennas, wherein in a set time, assuming that the wireless channel environment is stable, the tested terminal does not displace, and the change of the collected incoming wave signal strength is only influenced by random noise which presents Gaussian distribution in the environment, so that the averaging method is adopted to inhibit the influence of the noise. Then, carrying out differential calculation on the intensity of the incoming wave signal to obtain three differential values;
the difference calculation of the incoming wave signal intensity is to perform pairwise difference operation on the filtered incoming wave signal intensities from the three plate-shaped directional antennas to obtain three difference values, which are respectively defined as a first difference value, a second difference value and a third difference value).
6) Estimating incoming wave angles according to the difference curved surface data of the three-dimensional directional diagrams obtained in the step 3) and the three difference values obtained in the step 5), and obtaining a group of intermediate values of the incoming wave angle estimation in the time set in the step 5);
finding out a horizontal angle and a vertical angle corresponding to the three differential values in a differential curved surface data table of the three-dimensional directional diagrams by adopting a table look-up method; the method comprises the following steps:
(1) performing table look-up processing on the first differential value from the antenna 1 and the antenna 2 in a differential curved surface data table of a three-dimensional directional diagram corresponding to the antenna 1 and the antenna 2 to obtain one or more contour coils, defining the contour coils as first contour coils, and obtaining a second contour coil and a third contour coil in a similar manner; fig. 5 is a schematic diagram of a contour coil.
(2) The following two situations exist in the spatial relationship between the first contour coil, the second contour coil and the third contour coil: a, when two equal-height coils are intersected, an intersection point exists; b, when two equal-height coils do not intersect, two closest points exist between the two equal-height coils, and the mean value of the coordinates of the two closest points is defined as a quasi-intersection point; a schematic view of the intersection or quasi-intersection of multiple contour coils is shown in figure 6.
(3) And defining the horizontal angle and the vertical angle corresponding to the obtained intersection point or quasi-intersection point as a set of intermediate values of the incoming wave angle estimation, and because the results are not final incoming wave angle estimation values, the results are called as the intermediate values of the set of incoming wave angle estimation in a set time.
7) Repeating the steps 5) to 6) until the set n times of repetition is achieved, and obtaining n groups of intermediate values;
8) filtering the n groups of intermediate values in the step 7) to obtain an incoming wave angle estimation result taking the anchor node antenna of the positioning site as an angle reference point, and then obtaining an incoming wave angle value applied to the positioning site through conversion of the reference point. The method comprises the following steps:
clustering analysis is carried out on multiple groups of intermediate values of incoming wave angle estimation obtained by multiple continuous set time by adopting a clustering algorithm in a statistical method, a group of intermediate values obtained in each set time are screened by taking clustering density and confidence index as judgment standards, and a screening result is used as an incoming wave angle estimation value in the set time;
converting an incoming wave angle estimation value taking an anchor node as an angle reference point into an incoming wave angle estimation value taking a positioning site origin as a reference point, which is specifically as follows:
(1) converting an incoming wave angle estimation value taking the anchor node as an angle reference point from the coordinates of a spherical coordinate system into the coordinates of a rectangular coordinate system taking the anchor node as an origin;
(2) according to the mounting space parameters h, alpha and beta of the anchor node antenna in the positioning field obtained in the step 4), carrying out origin movement transformation on coordinates of a rectangular coordinate system with the anchor node as an origin, wherein a new origin is the origin of the positioning field, and carrying out three-dimensional coordinate conversion by adopting a Boolean sand model;
(3) and converting the coordinates of the rectangular coordinate system after the movement and transformation of the origin into the coordinates of a spherical coordinate system.
Claims (6)
1. A method for estimating an incoming wave angle by utilizing three co-point-mounted plate-shaped directional antennas is characterized in that the method is used for indoor positioning and adopts antennas with three-dimensional directional diagram superposition effect to estimate the horizontal angle and the vertical angle of the incoming wave angle, and specifically comprises the following steps:
1) selecting directional antenna parameters in anchor node design according to the area of a region to be positioned and the requirement of the estimation precision of an incoming wave angle: the beam width of a directional diagram and the included angle of the directional diagram;
2) assembling three plate-shaped directional antennas according to the directional antenna parameters in the step 1) to form an anchor node antenna;
3) under the darkroom condition, measuring a horizontal directional diagram and a vertical directional diagram of each plate-shaped directional antenna in the anchor node antenna, constructing three-dimensional directional diagram data according to the measurement data of the horizontal directional diagram and the measurement data of the vertical directional diagram, and obtaining difference curved surface data of three-dimensional directional diagrams according to the three-dimensional directional diagram data of the three plate-shaped directional antennas;
4) installing an anchor node antenna on a positioning site, and measuring the height h of the anchor node antenna, an included angle alpha between an extension line of the main shaft direction of the anchor node antenna and the horizontal plane of the positioning site, and an included angle beta between the projection of the extension line on the horizontal plane and the X axis;
5) reading the incoming wave signal intensity collected by three plate-shaped directional antennas forming the anchor node antenna in a time-sharing mode within a set time; filtering the read incoming wave signal strength values by adopting an averaging method to obtain filtered incoming wave signal strengths from the three plate-shaped directional antennas, and then carrying out differential calculation on the incoming wave signal strengths to obtain three differential values;
6) estimating incoming wave angles according to the difference curved surface data of the three-dimensional directional diagrams obtained in the step 3) and the three difference values obtained in the step 5), and obtaining a group of intermediate values of the incoming wave angle estimation in the time set in the step 5);
7) repeating the steps 5) to 6) until the set n times of repetition is achieved, and obtaining n groups of intermediate values;
8) filtering the n groups of intermediate values in the step 7) to obtain an incoming wave angle estimation result taking the anchor node antenna of the positioning site as an angle reference point, and then obtaining an incoming wave angle value applied to the positioning site through conversion of the reference point.
2. The method for estimating an incoming wave angle using three co-point mounted plate-shaped directional antennas according to claim 1, wherein step 1) comprises:
the selection range of the directional diagram beam width and the directional diagram included angle of the directional antenna is as follows: the beam width is 20-40 degrees, the directional diagram included angle is an included angle between main shaft directions of three-dimensional directional diagrams of any two directional antennas in the three plate-shaped directional antennas, the change trend of the beam width of the directional diagram and the included angle of the directional diagram is set to be consistent, the change of the beam width of the directional diagram and the included angle of the directional diagram is combined into the change of one parameter, when the area of the positioning area is increased, the value of the beam width of the directional diagram is increased along with the area of the positioning area, and the final incoming wave angle estimation precision is reduced; conversely, when the area of the positioning area is reduced, the value of the directional diagram beam width is reduced along with the area of the positioning area, and the final incoming wave angle estimation precision is improved.
3. The method for estimating the angle of an incoming wave by using three co-point-mounted plate-shaped directional antennas according to claim 1, wherein in step 3):
the three-dimensional directional diagram data is obtained by the following formula:
wherein
Is a three-dimensional directional diagram, in decibels, of
Theta corresponds to a horizontal angle and a vertical angle respectively, and the unit is degree;
is a horizontal directional diagram with unit of decibel; gV(theta) is a vertical directional diagram in decibels;
for normalized horizontal directional pattern, gV(θ) is a normalized vertical pattern;
the differential surface data of the three-dimensional directional diagrams are obtained by the following steps: and obtaining the difference curved surface data of the three-dimensional directional diagrams by pairwise differencing the three-dimensional directional diagram data under the same horizontal angle and vertical angle indexes, wherein the horizontal angle and vertical angle indexes of the three-dimensional directional diagram difference curved surface data are the same, so that a difference curved surface data table of the three-dimensional directional diagrams is formed.
4. The method according to claim 1, wherein the difference calculation of the incoming wave signal strength in step 5) is performed by pairwise difference operation on the filtered incoming wave signal strengths from the three plate-shaped directional antennas to obtain three difference values, which are respectively defined as a first difference value, a second difference value and a third difference value.
5. The method for estimating the angle of an incoming wave using three co-located plate-shaped directional antennas according to claim 1, wherein step 6) is to find the horizontal angle and the vertical angle corresponding to the three differential values in the data table of the differential curved surface of the three-dimensional directional diagrams by using a table look-up method; the method comprises the following steps:
(1) performing table look-up processing on the first differential value from the antenna 1 and the antenna 2 in a differential curved surface data table of a three-dimensional directional diagram corresponding to the antenna 1 and the antenna 2 to obtain one or more contour coils, defining the contour coils as first contour coils, and obtaining a second contour coil and a third contour coil in a similar manner;
(2) the following two situations exist in the spatial relationship between the first contour coil, the second contour coil and the third contour coil: a, when two equal-height coils are intersected, an intersection point exists; b, when two equal-height coils do not intersect, two closest points exist between the two equal-height coils, and the mean value of the coordinates of the two closest points is defined as a quasi-intersection point;
(3) and defining the horizontal angle and the vertical angle corresponding to the obtained intersection point or quasi-intersection point as a group of intermediate values of the incoming wave angle estimation.
6. The method for estimating the angle of an incoming wave by using three co-point-mounted plate-shaped directional antennas according to claim 1, wherein the step 8) comprises:
clustering analysis is carried out on multiple groups of intermediate values of incoming wave angle estimation obtained by multiple continuous set time by adopting a clustering algorithm in a statistical method, a group of intermediate values obtained in each set time are screened by taking clustering density and confidence index as judgment standards, and a screening result is used as an incoming wave angle estimation value in the set time;
converting an incoming wave angle estimation value taking an anchor node as an angle reference point into an incoming wave angle estimation value taking a positioning site origin as a reference point, which is specifically as follows:
(1) converting an incoming wave angle estimation value taking the anchor node as an angle reference point from the coordinates of a spherical coordinate system into the coordinates of a rectangular coordinate system taking the anchor node as an origin;
(2) according to the mounting space parameters h, alpha and beta of the anchor node antenna in the positioning field obtained in the step 4), carrying out origin movement transformation on coordinates of a rectangular coordinate system with the anchor node as an origin, wherein a new origin is the origin of the positioning field, and carrying out three-dimensional coordinate conversion by adopting a Boolean sand model;
(3) and converting the coordinates of the rectangular coordinate system after the movement and transformation of the origin into the coordinates of a spherical coordinate system.
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