CN111929668B - Ranging method and system for radio detection based on quantization interval statistics - Google Patents
Ranging method and system for radio detection based on quantization interval statistics Download PDFInfo
- Publication number
- CN111929668B CN111929668B CN202010620489.8A CN202010620489A CN111929668B CN 111929668 B CN111929668 B CN 111929668B CN 202010620489 A CN202010620489 A CN 202010620489A CN 111929668 B CN111929668 B CN 111929668B
- Authority
- CN
- China
- Prior art keywords
- distance
- quantization interval
- ranging
- channels
- calculated
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000013139 quantization Methods 0.000 title claims abstract description 54
- 238000001514 detection method Methods 0.000 title claims abstract description 38
- 238000000034 method Methods 0.000 title claims abstract description 28
- 238000009826 distribution Methods 0.000 claims abstract description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 230000006870 function Effects 0.000 claims description 6
- 239000000654 additive Substances 0.000 claims description 3
- 230000000996 additive effect Effects 0.000 claims description 3
- 230000005855 radiation Effects 0.000 abstract description 9
- 230000008859 change Effects 0.000 abstract description 2
- 238000004364 calculation method Methods 0.000 description 5
- 238000009825 accumulation Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010494 dissociation reaction Methods 0.000 description 2
- 230000005593 dissociations Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000005305 interferometry Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
-
- 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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
Abstract
The application discloses a ranging method and a ranging system for radio detection based on quantization interval statistics, wherein the method comprises the following steps: detecting signal amplitudes from a source of at least two receiving channels by using a multichannel receiver; the signal amplitude of each receiving channel is calculated into the sum of the calculated distance generated by the signal source of the signal source and the distance error caused by noise; counting noise coefficients of all receiving channels, and solving the noise coefficients into distance errors to be overlapped on original real distances to obtain calculated distances of all receiving channels; and combining the normal distribution maximum condition and a quantization interval formula to obtain the quantization interval of the dynamic ranging. The application can rapidly perform blind ranging on the unknown source intensity and is also suitable for the distance estimation of the self-adaptive source with the radiation dynamic change.
Description
Technical Field
The present application relates to the field of radio detection, and in particular, to a ranging method and system for radio detection based on quantization interval statistics.
Background
With rapid development of radio detection technology, single direction-finding technology no longer meets the requirements of war time radio detection, passive positioning technology becomes a research hotspot of current radio detection technology, and radio detection ranging technology becomes a positioning key.
The traditional radio detection generally adopts a contrast method or an interferometry to carry out direction finding, the contrast technology has higher requirements on the consistency of the multichannel antennas in a real scene, and the interferometry technology has higher requirements on the length of a crossed base line and the synchronization of the multichannel phases, so that the design difficulty of the radio detection ranging technology by utilizing a contrast system is further increased in the direction finding technology, the design difficulty, the development cost, the erection rationality and other aspects are generally comprehensively considered, the contrast technology becomes the current radio direction finding main flow, and the radio detection ranging technology based on the radiation intensity detection of a signal source can be deduced by combining the Friis atmospheric attenuation formula.
However, the existing radio detection ranging technology based on signal source radiation intensity detection has major defects in ranging accuracy, ranging resolution, environmental adaptability and the like, for example: the existing signal source radiation intensity detection amplitude estimation method is only suitable for the known signal source and constant in radiation power. Under the condition of unknown source intensity and by adopting an adaptive transmitting power source, accurate distance measurement cannot be performed, and thus the resolving distance tends to have a larger gap.
Disclosure of Invention
The application provides a radio detection ranging method and a radio detection ranging system based on quantization interval statistics, which are used for solving the technical problem that blind ranging cannot be performed by the traditional signal source radiation intensity detection ranging technology.
In order to solve the technical problems, the technical scheme provided by the application is as follows:
a ranging method for radio detection based on quantization interval statistics, comprising the steps of:
detecting signal amplitudes from a source of at least two receiving channels by using a multichannel receiver;
the signal amplitude of each receiving channel is calculated into the sum of the calculated distance generated by the signal source of the signal source and the distance error caused by noise;
counting noise coefficients of all receiving channels, and solving the noise coefficients into distance errors to be overlapped on original real distances to obtain calculated distances of all receiving channels;
and combining the normal distribution maximum condition and a quantization interval formula to obtain the quantization interval of the dynamic ranging.
As a further improvement of the method of the application:
preferably, the quantization interval formula is as follows:
wherein ,dmax D is the upper limit distance of the quantization interval min Is the lower distance of the quantization interval; a is that m and An The received signal amplitudes in real time for channels m and n, respectively; mu (mu) n ,μ m The mean values of m and n channels respectively; sigma (sigma) m ,σ n The variance of m and n channels, respectively.
Preferably, the baseline spacingWhere n and M are the channel order, M is the channel number, and L is the adjacent baseline distance.
Preferably, the method further comprises: and forming a triangle by the upper limit distance, the lower limit distance and the base line distance of the quantization interval of the dynamic ranging, connecting each vertex of the triangle with the origin of coordinates where the multichannel receiver is positioned, establishing a triangle model, and calculating according to a trigonometric function to obtain an actual distance quantization interval and an estimated distance.
Preferably, the estimated distance is calculated according to a trigonometric function, and the calculation formula is as follows:
wherein ,
and the information source direction of each channel is acquired by detecting the angle.
Preferably, the noise of each receive channel is additive white gaussian noise.
The application also provides a computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the computer program.
The application has the following beneficial effects:
according to the ranging method and the ranging system for radio detection based on quantization interval statistics, disclosed by the application, the multichannel amplitude-difference relation is modeled, the quantization interval is finely described through the statistical result of the multichannel difference, an actual uncorrected signal quantization interval is introduced, the upper and lower range of the distance is measured and calculated, the approximate ranging of an unknown information source is realized, the distance quantization can be carried out on the unknown information source intensity and the information source adopting self-adaptive transmitting power, the problem that blind ranging cannot be carried out in the traditional information source radiation intensity detection ranging technology is solved, and the ranging method and the ranging system are suitable for nonstandard and self-adaptive information source detection.
In addition to the objects, features and advantages described above, the present application has other objects, features and advantages. The application will be described in further detail with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:
fig. 1 is a flowchart of a ranging method for radio detection based on quantization interval statistics according to a preferred embodiment of the present application;
FIG. 2 is a schematic illustration of auxiliary baseline selection in accordance with a preferred embodiment of the present application;
FIG. 3 is a schematic diagram of the geometry of the source receiver according to the preferred embodiment of the present application;
fig. 4 is a graph of amplitude quantization intervals under multi-frame accumulation in accordance with a preferred embodiment of the present application.
Detailed Description
Embodiments of the application are described in detail below with reference to the attached drawings, but the application can be implemented in a number of different ways, which are defined and covered by the claims.
Referring to fig. 1, the ranging method for radio detection based on quantization interval statistics of the present application comprises the following steps:
s1, detecting signal amplitudes from a signal source of at least two receiving channels by adopting a multichannel receiver. The direction can also be obtained by detecting the angle to obtain the information source of each channel, including the azimuth anglePitch angle θ.
S2, resolving the signal amplitude of each receiving channel into the sum of the calculated distance generated by the signal source of the signal source and the distance error caused by noise.
Assuming that the radio detection adopts a multichannel amplitude comparison method direction finding technology, fig. 2 shows an 8-channel auxiliary baseline selection diagram, and the adjacent baseline distance L (i.e. the linear distance between the antennas of two adjacent channels, L being a constant) is the baseline spacingWhere n and M are the channel order and M is the number of channels (the points on the circle represent the positions 0-M of each antenna).
The information source is arranged between m and n included angles; the source direction is azimuthAnd a pitch angle θ; the m-channel measuring antenna has m true distance d m The real distance of n channel measuring antenna n is d n The distance calculated by the signal amplitude of each receiving channel is divided into distance errors caused by calculated distance and noise generated by the signal source of the signal source.
And S3, counting noise coefficients of all the receiving channels, and solving the noise coefficients into distance errors which are multiplied to the original real distance to obtain calculated distances of all the receiving channels. It was verified that the noise introduced by the received amplitude is additive white gaussian noise, so that this distance error can be superimposed on the original true distance by the distance dissociation calculation. Then, the measuring antenna m and the measuring antenna n calculate the distance as:
D m ＝d m (1+Δd m )
D n ＝d n (1+Δd n )
wherein ,
wherein ,Dm Calculating a distance for the antenna m; d (D) n Calculating distance D for antenna n n 。
S4, combining the normal distribution maximum condition and the quantization interval formula to obtain the quantization interval of dynamic ranging.
Combining with normal distribution, the most value condition obtains the quantization interval of dynamic ranging:
when (when)When (I)>(the ratio of the maximum to the minimum of the true distances is equal to the ratio of the average of the normal distributions of m and n channels);
wherein ,μn ,μ m The mean values of m and n channels respectively; sum sigma m ,σ n The variance of m and n channels, respectively.
Further, the quantization interval formula is obtained as follows:
wherein ,dmax D is the upper limit distance of the quantization interval min Is the lower distance of the quantization interval; a is that m and An The received signal amplitudes in real time for channels m and n, respectively.
S5, the upper limit distance, the lower limit distance and the base line distance of the quantization interval of the dynamic ranging can be combined into a triangle, all vertexes of the triangle are connected with the origin of coordinates where the multichannel receiver is located, a triangle model is built, and the actual distance quantization interval and the estimated distance are obtained through calculation according to a triangle function.
Referring to fig. 3, the receiver is circular, and R represents the radius of the receiver, i.e., the distance from each antenna to the center O of the receiver; d represents the distance from the source to the center of the circle; d, d max 、d min Representing the maximum and minimum values of the source to two adjacent antennas, respectively. From d max 、d min And the base line distance r forms a triangle, horizontal projection calculation is adopted for simplifying the model to calculate the distances, and then the mapping result is restored to the actual distance.
The trigonometric function relationship may be obtained as:
the estimated distance is:
and then calculate the quantization interval of the actual distance and estimate the distance.
The steps are verified as follows:
and constructing an information source and detection receiver acquisition system, and simulating an actual acquisition scene of the detection receiver system. The signal source adopts a modulated pulse signal, the signal frequency is 5800MHz, the power of the signal source is 0dBm, the gain of a transmitting antenna is 3dBi, the duty ratio is 10/14, the gain of a receiver link is 70dB, the gain of the antenna is measured to be 10dBi, the distance between the signal source and the receiver is 0.1km, and the analog system is adopted for interception and collecting the data of each channel. Changing the power of the signal source to 0dBm, and performing distance dissociation calculation after no longer adopting signal calibration, wherein in order to simplify the whole detection step, a priori knowledge is introduced to collect and calculate the amplitude because of the blind detection direction finding technology, the distance between the 1 and 2 channels is assumed to be 0.1km, the radius of the receiver is 0.5 m, the receiver adopts a 12bit quantitative frequency measuring receiver, the noise coefficient of each receiving channel is counted, and the noise coefficient is delta d 1 ～N(60.7829,3.1503)、Δd 2 N (53.5725,0.4241), detecting and calculating the horizontal anglePitch angle θ=90°, and distance quantization interval [73.15,148.30 ] is calculated by a formula]The actual estimated distance is 116.12m, which substantially corresponds to the actual quantization interval division.
In order to obtain a better distance interval quantization result, the quantization block is reduced as much as possible, so as to realize a precise quantization process, and in implementation, it may be further recommended to use multi-frame accumulation of the received channel data to obtain a precise noise coefficient statistical result, as shown in fig. 4, an amplitude quantization interval diagram under multi-frame accumulation is provided, and when the accumulation frame number is larger, the quantization block is smaller, and the result is stable. The method can be used for quickly carrying out blind ranging on the unknown source intensity, and is also suitable for the distance estimation of the self-adaptive source with the radiation dynamic change.
The application also provides a computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In summary, the ranging method and the ranging system for radio detection based on quantization interval statistics of the application model the multi-channel amplitude-difference relationship, finely delineate the quantization interval through the statistical result of the multi-channel difference, introduce an actual uncorrected signal quantization interval division, calculate the upper and lower limit ranges of the distance, realize the approximate ranging of the unknown information source, quantize the distance of the unknown information source intensity and the information source adopting the self-adaptive transmitting power, solve the problem that the traditional ranging technology based on the radiation intensity detection of the information source can not perform blind ranging, and are suitable for the detection of the nonstandard and self-adaptive information source.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (6)
1. A ranging method for radio detection based on quantization interval statistics, comprising the steps of:
detecting signal amplitudes from a source of at least two receiving channels by using a multichannel receiver;
the signal amplitude of each receiving channel is calculated into the sum of the calculated distance generated by the signal source of the signal source and the distance error caused by noise;
counting noise coefficients of all receiving channels, and resolving the noise coefficients into a distance error which is multiplied to an original real distance to obtain a calculated distance of each receiving channel; comprising the following steps:
the distance calculated by the measuring antenna m and the measuring antenna n is as follows:
D m ＝d m (1+Δd m )
D n ＝d n (1+Δd n )
wherein ,
wherein ,Dm Calculating a distance for the antenna m; d (D) n Calculating a distance for the antenna n; d, d m Measuring the true distance of antenna m for m channels, d n The true distance of the antenna n is measured for n channels;
combining the normal distribution maximum condition and a quantization interval formula to obtain a quantization interval of dynamic ranging, wherein the method comprises the following steps:
combining with normal distribution, the most value condition obtains the quantization interval of dynamic ranging:
when (when)When (I)>
Further, the quantization interval formula is obtained as follows:
wherein, d max D is the upper limit distance of the quantization interval min Is the lower distance of the quantization interval; a is that m and An The received signal amplitudes in real time for channels m and n, respectively; mu (mu) n ,μ m The mean values of m and n channels respectively; sigma (sigma) m ,σ n The variance of m and n channels, respectively.
2. The ranging method for radio detection based on quantization interval statistics according to claim 1, wherein the baseline spacing isWhere n and M are the channel order, M is the channel number, and L is the adjacent baseline distance.
3. The ranging method for radio detection based on quantization interval statistics according to claim 2, further comprising: and forming a triangle by the upper limit distance, the lower limit distance and the base line distance of the quantization interval of the dynamic ranging, connecting each vertex of the triangle with the origin of coordinates where the multichannel receiver is positioned, establishing a triangle model, and calculating according to a trigonometric function to obtain an actual distance quantization interval and an estimated distance.
4. A ranging method for radio detection based on quantization interval statistics according to claim 3, wherein the estimated distance is calculated according to a trigonometric function as follows:
wherein ,
and the information source direction of each channel is acquired by detecting the angle.
5. The method for ranging for radio detection based on quantization interval statistics according to claim 3, wherein,
the noise of each receiving channel adopts additive Gaussian white noise.
6. A computer system comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method of any of the preceding claims 1 to 5 when the computer program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010620489.8A CN111929668B (en) | 2020-06-30 | 2020-06-30 | Ranging method and system for radio detection based on quantization interval statistics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010620489.8A CN111929668B (en) | 2020-06-30 | 2020-06-30 | Ranging method and system for radio detection based on quantization interval statistics |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111929668A CN111929668A (en) | 2020-11-13 |
| CN111929668B true CN111929668B (en) | 2023-09-19 |
Family
ID=73317013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010620489.8A Active CN111929668B (en) | 2020-06-30 | 2020-06-30 | Ranging method and system for radio detection based on quantization interval statistics |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111929668B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1370279A (en) * | 1999-08-19 | 2002-09-18 | 秦内蒂克有限公司 | Method and appts. for locating source of unknown signal |
| KR101163335B1 (en) * | 2011-04-11 | 2012-07-09 | 서울대학교산학협력단 | Wireless localization method based on rssi at indoor environment and a recording medium in which a program for the method is recorded |
| KR20120115895A (en) * | 2011-04-11 | 2012-10-19 | 서울대학교산학협력단 | Wireless localization method using 4 or more anchor nodes based on rssi at indoor environment and a recording medium in which a program for the method is recorded |
| JP2014202602A (en) * | 2013-04-04 | 2014-10-27 | トヨタ自動車株式会社 | Transmitter-receiver and transmitting/receiving method |
| CN105933077A (en) * | 2016-06-23 | 2016-09-07 | 成都点阵科技有限公司 | Multi-channel fluorescence spectrum radio direction finding system and method having optimal amplitude comparison |
| CN107104913A (en) * | 2016-02-19 | 2017-08-29 | 中兴通讯股份有限公司 | Channel quality estimation for the link circuit self-adapting in interference limiting system |
| JP2018004538A (en) * | 2016-07-06 | 2018-01-11 | 株式会社東芝 | Radio guidance device and radio guidance method |
| RU2704027C1 (en) * | 2019-05-17 | 2019-10-23 | Акционерное общество "Концерн "Созвездие" | Method of controlling radiation of multiple sources of frequency-inseparable signals |
| CN110568430A (en) * | 2019-10-16 | 2019-12-13 | 上海无线电设备研究所 | non-blind area ranging method and system for monopulse radar with protection channel |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012175944A2 (en) * | 2011-06-21 | 2012-12-27 | Bae Systems Plc | Tracking algorithm |
| US20150319580A1 (en) * | 2014-04-30 | 2015-11-05 | Samsung Electro-Mechanics Co., Ltd. | Wireless position estimation apparatus and method |
-
2020
- 2020-06-30 CN CN202010620489.8A patent/CN111929668B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1370279A (en) * | 1999-08-19 | 2002-09-18 | 秦内蒂克有限公司 | Method and appts. for locating source of unknown signal |
| KR101163335B1 (en) * | 2011-04-11 | 2012-07-09 | 서울대학교산학협력단 | Wireless localization method based on rssi at indoor environment and a recording medium in which a program for the method is recorded |
| KR20120115895A (en) * | 2011-04-11 | 2012-10-19 | 서울대학교산학협력단 | Wireless localization method using 4 or more anchor nodes based on rssi at indoor environment and a recording medium in which a program for the method is recorded |
| JP2014202602A (en) * | 2013-04-04 | 2014-10-27 | トヨタ自動車株式会社 | Transmitter-receiver and transmitting/receiving method |
| CN107104913A (en) * | 2016-02-19 | 2017-08-29 | 中兴通讯股份有限公司 | Channel quality estimation for the link circuit self-adapting in interference limiting system |
| CN105933077A (en) * | 2016-06-23 | 2016-09-07 | 成都点阵科技有限公司 | Multi-channel fluorescence spectrum radio direction finding system and method having optimal amplitude comparison |
| JP2018004538A (en) * | 2016-07-06 | 2018-01-11 | 株式会社東芝 | Radio guidance device and radio guidance method |
| RU2704027C1 (en) * | 2019-05-17 | 2019-10-23 | Акционерное общество "Концерн "Созвездие" | Method of controlling radiation of multiple sources of frequency-inseparable signals |
| CN110568430A (en) * | 2019-10-16 | 2019-12-13 | 上海无线电设备研究所 | non-blind area ranging method and system for monopulse radar with protection channel |
Non-Patent Citations (2)
| Title |
|---|
| 一种自适应R波检测算法实现;张胜;吴仲光;李征;;四川大学学报(自然科学版)(第03期);全文 * |
| 基于相关比幅测向的圆阵干涉仪解模糊算法;姚志成;吴智慧;杨剑;张盛魁;;电讯技术(第01期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111929668A (en) | 2020-11-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Xue et al. | Improved Wi-Fi RSSI measurement for indoor localization | |
| CN108490473B (en) | GNSS and UWB integrated unmanned aerial vehicle enhanced positioning method and system | |
| KR101260647B1 (en) | Wireless localization method based on an efficient multilateration algorithm over a wireless sensor network and a recording medium in which a program for the method is recorded | |
| CN108307301B (en) | Indoor positioning method based on RSSI ranging and track similarity | |
| CN110045324B (en) | Indoor positioning fusion method based on UWB and Bluetooth technology | |
| JP5075396B2 (en) | Position estimation method and position estimation system | |
| CN108414974B (en) | Indoor positioning method based on ranging error correction | |
| CN110806561B (en) | Self-calibration method for multiple base stations | |
| CN103781095B (en) | A kind of bearing calibration of TDOA measure error, transfer point and system | |
| CN110673181B (en) | GNSS interference source positioning method based on grid energy traversal search | |
| Dil et al. | RSS-based localization with different antenna orientations | |
| Wölfle et al. | Enhanced localization technique within urban and indoor environments based on accurate and fast propagation models | |
| CN103517285A (en) | Method and system for coverage performance evaluation of antenna | |
| KR101390722B1 (en) | Wireless localization method using fingerprinting localization algorithms and apparatus thereof | |
| CN110636436A (en) | Three-dimensional UWB indoor positioning method based on improved CHAN algorithm | |
| KR20180059094A (en) | Method and system rssi calibration in beacon-based indoor positioning | |
| CN1235429C (en) | Method for estimating position | |
| CN107371133B (en) | Method for improving positioning accuracy of base station | |
| CN111929668B (en) | Ranging method and system for radio detection based on quantization interval statistics | |
| Arai et al. | Color radiomap interpolation for efficient fingerprint wifi-based indoor location estimation | |
| Schmitz et al. | TDOA fingerprinting for localization in non-line-of-sight and multipath environments | |
| CN116669180A (en) | Interference positioning method and device, electronic equipment and storage medium | |
| CN108828513B (en) | Signal source positioning method based on intersection of electric wave propagation attenuation equal differential lines of multiple monitoring points | |
| CN109596089B (en) | Method and device for determining azimuth angle, electronic equipment and storage medium | |
| CN111929671B (en) | Method and system for estimating receiving amplitude of radio detection based on normal matching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 410100 building B7, No.27 Wenxuan Road, Changsha high tech Development Zone, Changsha City, Hunan Province Applicant after: Huanuo Xingkong Technology Co.,Ltd. Address before: 410100 building B7, No.27 Wenxuan Road, Changsha high tech Development Zone, Changsha City, Hunan Province Applicant before: Hunan Huanuo Xingkong Electronic Technology Co.,Ltd. Address after: 410100 building B7, No.27 Wenxuan Road, Changsha high tech Development Zone, Changsha City, Hunan Province Applicant after: Hunan Huanuo Xingkong Electronic Technology Co.,Ltd. Address before: 410100 building B7, No.27 Wenxuan Road, Changsha high tech Development Zone, Changsha City, Hunan Province Applicant before: HUNAN NOVASKY ELECTRONIC TECHNOLOGY Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |