CN113156362B

CN113156362B - Method and device for determining direction of arrival and method and device for acquiring signals

Info

Publication number: CN113156362B
Application number: CN202110274328.2A
Authority: CN
Inventors: 张治�; 褚建红; 黄育侦; 全智; 马楠; 刘宝玲
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2021-03-15
Filing date: 2021-03-15
Publication date: 2024-01-09
Anticipated expiration: 2041-03-15
Also published as: CN113156362A

Abstract

The embodiment of the invention provides a method and a device for determining a direction of arrival, and a method and a device for acquiring signals, wherein the method for determining the direction of arrival comprises the following steps: acquiring a signal received by a first sub-linear array and a signal received by a second sub-linear array in a current time continuous period, and respectively serving as a first sub-signal and a second sub-signal; combining the first sub-signal and the second sub-signal to obtain a combined signal; calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal; constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and a noise subspace, searching a spectrum peak of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peak as a target azimuth angle and a target pitch angle to obtain the arrival direction corresponding to the combined signal. By adopting the embodiment of the invention, the accuracy and the degree of freedom of the direction of arrival estimation result can be improved.

Description

Method and device for determining direction of arrival and method and device for acquiring signals

Technical Field

The present invention relates to the field of signal processing technologies, and in particular, to a method and an apparatus for determining a direction of arrival, and a method and an apparatus for obtaining a signal.

Background

The DOA (Direction of Arrival) positioning technique is a technique for estimating the distance and direction between a signal source and an antenna by processing a received signal to obtain the direction of arrival of the signal.

Currently, direction of arrival estimation can be performed on received signals by a mutual element linear antenna array. Specifically, the linear array of mutual elements comprises two sub-linear arrays comprising the number of mutual elements. For example, as shown in fig. 1, the reciprocal linear array 100 includes a sub-linear array 110 and a sub-linear array 120, where the sub-linear array 110 includes 5 array elements, respectively, array elements 111-115, and a distance between every two adjacent array elements 111-115 is 3λ/2; the sub-linear array 120 comprises 6 array elements, namely array elements 121-126, respectively, wherein the distance between every two adjacent array elements 121-126 is 5λ/2, and λ represents the carrier wavelength of the signal transmitted by the signal source. Wherein, the array element 111 is the first array element of the sub-linear array 110, the array element 121 is the first array element of the sub-linear array 120, and the array element 111 and the array element 121 are located at the same position, that is, the array element 111 and the array element 121 are the same array element.

The two sub-linear arrays included in the mutual element linear array can move at a constant speed along the straight line where the mutual element linear array is located, and in the moving process, the two sub-linear arrays sample signals according to preset time intervals respectively, so that the number of array elements is increased for the two sub-linear arrays, and the increased array elements are virtual array elements. For example, as shown in fig. 1, the signal sampling is performed when the array element 115 moves to the position 130, which is equivalent to adding the virtual array element 116 to the sub-linear array 110; the signal sampling as the array element 125 moves to position 140 corresponds to adding a virtual array element 126 to the sub-linear array 120. Then, signals received by the inter-element linear array in a preset Time Continuous Period (TCP) are combined to obtain combined signals, and then the combined signals are processed through a MUSIC (Multiple Signal Classification) algorithm to estimate the direction of arrival in the current time continuous period.

According to the method, a plurality of virtual array elements can be added to the inter-element linear array by moving the inter-element linear array and sampling signals according to a preset time interval, so that the DOF (DOF, degree of freedom) of the DOF estimation can be improved. However, in the above method, the antenna array including the plurality of virtual array elements is still linear, so that the above method is limited in practical application, and the direction of arrival of the spatial signal cannot be estimated, that is, only one-dimensional direction of arrival cannot be determined by adopting the above method, and two-dimensional direction of arrival cannot be determined. In addition, the above method results in lower accuracy of its estimation result due to less information obtained about the received signal than the method of two-dimensional direction of arrival estimation. Therefore, a method for determining the direction of arrival in two dimensions based on a linear array of one-dimensional mutual elements is needed to improve the accuracy and the degree of freedom of the direction of arrival estimation result.

Disclosure of Invention

The embodiment of the invention aims to provide a method and a device for determining a direction of arrival, a method and a device for acquiring signals, so as to determine a two-dimensional direction of arrival and improve the accuracy and the degree of freedom of a direction of arrival determination result. The specific technical scheme is as follows:

in a first aspect, an embodiment of the present invention provides a method for determining a direction of arrival, where the method includes:

acquiring signals received by a first sub-linear array and signals received by a second sub-linear array in a current time continuous period, and respectively serving as a first sub-signal and a second sub-signal, wherein the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along a straight line vertical direction where the mutual element linear antenna array is located according to a preset speed in the current time continuous period, the first sub-linear array receives signals sent by a signal source according to a first preset time interval in the moving process, the second sub-linear array receives signals sent by the signal source according to a second preset time interval, the first preset time interval is set based on the number of array elements included by the second sub-linear array, and the second preset time interval is set based on the number of array elements included by the first sub-linear array;

Combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array;

calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal;

and constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and the noise subspace, searching spectrum peaks of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peaks as target azimuth angles and target pitch angles to obtain the arrival directions corresponding to the combined signals.

Optionally, the step of calculating a covariance matrix of the combined signal includes:

calculating a covariance matrix of the combined signal according to the formula

Wherein x is _syn (t) is the combined signal,is x _syn The conjugate transpose of (T), T being the total number of snapshots in the current time-continuous period.

Optionally, the step of constructing a spectral function according to the preset plurality of alternative pitch angles, the preset plurality of alternative azimuth angles and the noise subspace includes:

acquiring a plurality of preset alternative pitch angles and a plurality of preset alternative azimuth angles;

For each alternative pitch angle and each alternative azimuth angle, constructing a spectrum function corresponding to the alternative pitch angle and the alternative azimuth angle according to the following formula

Wherein θ represents the alternative azimuth angle,representing the alternative pitch angle, < > or >>For the array flow pattern corresponding to the alternative azimuth angle and the alternative pitch angle, +.>Representing the noise subspace.

Optionally, before the step of combining the first sub-signal and the second sub-signal to obtain a combined signal received by the inter-element linear antenna array, the method further includes:

respectively carrying out phase correction processing on the first sub-signal and the second sub-signal to obtain a first sub-signal after the phase correction processing and a second sub-signal after the phase correction processing;

the step of combining the first sub-signal and the second sub-signal to obtain a combined signal received by the inter-element linear antenna array includes:

and combining the first sub-signal after the phase correction processing with the second sub-signal row after the phase correction processing to obtain a combined signal received by the mutual element linear antenna array.

In a second aspect, an embodiment of the present invention provides a signal acquisition method, where the method includes:

Controlling a first sub-linear array and a second sub-linear array to move along the vertical direction of a straight line where a mutual element linear antenna array is located according to a preset speed in a current time continuous period, wherein the first sub-linear array and the second sub-linear array form the mutual element linear antenna array, and the origins of the first sub-linear array and the second sub-linear array are the same;

acquiring signals received by the first sub-linear array and signals received by the second sub-linear array in the current time continuous period, respectively serving as a first sub-signal and a second sub-signal, combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array, and determining a corresponding direction of arrival of the combined signal based on the combined signal;

the first sub-linear array receives signals sent by the signal source according to a first preset time interval in the moving process, and the second sub-linear array receives signals sent by the signal source according to a second preset time interval in the moving process, wherein the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array.

In a third aspect, an embodiment of the present invention provides a device for determining a direction of arrival, where the device includes:

the signal acquisition module is used for acquiring signals received by a first sub-linear array and signals received by a second sub-linear array in a current time continuous period, wherein the signals are respectively used as a first sub-signal and a second sub-signal, the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, the origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along the vertical direction of a straight line where the mutual element linear antenna array is located according to a preset speed in the current time continuous period, the first sub-linear array receives signals sent by a signal source according to a first preset time interval in the moving process, the second sub-linear array receives signals sent by the signal source according to a second preset time interval, the first preset time interval is set based on the number of array elements included by the second sub-linear array, and the second preset time interval is set based on the number of array elements included by the first sub-linear array;

The signal combination module is used for combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array;

the noise subspace determining module is used for calculating a covariance matrix of the combined signal and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal;

the direction of arrival determining module is used for constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and the noise subspace, searching spectrum peaks of the spectrum function, and determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peaks as target azimuth angles and target pitch angles respectively to obtain the direction of arrival corresponding to the combined signal.

Optionally, the noise subspace determining module includes:

a covariance matrix calculation sub-module for calculating covariance matrix of the combined signal according to the following formula

Optionally, the direction of arrival determining module includes:

The alternative angle acquisition sub-module is used for acquiring a plurality of preset alternative pitch angles and a plurality of preset alternative azimuth angles;

a spectral function construction sub-module for constructing, for each candidate pitch angle and each candidate azimuth angle, a spectral function corresponding to the candidate pitch angle and the candidate azimuth angle according to the following formula

Optionally, the apparatus further includes:

the phase correction module is used for respectively carrying out phase correction processing on the first sub-signal and the second sub-signal before the first sub-signal and the second sub-signal are combined to obtain a combined signal received by the mutual element linear antenna array, so as to obtain a first sub-signal after the phase correction processing and a second sub-signal after the phase correction processing;

the signal combining module includes:

and the signal combination sub-module is used for combining the first sub-signal after the phase correction processing and the second sub-signal row after the phase correction processing to obtain a combined signal received by the mutual element linear antenna array.

In a fourth aspect, an embodiment of the present invention provides a signal acquisition apparatus, including:

the array moving module is used for controlling the first sub-linear array and the second sub-linear array to move along the vertical direction of the straight line where the mutual element linear antenna array is located according to the preset speed in the current time continuous period, wherein the first sub-linear array and the second sub-linear array form the mutual element linear antenna array, and the origins of the first sub-linear array and the second sub-linear array are the same;

the signal processing module is used for acquiring the signal received by the first sub-linear array and the signal received by the second sub-linear array in the current time continuous period, respectively serving as a first sub-signal and a second sub-signal, combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array, and determining the corresponding direction of arrival of the combined signal based on the combined signal;

In the scheme provided by the embodiment of the invention, the direction-of-arrival determining device can acquire a signal received by a first sub-linear array and a signal received by a second sub-linear array in a current time continuous period, and the signal is respectively used as the first sub-signal and the second sub-signal, wherein the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, the origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along the vertical direction of a straight line where the mutual element linear antenna array is located according to a preset speed in the current time continuous period, the first sub-linear array receives a signal transmitted by a signal source according to a first preset time interval in the moving process, the second sub-linear array receives a signal transmitted by the signal source according to a second preset time interval, the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array; combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array; calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal; constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and a noise subspace, searching a spectrum peak of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peak as a target azimuth angle and a target pitch angle to obtain the arrival direction corresponding to the combined signal.

The first sub-linear array and the second sub-linear array can move along the vertical direction of the straight line where the mutual element linear antenna array is located, the first sub-linear array receives signals sent by the signal source every a first preset time period in the moving process, and the second sub-linear array receives signals sent by the signal source every a second preset time period, so that a plurality of virtual array elements are added on the plane where the first sub-linear array and the second sub-linear array move, a virtual mutual element area array comprising a plurality of virtual array elements is obtained, the pitch angle and the azimuth angle of the received signals can be determined through the virtual mutual element area array, two-dimensional direction-of-arrival estimation can be achieved, and the accuracy of the direction-of-arrival estimation result can be improved.

Meanwhile, the degree of freedom of the direction of arrival estimation is related to the number of array elements included in the antenna array, the virtual mutual element area array includes a plurality of virtual array elements, which is equivalent to increasing the number of array elements included in the mutual element linear antenna array, so that the degree of freedom of the direction of arrival estimation can be improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention and that other embodiments may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic diagram of a structure of a reciprocal linear antenna array;

FIG. 2 is a flowchart of a method for determining a direction of arrival according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a linear antenna array of a mutual element in the embodiment shown in fig. 2;

fig. 4 is a flowchart of a signal acquisition method according to an embodiment of the present invention;

fig. 5 is a schematic structural diagram of a device for determining a direction of arrival according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a signal acquisition device according to an embodiment of the present invention;

fig. 7 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

In order to determine a two-dimensional direction of arrival and improve accuracy and freedom of a direction of arrival determination result, embodiments of the present invention provide a method for determining a direction of arrival, a device for determining a direction of arrival, a signal acquisition method, a signal acquisition device, an electronic device, and a computer readable storage medium. The following first describes a method for determining a direction of arrival according to an embodiment of the present invention.

The method for determining the direction of arrival provided by the embodiment of the invention is applicable to any electronic equipment needing to determine the direction of arrival, for example, a computer, a server, a processor, a base station and the like, and is hereinafter referred to as a direction of arrival determining equipment for clarity of description.

As shown in fig. 2, a method for determining a direction of arrival, the method includes:

s201, acquiring a signal received by a first sub-linear array and a signal received by a second sub-linear array in a current time continuous period, wherein the signals are respectively used as a first sub-signal and a second sub-signal;

the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along a vertical direction of a straight line where the mutual element linear antenna array is located according to a preset speed in a current time continuous period, in a moving process, the first sub-linear array receives signals sent by a signal source according to a first preset time interval, the second sub-linear array receives signals sent by the signal source according to a second preset time interval, the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array.

S202, combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array;

s203, calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal;

s204, constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and the noise subspace, searching spectrum peaks of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peaks as target azimuth angles and target pitch angles to obtain the arrival directions corresponding to the combined signals.

In the scheme provided by the embodiment of the invention, the direction-of-arrival determining device can acquire the signal received by the first sub-linear array and the signal received by the second sub-linear array in the current time continuous period, and the signal is respectively used as the first sub-signal and the second sub-signal, wherein the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, the origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along the vertical direction of the straight line where the mutual element linear antenna array is located according to the preset speed in the current time continuous period, the first sub-linear array receives the signal transmitted by the signal source according to the first preset time interval in the moving process, the second sub-linear array receives the signal transmitted by the signal source according to the second preset time interval, and the first preset time interval is set based on the number of array elements included by the second sub-linear array, and the second preset time interval is set based on the number of array elements included by the first sub-linear array; combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array; calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal; constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and a noise subspace, searching a spectrum peak of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peak as a target azimuth angle and a target pitch angle to obtain the arrival direction corresponding to the combined signal.

In order to determine the direction of arrival corresponding to the signal transmitted by the signal source, in the above step S201, the direction of arrival determining device may acquire the signal received by the first sub-linear array and the signal received by the second sub-linear array in the current time continuous period, as the first sub-signal and the second sub-signal, respectively.

The first sub-linear array and the second sub-linear array form a mutual element linear antenna array. The first array element included in the first sub-linear array and the first array element included in the second sub-linear array are the same array element, that is, the origins of the first sub-linear array and the second sub-linear array are the same. The first sub-linear array and the second sub-linear array can move along the vertical direction of the straight line where the mutual element linear antenna array is located according to a preset speed in the current time continuous period. The preset speed may be set according to an empirical value, and is not particularly limited herein.

In the moving process, the first sub-linear array may receive signals sent by the signal source according to a first preset time interval, and the second sub-linear array may receive signals sent by the signal source according to a second preset time interval. The first preset time interval may be set according to a wavelength of a signal sent by the signal source, a preset speed, and the number of array elements included in the second sub-linear array, and the second preset time interval may be set according to a wavelength of a signal sent by the signal source, a preset speed, and the number of array elements included in the first sub-linear array. The time continuous period is a time period of a preset duration, and the preset duration can be set according to the wavelength of a signal sent by a signal source, a preset speed, the number of array elements included in the first sub-linear array and the number of array elements included in the second sub-linear array.

For example, as shown in fig. 3, the first sub-linear array includes 5 array elements 301, and the second sub-linear array includes 4 array elements 302, where the first array element included in the first sub-linear array and the first array element included in the second sub-linear array are the same array element. The first sub-linear array comprises a distance of 4λ/2 between every two array elements 301, and the second sub-linear array comprises a distance of 5λ/2 between every two array elements 302, λ being the wavelength of the signal transmitted by the signal source. And establishing a coordinate system of the mutual element linear antenna array by taking a straight line where the mutual element linear antenna array is located as an x-axis and a vertical direction of the straight line where the mutual element linear antenna array is located as a y-axis, taking a first array element of the first sub-linear array and the second sub-linear array as an original point and taking a straight line passing through the original point and vertical to the y-axis and the x-axis as a z-axis, wherein the first sub-linear array and the second sub-linear array both move along the y-axis direction of the coordinate system according to a preset speed v.

In the moving process, the first sub-linear array receives signals sent by the signal source according to a first preset time interval, wherein the first preset time interval is as follows:that is, the first sub-linear array receives the signal transmitted from the signal source every 4 lambda/2 of the distance, which is equivalent to increasing the distance of every 4 lambda/2 by one linear array identical to the first sub-linear array in the y-axis direction, and these increased linear arrays may be called as the first virtual array. The first virtual array comprises 5 first virtual array elements 303, such that all first virtual arrays may form a first virtual area array comprising a plurality of first virtual array elements 303 with the first sub-linear array.

In the moving process, the second sub-linear array receives signals sent by the signal source according to a second preset time interval, wherein the second preset time interval is as follows:that is, the second sub-linear array receives the signal transmitted from the signal source every time it moves by a distance of 5 lambda/2, which is equivalent to increasing the distance of 5 lambda/2 in the y-axis direction by one linear array identical to the second sub-linear array, and these increased linear arrays may be referred to as a second virtual array. The second virtual array may form a second virtual area array including a plurality of virtual array elements with the second sub-linear array.

Thus, the first virtual planar array and the second virtual planar array may form a virtual mutual element planar array including a plurality of virtual array elements, and based on the virtual mutual element planar array, the azimuth angle θ and the pitch angle of the signal transmitted by the signal source 305 may be determinedWherein, the azimuth angle θ is the angle between the projection 307 of the straight line 306 passing through the origin of the coordinate system of the signal source 305 and the mutual element linear antenna array on the plane of the virtual mutual element area array and the positive direction of the x-axis of the coordinate system, and θ is [0, pi ]]Pitch angle->For the angle between the origin line 306 of the coordinate system passing through the signal source 305 and the reciprocal linear antenna array and the positive direction of the z-axis of the coordinate system- >

Assuming that the first sub-linear array includes M ₁ The second sub-linear array comprises M ₂ Each array element, wherein M ₁ And M is as follows ₂ Is a group of mutual prime integers. Because the first array element included in the first sub-linear array and the first array element included in the second sub-linear array are the same array element, the total number of array elements included in the mutual element linear array is: m=m ₁ +M ₂ -1。

As shown in fig. 3, the linear antenna array of the mutual element on the x axis makes uniform linear motion along the y axis at a preset speed v, and the signals sent by the signal source are K far-field narrowband signals with wavelength lambda and independent of each other.

The kth signal sent by the signal source at the time t can be expressed as: s is(s) _k (t)＝α _k exp(jω ₀ t), where k=1, … K, α _k For the amplitude of the kth signal, ω ₀ ＝2πf ₀ ＝2πc/λ，ω ₀ Is the angular frequency of the kth signal, f ₀ The frequency of the kth signal, c is the speed of light, and j is the imaginary unit.

Assume thatθ _k For the azimuth of the kth signal,pitch angle, θ, of the kth signal _k ∈[0,π]，/>Thus gamma is _k ∈[0,1]，μ _k ∈[-1,1]。

Assuming that the starting time of the current time continuous period is t time, the first preset time interval is M ₂ τ, a second preset time interval of M ₁ τ, τ=d/v, d=λ/2, the duration tcp= (max (M ₁ (M ₂ -1),M ₂ (M ₁ -1)) τ), then the moment in time at which the first sub-linear array receives the signal transmitted by the signal source is t+n during the current time-continuous period ₁ M ₂ T, the moment of receiving the signal transmitted by the signal source by the second sub-linear array is t+n ₂ M ₁ τ, where n ₁ 、n ₂ Is a positive number, and wherein (1)>Representing rounding down on x.

Thus, the signal x (t) received by the reciprocal linear antenna array at time t can be expressed as:

wherein,represents the angular frequency of the kth signal after being affected by Doppler shift, n (t) represents the noise vector corresponding to the signal x (t), a _x (μ _k ；ω _k ) For the k-th signal, the expression is:

wherein d _xl ＝md，d _xl Represents the coordinate of the position of the first array element on the x-axis, m is {0, M ₁ ，2M ₁ ，…(M ₂ -1)M ₁ }∪{0,M ₂ ,2M ₂ ,…(M ₁ -1)M ₂ }。

Then->

Therefore->

Due to gamma _k ∈[0,1]，μ _k ∈[-1,1]So 0.ltoreq.gamma _k μ _k Less than or equal to 1, therefore,

when v is less than c,close to 0, thus->Also close to 0. That is, when the preset speed v is much smaller than the light speed, a _x (μ _k ；ω _k )＝a _x (μ _k ；ω ₀ )。

Thus, x (t) can be expressed as:

then, the signal received by the reciprocal linear antenna array at time t can be expressed as:

wherein, the direction matrix A= [ a ] corresponding to x (t) _x (μ ₁ ；ω ₀ ),a _x (μ ₂ ；ω ₀ ),…，a _x (μ _K ；ω ₀ )]The signal matrix s (t) corresponding to x (t) is:

in the step S202, the direction of arrival determining device may combine the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array.

Specifically, it is assumed that the environments of the first sub-linear array and the second sub-linear array are stationary during the movement, and the position of the signal source, the signal waveform, and the like remain unchanged.

Let t be the signal x received by the first sub-linear array ₁ (t)＝A ₁ s(t)+n ₁ (t)，n ₁ (t) is the signal x ₁ (t) corresponding noise vector, A ₁ For signal x ₁ (t) a corresponding direction matrix, and

A ₁ ＝[a _1x (μ ₁ ；ω ₀ ),a _1x (μ ₂ ；ω ₀ ),…，a _1x (μ _K ；ω ₀ )]

wherein,

then at t+M ₂ At time τ, signal x received by the first sub-linear array ₁ (t+M ₂ τ) is:

wherein s is _k (t+M ₂ τ)＝s _k (t)exp(jω ₀ M ₂ τ)。

Due to t+M ₂ The position of the first sub-linear array at time t is different from the position of the first sub-linear array at time t, thus t+M ₂ There is a deviation between the phase of the signal received by the first sub-linear array at time τ and the phase of the signal received by the first sub-linear array at time t. In order to make the phase of the signal received by the first sub-linear array more accurate, x can be ₁ (t+M ₂ τ) by the phase correction factor exp (-jω) ₀ M ₂ τ), i.e. where the signal received by the first sub-linear array is phase correctedAnd (5) managing.

Then, the phase-corrected signalThe method comprises the following steps:

assume that Then

Wherein, is->Is a matrix of directions of (a).

Then, at t+n ₁ M ₂ At time τ, signal x received by the first sub-linear array ₁ (t+n ₁ M ₂ τ) phase corrected signalThe method comprises the following steps:

wherein the signalCorresponding direction matrix Signal->Corresponding noise vector->n ₁ (t+n ₁ M ₂ τ) is the signal x ₁ (t+n ₁ M ₂ τ) corresponding noise vector.

Let eta ₁ ＝M ₁ -1＝max(n ₁ ) Then, the first sub-signals received by the first sub-linear array in the current time continuous period are superimposed to obtain the integral signal x received by the first sub-linear array in the current time continuous period _syn1 (t)：

Wherein x is _syn1 (t) corresponding noise vectorx _syn1 (t) corresponding direction matrix->/>

Representation a _1y (γ _k ；ω ₀ ) And a _1x (μ _k ；ω ₀ ) Is a Cronecker product of (Kronecker product).

By comparing the array flow patterns of the uniform area arrays, the first virtual area array is a virtual uniform area array with array element spacing.

Similarly, the second sub-signals received by the second sub-linear array in the current time continuous period are superimposed to obtain the whole signal x received by the second sub-linear array _syn2 (t)：

Wherein n is _syn2 (t) is x _syn2 (t) corresponding noise vector, x _syn2 (t) corresponding direction matrix a _2x (μ _k ；ω ₀ )，/> Representation a _2y (γ _k ；ω ₀ ) And a _2x (μ _k ；ω ₀ ) Cronecker product, eta ₂ ＝M ₂ -1＝max(n ₂ )， From this, the second virtual area array has an array element pitch of M ₁ d a virtual uniform planar array.

Due to M ₁ And M ₂ The first virtual area array and the second virtual area array can form a virtual mutual element area array. Then, in the current time continuous period, the combined signal x received by the inter-element linear antenna array _syn (t) can be expressed as:

t=1, … T, T is the total number of beats, x, in the current time-continuous period _syn (t) corresponding direction matrix A _s The dimensions of (2) are: m is M ₁ ² +M ₂ ² 。

The degree of freedom of the direction of arrival estimation is related to the number of array elements included in the antenna array, the maximum number of detectable signal sources of the direction of arrival estimation is the degree of freedom minus 1, and the maximum number of detectable signal sources represents the number of signal sources of the electronic device for detecting the direction of arrival at the same time.

Because the origins of the first sub-linear array and the second sub-linear array are the same, when the virtual mutual element area array formed by the first virtual area array and the second virtual area array is used for estimating the direction of arrival, the number of the array elements included in the virtual mutual element area array is equal to x _syn (t) corresponding direction matrix A _s The difference between the dimensions of (a) is 1, that is, the DOF of the DOF estimation in the embodiment of the invention is M ₁ ² +M ₂ ² -1, then the maximum number of detectable signal sources is M ₁ ² +M ₂ ² -2. Due to M ₁ ² +M ₂ ² -1＞M ₁ +M ₂ -1, therefore, using a first virtual area array and a second virtual areaThe virtual mutual element area array formed by the array carries out the direction of arrival estimation, so that the degree of freedom of the direction of arrival estimation can be improved, and the maximum detectable signal source number can be improved.

For example, as shown in fig. 3, the first sub-linear array and the second sub-linear array form a mutual element linear antenna array including 4+5-1=8 array elements, so that the degree of freedom of estimating the direction of arrival by using the mutual element linear antenna array is 8, and the maximum number of detectable signal sources is 7. The virtual mutual element area array formed by the first virtual area array and the second virtual area array comprises 4 ² +5 ² -1=40 array elements, then the degree of freedom for direction of arrival estimation using a virtual mutual element area array is 40 and the maximum number of detectable signal sources is 39.

After determining the above-mentioned combined signal, the direction-of-arrival determining apparatus may perform the above-mentioned step S203, that is, calculate a covariance matrix of the combined signal, and perform eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal. The specific manner of calculating the covariance matrix of the combined signal may be a corresponding manner in the signal processing field, which is not specifically limited and described herein; the specific method of eigenvalue decomposition may be generalized eigenvalue decomposition, singular value decomposition, or the like, and is not particularly limited herein.

After obtaining the noise subspace of the combined signal, the direction of arrival determination device may construct a spectral function from a preset plurality of alternative pitch angles, a preset plurality of alternative azimuth angles, and the noise subspace.

Specifically, the direction of arrival determining apparatus may select a plurality of alternative pitch angles from the range of values of the pitch angles in advance, select a plurality of alternative azimuth angles from the range of values of the azimuth angles, and then combine the plurality of alternative pitch angles and the plurality of alternative azimuth angles to obtain a plurality of angle combinations.

For example, the alternative pitch angles include J1, J2, J3, the alternative azimuth angles include F1, F2, and the direction-of-arrival determining apparatus may combine the plurality of alternative pitch angles and the plurality of alternative azimuth angles to obtain angle combinations (J1, F1), (J1, F2), (J2, F1), (J1, F2), (J3, F1), (J3, F2).

After obtaining the above-mentioned angle combinations, the direction-of-arrival determining apparatus may construct a spectral function according to the alternative pitch angle and the alternative azimuth angle included in the angle combination, and the noise subspace, that is, each alternative pitch angle and each alternative azimuth angle corresponds to one spectral function value. Furthermore, the direction of arrival determining device may perform a spectral peak search on the spectral function, and determine the candidate azimuth angle and the candidate pitch angle corresponding to the searched spectral peak as the target azimuth angle and the target pitch angle, respectively, to obtain the direction of arrival corresponding to the combined signal. The target azimuth angle is an alternative azimuth angle which accords with the direction of arrival corresponding to the combined signal, and the target pitch angle is an alternative pitch angle which accords with the direction of arrival corresponding to the combined signal.

Specifically, the direction-of-arrival determining apparatus may determine the array flow pattern corresponding to the angle combination according to the alternative pitch angle and the alternative azimuth angle included in the angle combination. For a combined signal, its array pattern is equivalent to its signal subspace, and the signal subspace of the combined signal is orthogonal to its noise subspace.

The direction of arrival determining device may determine the inverse of the inner product between the array flow pattern and the noise subspace corresponding to each angle combination as the spectral function value corresponding to the alternative pitch angle and the alternative azimuth angle included in the angle combination. Thus, when a spectral peak of the spectral function is searched, the inner product between the array flow pattern corresponding to the angle combination corresponding to the spectral peak and the noise subspace is close to 0, that is, the array flow pattern corresponding to the angle combination corresponding to the spectral peak and the noise subspace can be considered to be orthogonal, then the alternative pitch angle and the alternative azimuth angle included by the angle combination also accord with the direction of arrival of the combined signal, and the alternative pitch angle and the alternative azimuth angle included by the angle combination can be respectively determined as the target azimuth angle and the target pitch angle.

In this way, the first sub-linear array and the second sub-linear array can move along the vertical direction of the straight line where the mutual element linear antenna array is located, the first sub-linear array receives signals sent by the signal source every a first preset time period in the moving process, and the second sub-linear array receives signals sent by the signal source every a second preset time period, so that a plurality of virtual array elements are added on the plane where the first sub-linear array and the second sub-linear array move, and the virtual mutual element area array comprising a plurality of virtual array elements is obtained.

Meanwhile, the virtual mutual element area array comprises a plurality of virtual array elements, which is equivalent to increasing the number of array elements included in the mutual element linear antenna array, so that the degree of freedom of the direction of arrival estimation can be improved.

As an implementation manner of the embodiment of the present invention, the step of calculating the covariance matrix of the combined signal may include:

calculating a covariance matrix of the combined signal according to the following formula (1)

After the combined signal is obtained, the direction-of-arrival determining apparatus may calculate the combined signal x according to the above formula (1) _syn Covariance matrix of (t)This allows an accurate determination of the covariance matrix of the combined signal.

Wherein,for combined signal x _syn The conjugate transpose of (T), T being the total number of snapshots in the current time-continuous period.

It can be seen that the embodiments of the present invention provideIn the scheme, the direction-of-arrival determining apparatus may calculate the covariance matrix of the combined signal according to the above formula (1)Thus, the covariance matrix of the combined signal can be accurately determined, the accuracy of determining the direction of arrival corresponding to the combined signal can be improved, and the maximum detectable signal source number and the degree of freedom can be improved.

As an implementation manner of the embodiment of the present invention, the step of constructing a spectral function according to a preset plurality of alternative pitch angles, a preset plurality of alternative azimuth angles, and the noise subspace may include:

acquiring a plurality of preset alternative pitch angles and a plurality of preset alternative azimuth angles; for each alternative pitch angle and each alternative azimuth angle, constructing a spectral function corresponding to the alternative pitch angle and the alternative azimuth angle according to the following formula (2)

In order to accurately determine the target azimuth angle and the target pitch angle corresponding to the combined signal, the direction-of-arrival determination device may acquire a preset plurality of alternative azimuth angles θ and a preset plurality of alternative pitch anglesWherein the alternative azimuth angle theta epsilon 0 pi]Alternative pitch +.>

For each alternative pitch angleAnd each alternative azimuth angle θ, the direction-of-arrival determining apparatus may determine the alternative pitch angle according to the above formula (2)And a spectral function corresponding to the alternative azimuth, such that the value of the spectral function is the inverse of the inner product between the array flow pattern and the noise subspace for the alternative pitch and the alternative azimuth. Wherein (1)>For alternative azimuth angle θ and alternative pitch angle +.>Corresponding array flow pattern->Representing the noise subspace.

In this way, after obtaining the spectrum function corresponding to each alternative pitch angle and each alternative azimuth angle, the direction-of-arrival determining device can perform spectrum peak search on the spectrum function, so that the alternative pitch angle and the alternative azimuth angle corresponding to the array flow pattern orthogonal to the noise subspace can be determined, and the target pitch angle and the target azimuth angle can be accurately determined.

In the scheme provided by the embodiment of the invention, the direction-of-arrival determining device can obtain a plurality of preset alternative pitch angles and a plurality of preset alternative azimuth angles; and (3) constructing a spectrum function corresponding to each alternative pitch angle and each alternative azimuth angle according to the formula (2) aiming at each alternative pitch angle and each alternative azimuth angle. In this way, the direction-of-arrival determining apparatus can accurately construct a spectral function corresponding to each candidate pitch angle and each candidate azimuth, so that the target pitch angle and the target azimuth can be accurately determined.

As an implementation manner of the embodiment of the present invention, before the step of combining the first sub-signal and the second sub-signal to obtain the combined signal received by the inter-element linear antenna array, the method may further include:

the first sub-signals are received by the first sub-linear arrays during the movement, so that the first sub-linear arrays are located at different positions for each first sub-signal when the first sub-signals are received, which causes a phase deviation between the first sub-signals. Similarly, the first sub-signal is received by the second sub-linear array during the movement, so that the second sub-linear array is located at a different position for each second sub-signal when the second sub-signal is received, which causes a phase deviation between the second sub-signals.

Therefore, after the first sub-signal and the second sub-signal are received, the direction-of-arrival determining apparatus may perform phase correction processing on the first sub-signal and the second sub-signal, respectively, to obtain the first sub-signal after the phase correction processing and the second sub-signal after the phase correction processing. The specific manner of the phase correction process may be a corresponding manner in the field of signal processing, and is not specifically limited herein, so long as the phase deviation between the first sub-signals and the phase deviation between the second sub-signals can be eliminated.

Correspondingly, the step of combining the first sub-signal and the second sub-signal to obtain the combined signal received by the inter-element linear antenna array may include:

and combining the first sub-signal after the phase correction processing and the second sub-signal row after the phase correction processing to obtain a combined signal received by the mutual element linear antenna array.

After the first sub-signal after the phase correction processing and the second sub-signal after the phase correction processing are obtained, the direction-of-arrival determining apparatus may also combine the first sub-signal after the phase correction processing and the second sub-signal after the phase correction processing to obtain a combined signal received by the mutual element linear antenna array. Thus, the phase of the combined signal acquired by the direction-of-arrival determining device can be more accurate, and the direction of arrival corresponding to the combined signal can be more accurately determined based on the combined signal.

In the scheme provided by the embodiment of the invention, the direction-of-arrival determining device can respectively perform phase correction processing on the first sub-signal and the second sub-signal to obtain the first sub-signal after the phase correction processing and the second sub-signal after the phase correction processing, and then combine the first sub-signal after the phase correction processing and the second sub-signal after the phase correction processing to obtain the combined signal received by the mutual element linear antenna array. Thus, the phase of the combined signal acquired by the direction-of-arrival determining device can be more accurate, and the direction of arrival corresponding to the combined signal can be more accurately determined based on the combined signal.

Corresponding to the above method for determining the direction of arrival, the embodiment of the invention also provides a signal acquisition method. The following describes a signal acquisition method provided in the embodiment of the present invention.

The signal acquisition method provided by the embodiment of the invention is suitable for any electronic equipment which needs to acquire signals to determine the direction of arrival corresponding to the signals, for example, the electronic equipment can be a computer, a processor, a server, a base station and the like, and is called signal acquisition equipment in the following for the sake of clarity of description.

As shown in fig. 4, a signal acquisition method includes:

s401, controlling the first sub-linear array and the second sub-linear array to move along the vertical direction of the straight line where the mutual element linear antenna array is located according to a preset speed in the current time continuous period;

the first sub-linear array and the second sub-linear array form the mutual element linear antenna array, and the origins of the first sub-linear array and the second sub-linear array are the same.

S402, acquiring signals received by the first sub-linear array and signals received by the second sub-linear array in the current time continuous period, respectively serving as a first sub-signal and a second sub-signal, combining the first sub-signal and the second sub-signal to obtain a combined signal received by the inter-element linear antenna array, and determining a corresponding direction of arrival of the combined signal based on the combined signal;

In the scheme provided by the embodiment of the invention, the signal acquisition device can control the first sub-linear array and the second sub-linear array to move along the vertical direction of the straight line where the mutual element linear antenna array is located according to the preset speed in the current time continuous period, wherein the first sub-linear array and the second sub-linear array form the mutual element linear antenna array, and the origins of the first sub-linear array and the second sub-linear array are the same; the method comprises the steps of obtaining a signal received by a first sub-linear array and a signal received by a second sub-linear array in a current time continuous period, respectively serving as a first sub-signal and a second sub-signal, combining the first sub-signal and the second sub-signal to obtain a combined signal received by a mutual element linear antenna array, and determining a corresponding direction of arrival of the combined signal based on the combined signal, wherein the first sub-linear array receives a signal sent by a signal source according to a first preset time interval in a moving process, the second sub-linear array receives a signal sent by the signal source according to a second preset time interval in the moving process, and the first preset time interval is set based on the number of array elements included by the second sub-linear array.

In this way, the signal acquisition device can control the first sub-linear array and the second sub-linear array to move along the vertical direction of the straight line where the mutual element linear antenna array is located, the first sub-linear array receives signals sent by the signal source every a first preset time period in the moving process, and the second sub-linear array receives signals sent by the signal source every a second preset time period, so that a plurality of virtual array elements are added on the moving plane of the first sub-linear array and the second sub-linear array, a virtual mutual element area array comprising a plurality of virtual array elements is obtained, the pitch angle and the azimuth angle of the received signals can be determined through the virtual mutual element area array, two-dimensional arrival direction estimation can be achieved, and the accuracy of the arrival direction estimation result can be improved.

In the step S401, the signal acquiring device may control the first sub-linear array and the second sub-linear array to move along the vertical direction of the line where the mutual element linear antenna array is located according to the preset speed in the current time continuous period. The first sub-linear array and the second sub-linear array form a mutual element linear antenna array, and the origins of the first sub-linear array and the second sub-linear array are the same.

As shown in fig. 3, the signal acquisition device may control the first sub-linear array and the second sub-linear array to move along the y-axis direction at a preset speed v in a current continuous period of time, with the line where the inter-element linear antenna array is located as the x-axis of the coordinate system and the vertical direction of the line where the inter-element linear antenna array is located as the y-axis of the coordinate system.

In the step S402, the signal acquiring device may acquire the signal received by the first sub-linear array and the signal received by the second sub-linear array in the current time continuous period, as the first sub-signal and the second sub-signal, respectively, so as to combine the first sub-signal and the second sub-signal to obtain a combined signal received by the reciprocal linear antenna array, and determine the corresponding direction of arrival of the combined signal based on the combined signal.

It is reasonable that the signal acquisition device and the direction of arrival determining device may be the same device or different devices. When the signal acquisition device and the direction-of-arrival determining device are different devices, the signal acquisition device may transmit the first sub-signal and the second sub-signal to the direction-of-arrival determining device, and the direction-of-arrival determining device may combine the first sub-signal and the second sub-signal to obtain a combined signal received by the reciprocal linear antenna array, and determine a corresponding direction of arrival of the combined signal based on the combined signal.

The step of combining the first sub-signal and the second sub-signal to obtain a combined signal received by the reciprocal linear antenna array, and determining the corresponding direction of arrival of the combined signal based on the combined signal may refer to the specific description of the step S202-step S204, which is not repeated herein.

The first sub-linear array receives the signal sent by the signal source according to a first preset time interval in the moving process, and the second sub-linear array receives the signal sent by the signal source according to a second preset time interval in the moving process, where the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array, which can be specifically referred to the description of the above step S201 and will not be repeated herein.

Corresponding to the above method for determining the direction of arrival, the embodiment of the invention also provides a device for determining the direction of arrival. The following describes a device for determining a direction of arrival provided by an embodiment of the present invention.

As shown in fig. 5, a device for determining a direction of arrival, the device comprising:

a signal obtaining module 501, configured to obtain a signal received by the first sub-linear array and a signal received by the second sub-linear array in a current time continuous period, as a first sub-signal and a second sub-signal respectively;

A signal combining module 502, configured to combine the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array;

a noise subspace determining module 503, configured to calculate a covariance matrix of the combined signal, and perform eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal;

the direction of arrival determining module 504 is configured to construct a spectral function according to a preset plurality of alternative pitch angles, a preset plurality of alternative azimuth angles, and the noise subspace, perform a spectral peak search on the spectral function, and determine an alternative azimuth angle and an alternative pitch angle corresponding to the searched spectral peak as a target azimuth angle and a target pitch angle, respectively, so as to obtain a direction of arrival corresponding to the combined signal.

As an implementation manner of the embodiment of the present invention, the noise subspace determination module 503 may include:

covariance matrix calculation submodule (not shown in fig. 5) forCalculating covariance matrix of the combined signal according to the following formula

As an implementation manner of the embodiment of the present invention, the direction of arrival determining module 504 may include:

an alternative angle acquisition sub-module (not shown in fig. 5) for acquiring a preset plurality of alternative pitch angles and a preset plurality of alternative azimuth angles;

a spectral function construction sub-module (not shown in fig. 5) for constructing, for each of the alternative pitch angles and each of the alternative azimuth angles, a spectral function corresponding to the alternative pitch angle and the alternative azimuth angle according to the following formula

As an implementation manner of the embodiment of the present invention, the above-mentioned determination device for a direction of arrival may further include:

A phase correction module (not shown in fig. 5) configured to perform phase correction processing on the first sub-signal and the second sub-signal before combining the first sub-signal and the second sub-signal to obtain a combined signal received by the inter-element linear antenna array, so as to obtain a first sub-signal after the phase correction processing and a second sub-signal after the phase correction processing;

the signal combining module 502 may include:

and a signal combining sub-module (not shown in fig. 5) configured to combine the first sub-signal after the phase correction processing and the second sub-signal line after the phase correction processing to obtain a combined signal received by the mutual element linear antenna array.

Corresponding to the signal acquisition method, the embodiment of the invention also provides a signal acquisition device. The following describes a signal acquisition device provided in an embodiment of the present invention.

As shown in fig. 6, a signal acquisition apparatus, the apparatus comprising:

the array moving module 601 is configured to control the first sub-linear array and the second sub-linear array to move along a vertical direction of a line where the mutual element linear antenna array is located according to a preset speed in a current time continuous period;

The signal processing module 602 is configured to obtain a signal received by the first sub-linear array and a signal received by the second sub-linear array in the current time continuous period, respectively as a first sub-signal and a second sub-signal, so as to combine the first sub-signal and the second sub-signal to obtain a combined signal received by the inter-element linear antenna array, and determine a corresponding direction of arrival of the combined signal based on the combined signal;

Meanwhile, the degree of freedom of the direction of arrival estimation is related to the number of array elements included in the antenna array, the virtual mutual element area array comprises a plurality of virtual array elements, which is equivalent to increasing the number of array elements included in the mutual element linear antenna array, so that the degree of freedom of the direction of arrival estimation can be improved, and the maximum detectable signal source number of the direction of arrival estimation can be improved because the maximum detectable signal source number estimated in the direction of arrival is reduced by 1.

The embodiment of the present invention further provides an electronic device, which is the direction of arrival determining device or the signal obtaining device, as shown in fig. 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 complete communication with each other through the communication bus 704,

a memory 703 for storing a computer program;

the processor 701 is configured to implement the steps of the method for determining a direction of arrival according to any of the above embodiments or the steps of the signal acquisition method according to any of the above embodiments when executing the program stored in the memory 703.

In the scheme provided by the embodiment of the invention, the electronic device can acquire the signal received by the first sub-linear array and the signal received by the second sub-linear array in the current time continuous period, and respectively serve as the first sub-signal and the second sub-signal, wherein the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, the origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along the vertical direction of the straight line where the mutual element linear antenna array is located according to the preset speed in the current time continuous period, the first sub-linear array receives the signal transmitted by the signal source according to the first preset time interval in the moving process, the second sub-linear array receives the signal transmitted by the signal source according to the second preset time interval, the first preset time interval is set based on the number of array elements included by the second sub-linear array, and the second preset time interval is set based on the number of array elements included by the first sub-linear array; combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array; calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal; constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and a noise subspace, searching a spectrum peak of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peak as a target azimuth angle and a target pitch angle to obtain the arrival direction corresponding to the combined signal.

The communication bus mentioned above for the electronic devices may be a peripheral component interconnect standard (Peripheral Component Interconnect, PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The Memory may include random access Memory (Random Access Memory, RAM) or may include Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but also digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

In yet another embodiment of the present invention, there is further provided a computer readable storage medium, in which a computer program is stored, the computer program implementing the steps of the method for determining a direction of arrival according to any one of the embodiments or the steps of the method for acquiring a signal according to any one of the embodiments when executed by a processor.

In the solution provided in the embodiment of the present invention, when a computer program stored in a computer readable storage medium is executed by a processor, a signal received by a first sub-linear array and a signal received by a second sub-linear array in a current time continuous period may be obtained and used as a first sub-signal and a second sub-signal, where the first sub-linear array and the second sub-linear array form a reciprocal linear antenna array, origin points of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along a vertical direction of a line where the reciprocal linear antenna array is located according to a preset speed in the current time continuous period, during the moving process, the first sub-linear array receives a signal sent by a signal source according to a first preset time interval, the second sub-linear array receives a signal sent by the signal source according to a second preset time interval, the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array; combining the first sub-signal and the second sub-signal to obtain a combined signal received by the mutual element linear antenna array; calculating a covariance matrix of the combined signal, and carrying out eigenvalue decomposition on the covariance matrix to obtain a noise subspace of the combined signal; constructing a spectrum function according to a plurality of preset alternative pitch angles, a plurality of preset alternative azimuth angles and a noise subspace, searching a spectrum peak of the spectrum function, and respectively determining the alternative azimuth angles and the alternative pitch angles corresponding to the searched spectrum peak as a target azimuth angle and a target pitch angle to obtain the arrival direction corresponding to the combined signal.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for determining a direction of arrival, the method comprising:

acquiring signals received by a first sub-linear array and signals received by a second sub-linear array in a current time continuous period, and respectively taking the signals as a first sub-signal and a second sub-signal, wherein the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, the origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along the vertical direction of a straight line where the mutual element linear antenna array is positioned according to a preset speed in the current time continuous period, the first sub-linear array receives signals sent by a signal source according to a first preset time interval in the moving process, and the second sub-linear array receives signals sent by the signal source according to a second preset time interval, so that a plurality of virtual array elements are added on a plane where the first sub-linear array and the second sub-linear array move, a virtual mutual element area array comprising a plurality of virtual array elements is obtained, and signals are received through the virtual mutual element area array; the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array;

2. The method of claim 1, wherein the step of calculating a covariance matrix of the combined signal comprises:

calculating a covariance matrix of the combined signal according to the formula

3. The method of claim 1, wherein the step of constructing a spectral function from a preset plurality of alternative pitch angles, a preset plurality of alternative azimuth angles, and the noise subspace comprises:

4. A method according to any of claims 1-3, wherein prior to the step of combining the first sub-signal and the second sub-signal to obtain a combined signal for reception by the inter-element linear antenna array, the method further comprises:

5. A method of signal acquisition, the method comprising:

the first sub-linear array receives signals sent by a signal source according to a first preset time interval in the moving process, and the second sub-linear array receives signals sent by the signal source according to a second preset time interval in the moving process, so that a plurality of virtual array elements are added on a plane where the first sub-linear array and the second sub-linear array move, a virtual mutual element array comprising a plurality of virtual array elements is obtained, and signals are received through the virtual mutual element array; the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array.

6. A direction of arrival determining apparatus, the apparatus comprising:

the signal acquisition module is used for acquiring signals received by a first sub-linear array and signals received by a second sub-linear array in a current time continuous period, and respectively taking the signals as a first sub-signal and a second sub-signal, wherein the first sub-linear array and the second sub-linear array form a mutual element linear antenna array, the origins of the first sub-linear array and the second sub-linear array are the same, the first sub-linear array and the second sub-linear array move along the vertical direction of a straight line where the mutual element linear antenna array is positioned according to a preset speed in the current time continuous period, the first sub-linear array receives signals sent by a signal source according to a first preset time interval in the moving process, and the second sub-linear array receives signals sent by the signal source according to a second preset time interval, so that a plurality of virtual array elements are added on a plane where the first sub-linear array and the second sub-linear array move, a virtual element planar array comprising a plurality of virtual array elements is obtained, and the signals are received through the virtual mutual element planar array; the first preset time interval is set based on the number of array elements included in the second sub-linear array, and the second preset time interval is set based on the number of array elements included in the first sub-linear array;

7. The apparatus of claim 6, wherein the noise subspace determination module comprises:

8. The apparatus of claim 6, wherein the direction of arrival determination module comprises:

9. The apparatus according to any one of claims 6-8, further comprising:

the signal combining module includes:

and the signal combination sub-module is used for combining the first sub-signal after the phase correction processing and the second sub-signal after the phase correction processing to obtain a combined signal received by the mutual element linear antenna array.

10. A signal acquisition device, the device comprising: