CN114339991A

CN114339991A - AoA estimation method, apparatus, base station, storage medium, and computer program product

Info

Publication number: CN114339991A
Application number: CN202210040929.1A
Authority: CN
Inventors: 郑旺; 齐望东; 黄永明; 刘升恒; 潘孟冠; 贾兴华; 李晓东
Original assignee: Network Communication and Security Zijinshan Laboratory
Current assignee: Network Communication and Security Zijinshan Laboratory
Priority date: 2022-01-14
Filing date: 2022-01-14
Publication date: 2022-04-12
Anticipated expiration: 2042-01-14
Also published as: WO2023134430A1; CN114339991B

Abstract

The present application relates to an AoA estimation method, apparatus, base station, storage medium, and computer program product. The AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps: the method comprises the steps of obtaining an initial AoA estimated value of at least one subarray in a preset AoA interval, determining at least one other AoA estimated value of the subarray according to the first initial AoA estimated value, determining candidate AoA estimated values according to the initial AoA estimated value and the other AoA estimated values, determining a target AoA interval according to the candidate AoA estimated values, determining the target AoA estimated value based on the target AoA interval, and enabling the length of the target AoA interval to be smaller than a second threshold value. The method can improve the AoA identification precision.

Description

AoA estimation method, apparatus, base station, storage medium, and computer program product

Technical Field

The present application relates to the field of 5G technologies, and in particular, to an AoA estimation method, apparatus, base station, storage medium, and computer program product.

Background

With the rapid development of industrial internet and car networking, high-precision positioning becomes an indispensable key support service. Under the condition that GPS signals of parking lots, tunnels and the like are weak or even unavailable, a 5G base station can measure parameters such as an Arrival Angle (AoA), a Departure Angle (AoD) and the like according to positioning signals sent by a terminal to determine the position of the terminal, the antenna spacing of an antenna array mainly used by the current 5G base station is less than or equal to half wavelength, the direction-finding accuracy and the resolution can be improved by increasing the antenna spacing, and a plurality of fuzzy AoA estimated values can be obtained.

In the prior art, a plurality of base stations receive a plurality of positioning signals, and a plurality of groups of fuzzy AoA estimated values obtained by the plurality of positioning signals are compared, so that a fuzzy solution caused by increasing the antenna spacing is eliminated, and a real AoA estimated value is obtained. But the prior art method has low recognition accuracy.

Disclosure of Invention

In view of the above, it is desirable to provide an AoA estimation method, an AoA estimation apparatus, a base station, a storage medium, and a computer program product that can improve the accuracy of AoA recognition.

In a first aspect, the present application provides an AoA estimation method, where the AoA estimation method is applied to a base station, where the base station includes at least two sub-arrays, and the method includes:

acquiring an initial AoA estimation value of at least one subarray in a preset AoA interval, and determining at least one other AoA estimation value of the subarray according to the initial AoA estimation value;

determining candidate AoA estimated values according to the initial AoA estimated value and the other AoA estimated values;

determining a target AoA interval according to the candidate AoA estimation value, and determining a target AoA estimation value based on the target AoA interval; the length of the target AoA interval is less than a second threshold.

In one embodiment, the obtaining an initial AoA estimate of at least one subarray in a preset AoA interval and determining at least one other AoA estimate of the subarray according to the initial AoA estimate includes:

in a preset first AoA interval, acquiring a first initial AoA estimation value according to a positioning signal of a terminal received by a first subarray;

determining at least one first further estimate of AoA based on a linear relationship between the estimates of AoA and the first initial estimate of AoA.

In one embodiment, the determining a candidate AoA estimate based on the initial AoA estimate and the other AoA estimates comprises:

constructing a correction function according to the positioning signal of the terminal received by the second subarray;

determining the candidate AoA estimate based on the first initial AoA estimate, the at least one first further AoA estimate and the correction function.

In one embodiment, the determining the candidate AoA estimate based on the first initial AoA estimate, the at least one first additional AoA estimate, and the correction function comprises:

respectively substituting the first initial AoA estimation value and each first other AoA estimation value into the correction function to obtain a value of the correction function;

and determining the AoA estimated value corresponding to the maximum correction function value as the candidate AoA estimated value.

in a preset first AoA interval, acquiring a first initial AoA estimation value according to a positioning signal of a terminal received by a first subarray; determining at least one first other AoA estimated value based on the linear relation between the AoA estimated values and the first initial AoA estimated value to obtain a first AoA estimated value set; the first set of AoA estimate values includes the first initial AoA estimate value and the first other AoA estimate values;

in a preset second AoA interval, acquiring a second initial AoA estimation value according to a positioning signal of the terminal received by a second subarray; determining at least one second other AoA estimated value based on the linear relation between the AoA estimated values and the second initial AoA estimated value to obtain a second AoA estimated value set; the second set of AoA estimate values includes the second initial AoA estimate and the second other AoA estimate.

obtaining a difference between each AoA estimate in the first AoA estimate set and each AoA estimate in the second AoA estimate set;

obtaining a first AoA estimation value in the first AoA estimation value set and a second AoA estimation value in the second AoA estimation value set corresponding to the difference value with the smallest absolute value;

determining an average of the first and second AoA estimates as the candidate AoA estimate.

In one embodiment, the determining a target AoA interval according to the candidate AoA estimation value and determining a target AoA estimation value based on the target AoA interval includes:

and determining the target AoA estimation value by adopting a preset search method in the target AoA interval according to the positioning signals of the terminal received by all the subarrays.

In one embodiment, the antenna spacing of the target sub-array in each sub-array is smaller than or equal to a first threshold, the antenna spacing of other sub-arrays except the target sub-array is larger than the first threshold, or the antenna spacing of each sub-array is larger than the first threshold; the target sub-array is any one of the sub-arrays.

In a second aspect, the present application further provides an AoA estimation apparatus, which is applied to a base station, where the base station includes at least two sub-arrays, and the apparatus includes:

the processing module is used for acquiring an initial AoA estimated value of at least one subarray in a preset AoA interval and determining at least one other AoA estimated value of the subarray according to the initial AoA estimated value;

a first determining module, configured to determine a candidate AoA estimate according to the initial AoA estimate and the other AoA estimates;

a second determining module, configured to determine a target AoA interval according to the candidate AoA estimation value, and determine a target AoA estimation value based on the target AoA interval; the length of the target AoA interval is less than a second threshold.

In a third aspect, the present application further provides a base station, where the computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program: the AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps:

acquiring an initial AoA estimation value of at least one subarray in a preset AoA interval, and determining at least one other AoA estimation value of the subarray according to the first initial AoA estimation value;

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: the AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps:

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of: the AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps:

The AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, the base station acquires an initial AoA estimation value of at least one sub-array in a preset AoA interval, can determine at least one other AoA estimation value of the sub-array according to the first initial AoA estimation value, can determine candidate AoA estimation values according to the initial AoA estimation value and the other AoA estimation values, determines a target AoA interval according to the candidate AoA estimation values, further can determine a target AoA estimation value based on the target AoA interval, and shortens the workload by acquiring the initial AoA estimation value of at least one sub-array in the preset AoA interval and acquiring the other AoA estimation values according to the relation between the initial AoA estimation value and the AoA estimation value without traversing the whole AoA interval in the process of acquiring all the AoA estimation values compared with the traditional method, each AoA estimated value does not need to be calculated, the calculation process is simple, and the calculated amount is small; and meanwhile, a candidate AoA estimation value with low precision is determined from the initial AoA estimation value and other AoA estimation values, a cell around the candidate AoA estimation value is set as a target AoA interval, and the target AoA estimation value is searched again in the target AoA interval, so that the precision of the target AoA estimation value is improved.

Drawings

FIG. 1 is a diagram of an embodiment of an AoA estimation method;

FIG. 2 is a schematic flow chart diagram illustrating a method for determining a target AoA estimate in one embodiment;

fig. 3 is a schematic diagram of an antenna array according to an embodiment;

FIG. 4 is a flow diagram illustrating a method for determining multiple AoA estimates according to one embodiment;

FIG. 5 is a flow diagram illustrating a method for determining candidate AoA estimates according to one embodiment;

FIG. 6 is a flow diagram illustrating a method for determining candidate AoA estimates using a correction function according to one embodiment;

FIG. 7 is a diagram of a MUSIC spectral function in accordance with an embodiment;

FIG. 8 is a flow diagram illustrating a method for determining an initial AoA estimate in one embodiment;

FIG. 9 is a schematic flow chart diagram of the AoA estimation method in one embodiment;

fig. 10 is a first block diagram of an AoA estimation device in one embodiment;

FIG. 11 is a second block diagram of an AoA estimation apparatus according to an embodiment;

FIG. 12 is a block diagram showing a third configuration of an AoA estimation device in one embodiment;

FIG. 13 is a fourth block diagram showing an AoA estimation apparatus according to an embodiment;

fig. 14 is a fifth configuration block diagram of the AoA estimating apparatus in one embodiment;

fig. 15 is a block diagram showing a sixth configuration of the AoA estimating apparatus in one embodiment;

fig. 16 is an internal structural diagram of a base station in one embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

First, before specifically describing the technical solution of the embodiment of the present application, a technical background on which the embodiment of the present application is based is described.

In the existing method for estimating the arrival angle of a terminal by using a wireless positioning base station, a uniform antenna array with the antenna spacing less than or equal to half wavelength is mainly used, the lower boundary of the direction-finding error of Cramer-Rao is inversely proportional to the aperture of the antenna, and the aperture of the antenna array is increased, so that the direction-finding precision and the resolution can be effectively improved. However, increasing the spacing between the antenna elements reduces the coupling effect between the antenna elements, which is detrimental to both positioning and communication, especially in the case of multiple users, and increases the error rate.

Some complex antenna array structures with large spacing, such as co-prime arrays, nested arrays, etc., have been proposed by researchers. However, such antenna arrays are not only complex in structure, but also require specially designed algorithms for constructing virtual arrays. In addition, in practical application, hardware damage and coherent signals existing between antennas can cause that an accurate virtual array antenna array cannot be constructed, so that the method fails.

In actual engineering, a plurality of base stations are generally needed to jointly position a terminal, and since a large-spacing antenna array is deployed in a base station, only a plurality of angle estimation values corresponding to the same target can be obtained, and then a plurality of groups of angle estimation values are obtained by using the base stations deployed at different positions, so that a fuzzy solution is eliminated, and a real angle estimation value corresponding to the target is obtained. The combination of multiple base stations increases the complexity and the calculation amount of the system, and makes the hardware cost higher, especially in multiple scenarios, the recognition accuracy is not high.

Therefore, in view of the above problems, the following describes a technical solution related to the embodiments of the present disclosure with reference to a scenario in which the embodiments of the present disclosure are applied.

The AoA estimation method provided by the embodiment of the application can be applied to an application environment as shown in fig. 1. Wherein the terminal 102 communicates with the base station 104. After the terminal 102 sends the positioning signal to the base station 104, the base station 104 calculates the AoA estimation value of the terminal 102 according to the positioning signal, so as to obtain the specific position of the terminal 102. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices and portable wearable devices, and the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart car-mounted devices, and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. The base station can be a macro base station, a micro base station, a radio remote station, a repeater or an indoor distribution system and the like.

In one embodiment, as shown in fig. 2, a flow chart of a method for determining a target AoA estimation value is provided, which is illustrated by applying the method to a base station in fig. 1 as an example, the AoA estimation method is applied to a base station, and the base station includes at least two sub-arrays, and includes the following steps:

s201, acquiring an initial AoA estimated value of at least one subarray in a preset AoA interval, and determining at least one other AoA estimated value of the subarray according to the first initial AoA estimated value.

Optionally, the antenna spacing of the target sub-array in each sub-array is smaller than or equal to a first threshold, and the antenna spacing of other sub-arrays except the target sub-array is larger than the first threshold, or the antenna spacing of each sub-array is larger than the first threshold; the target subarray is any one of the subarrays.

For example, fig. 3 is a schematic structural diagram of a large-spacing antenna array, where the large-spacing antenna array used by the base station includes two large-spacing antenna sub-arrays, and the total number of antennas is

The two large-distance antenna sub-arrays are respectively a first sub-array and a second sub-array, for example, the first sub-array may be the first sub-array in fig. 3, and the second sub-array may be the second sub-array in fig. 3, or the first sub-array may be the second sub-array in fig. 3, and the second sub-array may be the first sub-array in fig. 3. Wherein, the number of the antenna of the first subarray is

Distance between antennas thereofIs composed of

The number of the antennas of the second subarray is

With an antenna spacing of

，

Is a positive integer and is a non-zero integer,

in the form of a unit pitch,

the wavelength corresponding to the center frequency.

When in use

，

When the antenna spacing is 1, the antenna spacing of the first subarray and the second subarray is smaller than or equal to the first threshold, that is, only one angular direction vector exists, and an AoA estimated value can be obtained. In this embodiment, when

，

Are relatively prime when

The number of the carbon atoms is 1,

when the number is a positive integer greater than 1, the antenna spacing of the first sub-array is equal to a first threshold value, and only one antenna existsThe first subarray corresponds to one AoA estimated value, the antenna spacing of the second antenna is larger than a first threshold value, direction vectors of multiple angles exist, and the second subarray corresponds to at least two AoA estimated values; when in use

Are all positive integers greater than 1 and

when the antenna spacing of the first subarray and the antenna spacing of the second subarray are both larger than the first threshold value, namely, direction vectors with different angles exist, and a plurality of AoA estimated values can be obtained. Because the distance between the antennas in the first subarray and the second subarray is larger than the first threshold value, the first subarray and the second subarray both correspond to at least two AoA estimated values.

Taking the second subarray as an example, optionally, the base station may input the positioning signal received by the second subarray into a preset neural network model, and output an initial AoA estimation value of the second subarray in a preset AoA interval through training of the neural network model, or the base station may also perform calculation according to the positioning signal received by the second subarray and a correlation algorithm to obtain the initial AoA estimation value of the second subarray in the preset AoA interval. The correlation Algorithm may be an Algorithm for obtaining a closed-form solution or an Algorithm for peak search, the Algorithm for obtaining a closed-form solution may be a Signal parameter estimation Algorithm (ESPRIT) based on a rotation invariant technique, a root-seeking Algorithm (Multiple Signal Classification, MUSIC) for Multiple Signal Classification, and the like, and the Algorithm for peak search may be a Multiple Signal Classification (Multiple Signal Classification, MUSIC) Algorithm, (cap Algorithm, Capon) Algorithm, and the like. The present embodiment does not limit the manner of obtaining the initial AoA estimated value of the subarray in the preset AoA interval. The base station may also obtain an initial AoA estimation value of the first subarray in the preset AoA interval, or may also obtain the initial AoA estimation value of the first subarray and the initial AoA estimation value of the second subarray in the preset AoA interval at the same time.

Further, taking the second subarray as an example, other AoA estimated values of the second subarray may be obtained according to the distribution rule of the initial AoA estimated value of the second subarray and all historical AoA estimated values, or other AoA estimated values of the second subarray may be obtained according to the relationship between the initial AoA estimated value of the second subarray and each AoA estimated value. The method for obtaining other AoA estimated values by this embodiment is not limited. Also other AoA estimates for the first subarray may be obtained according to the method described above.

And S202, determining candidate AoA estimated values according to the initial AoA estimated value and other AoA estimated values.

Alternatively, the base station may average the initial AoA estimate with other AoA estimates, and use the average as a candidate AoA estimate. Optionally, the base station may obtain a weighted average of the initial AoA estimate and other AoA estimates, and use the weighted average as a candidate AoA estimate. Optionally, the base station may also use the historical candidate AoA estimate as a reference, select an AoA estimate closest to the historical candidate AoA estimate from the initial AoA estimate and the other AoA estimates, and use the AoA estimate as the candidate AoA estimate. Optionally, when the two sub-arrays included in the base station are the first sub-array and the second sub-array, respectively, the initial AoA estimation value and other AoA estimation values corresponding to the first sub-array may be obtained through the positioning signal received by the first sub-array, a correction function may be constructed through the positioning signal received by the second sub-array, determining candidate AoA estimated values according to the initial AoA estimated value and other AoA estimated values corresponding to the first subarray and the correction function corresponding to the second subarray, or, the initial AoA estimated value and other AoA estimated values corresponding to the first subarray may be obtained through the positioning signal received by the first subarray, and obtaining an initial AoA estimation value and other AoA estimation values corresponding to the second subarray through the positioning signals received by the second subarray, comparing the AoA estimation value corresponding to the first subarray with the AoA estimation value corresponding to the second subarray, and determining the average value of the two closest AoA estimation values as a candidate AoA estimation value. The present embodiment does not limit the manner of determining the candidate AoA estimate value according to the initial AoA estimate value and the other AoA estimate values.

S203, determining a target AoA interval according to the candidate AoA estimation value, and determining a target AoA estimation value based on the target AoA interval; the length of the target AoA interval is less than the second threshold.

Alternatively, the second threshold may be a length of

And a length of

The smaller interval.

Specifically, after the candidate AoA estimation value is obtained in step S202, a cell around the candidate AoA estimation value is selected as a target AoA cell, and the length of the cell is set to be smaller than that of the target AoA cell

. For example, when the candidate AoA estimate is 9.8, 8.8 to 10.8 may be selected as the target AoA interval. The positioning signal may be input to a preset neural network model, and a target AoA estimation value in a target AoA interval is output through training of the neural network model, or the base station may calculate according to the positioning signal of the terminal and a correlation algorithm to obtain the target AoA estimation value in the target AoA interval.

In the AoA estimation method, the AoA estimation method is applied to a base station of a large-distance antenna, an initial AoA estimation value of at least one subarray is obtained in a preset AoA interval, at least one other AoA estimation value of the subarray can be determined according to a first initial AoA estimation value, so that a candidate AoA estimation value can be determined according to the initial AoA estimation value and the other AoA estimation values, a target AoA interval can be determined according to the candidate AoA estimation value, further, a target AoA estimation value can be determined based on the target AoA interval, the initial AoA estimation value of at least one subarray is obtained in the preset AoA interval, the other AoA estimation values can be obtained according to a relation between the initial AoA estimation value and the AoA estimation value, compared with the conventional method, the entire AoA interval does not need to be traversed in the process of obtaining all the AoA estimation values, the workload is reduced, each AoA estimation value does not need to be calculated, and the calculation process is simple, the calculated amount is small; and meanwhile, a candidate AoA estimation value with low precision is determined from the initial AoA estimation value and other AoA estimation values, a cell around the candidate AoA estimation value is set as a target AoA interval, and the target AoA estimation value is searched again in the target AoA interval, so that the precision of the target AoA estimation value is improved.

Fig. 4 is a schematic flowchart of a method for determining multiple AoA estimated values according to an embodiment of the present disclosure. This embodiment relates to an alternative implementation of obtaining an initial AoA estimate for at least one subarray in a predetermined AoA interval, and determining at least one other AoA estimate for the subarray based on the first initial AoA estimate. On the basis of the above embodiment, as shown in fig. 4, the above S201 may include the following steps:

s401, in a preset first AoA interval, obtaining a first initial AoA estimated value according to a positioning signal of a terminal received by a first subarray.

Specifically, the first subarray may be the first subarray in fig. 3, or may be the second subarray, and after the first subarray receives the positioning signal sent by the terminal, a process of obtaining the AoA estimation value according to the positioning signal may be represented as:

（1）

in the formula (I), the compound is shown in the specification,

indicating that the first sub-array received the positioning signal of the terminal,

which represents a positioning signal transmitted by the terminal,

the representation of the noise subspace is represented,

a set of direction vectors representing angles of arrival.

（2）

In the formula (I), the compound is shown in the specification,

a direction vector representing the angle of arrival,

is shown as

And the angle of arrival, namely the AoA estimated value corresponding to the first subarray.

The preset first AoA interval may refer to a length of

If the direction vector corresponding to the preset first AoA interval is

The formula of the direction vector can be expressed as:

（3）

in the formula (I), the compound is shown in the specification,

an estimate of the angle of arrival is represented,

as the position coordinates of the antennas in the first sub-array,

is the wavelength corresponding to the subcarrier. It should be noted that, here, the leftmost antenna of the first subarray is taken as a reference antenna, and the position coordinates of the antenna can be expressed as

。

Further, it can be understood that the estimated value of the angle of arrival is calculated by the above formulas (1) to (3) according to the values of the positioning signal received by the base station, the positioning signal transmitted by the terminal and the noise subspace

I.e. by

Is the first initial AoA estimate.

S402, determining at least one first further AoA estimate based on the linear relationship between the AoA estimates and the first initial AoA estimate.

Specifically, the linear relationship between the AoA estimated values means that the difference between the sine values of the AoA estimated values is

Integer multiples of. The linear relationship can be expressed as:

（4）

after the first initial AoA estimated value of the first subarray is obtained, other AoA estimated values of the first subarray can be obtained according to the linear relation between the AoA estimated values. For example, when N is 2, the corresponding first sub-array is two AoA estimated values, when the initial AoA estimated value of the first sub-array is 30 °, the sine value of the initial AoA estimated value is 1/2, and the difference between the other AoA estimated value and the initial AoA estimated value is 1, the sine value of the other AoA estimated value is-1/2, and the other AoA estimated value is-30 °, that is, it can be determined that the first other AoA estimated value of the first sub-array is-30 °.

In the AoA estimation method, in a preset first AoA interval, the base station may rapidly obtain a first initial AoA estimation value according to a positioning signal of the terminal received by the first subarray,determining at least one first further AoA estimate based on a linear relationship between the AoA estimates and the first initial AoA estimate, only one length of which is required due to the characteristics of the large-spacing antenna

The spectral peak search is carried out on the sine value interval to obtain an AoA estimated value, all AoA estimated values can be rapidly obtained according to the linear relation between the obtained AoA estimated values and the AoA estimated values, and compared with the method of traversing the whole sine value interval to obtain all AoA estimated values, the calculation amount can be greatly reduced.

Fig. 5 is a flowchart illustrating a method for determining a candidate AoA estimate according to an embodiment of the present disclosure. This embodiment relates to an alternative implementation of determining candidate AoA estimates from the initial AoA estimate and other AoA estimates based on a correction function. On the basis of the above embodiment, as shown in fig. 5, the above S202 may include the following steps:

s501, a correction function is constructed according to the positioning signals of the terminal received by the second subarray.

The second sub-array may be the second sub-array in fig. 3, and optionally, the correction function may be a Digital Beam-Forming (DBF) algorithm, a Capon-type algorithm, or a MUSIC algorithm. For example, the positioning signal of the terminal received by the second sub-array is

The constructed DBF correction function can be expressed as:

（5）

in the formula (I), the compound is shown in the specification,

representing the sine of the angle of arrival.

The constructed MUSIC spectral function can be expressed as:

（6）

in the formula (I), the compound is shown in the specification,

for the terminal received by the second subarray, the positioning signal is

The noise subspace obtained.

S502, a candidate AoA estimate is determined based on the first initial AoA estimate, the at least one first other AoA estimate, and the correction function.

Specifically, the base station may bring the first initial AoA estimated value and the other AoA estimated values into the correction function, determine whether correction function values corresponding to the first initial AoA estimated value and the other AoA estimated values are greater than a preset threshold, average the AoA estimated values corresponding to the correction functions greater than the preset threshold, and use the average as the candidate AoA estimated value, or use a weighted average of the AoA estimated values corresponding to the correction functions greater than the preset threshold, and use the weighted average as the candidate AoA estimated value.

Optionally, this embodiment relates to an alternative implementation of determining the candidate AoA estimate based on the first initial AoA estimate, the at least one first further AoA estimate, and the correction function. Based on the foregoing embodiment, fig. 6 is a schematic flowchart of a method for determining candidate AoA estimated values through a correction function according to an embodiment of the present application, and as shown in fig. 6, the step S502 may include the following steps:

s601, substituting the first initial AoA estimation value and each of the first other AoA estimation values into a correction function, respectively, to obtain a value of the correction function.

Specifically, the sine values of the first initial AoA estimation value and the other AoA estimation values in the first sub-array obtained in step S402 are calculated, the obtained sine values of the first initial AoA estimation value and the other AoA estimation values are input into the constructed correction function, and the value of the correction function can be obtained through calculation of the correction function. For example, when the first initial AoA estimate is 9.8 and the other AoA estimates are-30, the correction function value for the first initial AoA estimate is-0.15 dB and the correction function values for the other AoA estimates are-32 dB.

S602, the AoA estimated value corresponding to the maximum correction function value is determined as a candidate AoA estimated value.

Specifically, the base station may sort the obtained values of the correction functions, and may sort the values in the order from large to large, where the value of the correction function ranked first is the maximum value of the correction function, or may sort the values in the order from small to large, where the value of the correction function ranked last is the maximum value of the correction function, and use the AoA estimated value corresponding to the maximum value of the correction function as the candidate AoA estimated value. For example, correction function values of-0.15 and-32, -0.15 correspond to an AoA estimate of 9.8, with 9.8 being the candidate AoA estimate.

Further, it can be understood that the candidate AoA estimated value and the noise subspace belong to an orthogonal relationship, the denominator value in the corresponding MUSIC spectral function is close to 0, and the function value of the corresponding MUSIC spectral function is larger, so that the AoA estimated value corresponding to the maximum value output by the correction function is taken as the candidate AoA estimated value.

Illustratively, taking a MUSIC spectral function as an example, fig. 7 shows a schematic diagram of the MUSIC spectral function, in which the abscissa represents the AoA estimated value and the ordinate represents the amplitude. When the antenna spacing is d, 1 AoA estimation value is corresponded, when the antenna spacing is 2d, 2 AoA estimation values are corresponded, and when the antenna spacing is 3d, 3 AoA estimation values are corresponded. Setting the subarray with the antenna spacing of 2d in fig. 7 as a first subarray, and setting the subarray with the antenna spacing of d as a second subarray, or setting the subarray with the antenna spacing of 3d in fig. 7 as a first subarray, and setting the subarray with the antenna spacing of d as a second subarray, inputting two AoA estimation values corresponding to the first subarray into a correction function constructed by the second subarray, wherein the correction function value of the AoA estimation value is maximum around 9.8, and 9.8 is used as a candidate AoA estimation value.

In the AoA estimation method, the base station constructs a correction function according to the positioning signal of the terminal received by the second subarray, so that the first initial AoA estimation value and each of the first other AoA estimation values can be respectively substituted into the correction function to obtain a value of the correction function, the AoA estimation value corresponding to the maximum value of the correction function can be determined as a candidate AoA estimation value, the AoA estimation value corresponding to the first subarray is determined according to the positioning signal received by the first subarray, the correction function is determined according to the positioning signal received by the second subarray, the AoA estimation value corresponding to the first subarray is substituted into the correction function, and the candidate AoA estimation value can be rapidly determined according to the property of the correction function.

Fig. 8 is a flowchart illustrating a method for determining an initial AoA estimate according to an embodiment of the present disclosure. This embodiment relates to an alternative implementation of obtaining an initial AoA estimate for at least one subarray in a predetermined AoA interval, and determining at least one other AoA estimate for the subarray based on the first initial AoA estimate. On the basis of the above embodiment, as shown in fig. 8, the above S202 may include the following steps:

s801, in a preset first AoA interval, acquiring a first initial AoA estimation value according to a positioning signal of a terminal received by a first subarray; determining at least one first other AoA estimated value based on the linear relation between the AoA estimated values and the first initial AoA estimated value to obtain a first AoA estimated value set; the first set of AoA estimates includes a first initial AoA estimate and a first additional AoA estimate.

Specifically, the estimated value of the arrival angle is calculated through formulas (1) to (3) according to the positioning signal received by the base station, the positioning signal sent by the terminal and the value of the noise subspace

I.e. by

Is the first initial AoA estimate. After the first initial AoA estimated value of the first subarray is obtained, other AoA estimated values of the first subarray can be obtained according to the linear relation between the AoA estimated values.

S802, in a preset second AoA interval, acquiring a second initial AoA estimation value according to a positioning signal of the terminal received by a second subarray; determining at least one second other AoA estimated value based on the linear relation between the AoA estimated values and the second initial AoA estimated value to obtain a second AoA estimated value set; the second set of AoA estimate values includes a second initial AoA estimate value and a second other AoA estimate value.

Specifically, after the second sub-array receives the positioning signal sent by the terminal, the process of obtaining the AoA estimation value according to the positioning signal may be represented as:

（7）

in the formula (I), the compound is shown in the specification,

indicating that the second sub-array received the positioning signal of the terminal,

which represents a positioning signal transmitted by the terminal,

the representation of the noise subspace is represented,

a set of direction vectors representing angles of arrival.

（8）

In the formula (I), the compound is shown in the specification,

a direction vector representing the angle of arrival,

is shown as

And the angle of arrival, namely the AoA estimated value corresponding to the second subarray.

The predetermined second AoA interval may refer to a length of

If the direction vector corresponding to the preset second AoA interval is

The formula of the direction vector can be expressed as:

（9）

in the formula (I), the compound is shown in the specification,

an estimate of the angle of arrival is represented,

as the position coordinates of the antennas in the second sub-array,

is the wavelength corresponding to the subcarrier. It should be noted that, here, the leftmost antenna of the second subarray is taken as the reference antenna, and the position coordinates of the antenna can be expressed as

。

Specifically, the estimated value of the arrival angle is calculated through formulas (7) to (9) according to the positioning signal received by the base station, the positioning signal sent by the terminal, and the value of the noise subspace

I.e. by

Is the second initial AoA estimate. When coming toAfter reaching the second initial AoA estimated value of the second subarray, other AoA estimated values of the second subarray can be obtained according to the linear relation between the AoA estimated values.

This embodiment relates to an alternative implementation of determining candidate AoA estimates from the initial AoA estimate and other AoA estimates. On the basis of the above embodiment, as shown in fig. 8, the above S202 may include the following steps:

s803, a difference between each AoA estimate in the first AoA estimate set and each AoA estimate in the second AoA estimate set is obtained.

Specifically, the base station may perform a difference between a first AoA estimated value in the first AoA estimated value set and each AoA estimated value in the second AoA estimated value set to obtain a first group of difference results, perform a difference between a second AoA estimated value in the first AoA estimated value set and each AoA estimated value in the second AoA estimated value set according to an order of each AoA estimated value in the first AoA estimated value set to obtain a second group of difference results, and so on until a last AoA estimated value in the first AoA estimated value set and each AoA estimated value in the second AoA estimated value set are performed a difference to obtain a last group of difference results. For example, a first set of AoA estimates of 9.8 and 15 and a second set of AoA estimates of 9.9, 5 and 2, resulting in difference results of 0.1, 4.8, 7.8, 5.1, 10 and 13, respectively.

S804, obtain a first AoA estimated value in the first AoA estimated value set and a second AoA estimated value in the second AoA estimated value set corresponding to the difference value with the smallest absolute value.

Specifically, the base station may rank the difference results according to the difference results obtained in step S901, and select the last difference as the smallest difference when the difference results are ranked in descending order; when the difference results are arranged in order from small to large, the difference arranged first is selected as the smallest difference. And obtaining a first AoA estimation value and a second AoA estimation value corresponding to the minimum difference value according to the minimum difference value of the absolute values. For example, if the difference results are 0.1, 4.8, 7.8, 5.1, 10, and 13, respectively, the difference results are arranged in descending order, the interpolation results after arrangement are 13, 10, 7.8, 5.1, 4.8, and 0.1, respectively, the difference value with the smallest absolute value is 0.1, the first AoA estimated value corresponding to the smallest absolute value difference value is 9.8, and the second AoA estimated value corresponding to the smallest absolute value difference value is 9.9.

S805, an average of the first AoA estimate and the second AoA estimate is determined as a candidate AoA estimate.

Specifically, after a first AoA estimation value and a second AoA estimation value corresponding to a difference value with the smallest absolute value are obtained, an average value of the first AoA estimation value and the second AoA estimation value is calculated, and the obtained average value is used as a candidate AoA estimation value. For example, the first AoA estimated value corresponding to the minimum difference is 9.8, the second AoA estimated value corresponding to the minimum difference is 9.9, the average value of the first AoA estimated value and the second AoA estimated value is 9.85, and 9.85 is taken as the candidate AoA estimated value.

In the AoA estimation method, the base station may obtain a first initial AoA estimation value according to a positioning signal of the terminal received by the first sub-array in a preset first AoA interval, determine at least one first other AoA estimation value based on a linear relationship between the AoA estimation values and the first initial AoA estimation value, obtain a first AoA estimation value set, obtain a second initial AoA estimation value according to a positioning signal of the terminal received by the second sub-array in a preset second AoA interval, determine at least one second other AoA estimation value based on the linear relationship between the AoA estimation values and the second initial AoA estimation value, obtain a second AoA estimation value set, and obtain a difference value between each AoA estimation value in the first AoA estimation value set and each AoA estimation value in the second AoA estimation value set, so as to obtain a second AoA estimation value in the first AoA estimation value set and the second AoA estimation value set corresponding to the smallest difference value, furthermore, an average value of the first AoA estimation value and the second AoA estimation value can be determined as a candidate AoA estimation value, wherein the first AoA estimation value set includes a first initial AoA estimation value and first other AoA estimation values, the second AoA estimation value set includes a second initial AoA estimation value and second other AoA estimation values, the antenna array is divided into a first subarray and a second subarray, and then a first AoA estimation value combination corresponding to the first subarray and a second AoA estimation value combination corresponding to the second subarray can be rapidly obtained according to positioning signals received by the first subarray and the second subarray respectively, compared with the situation that the AoA estimation values corresponding to the antenna array are combined through the positioning signals received by the antenna array, the calculation amount is small, and the calculation process is simple; meanwhile, because the first AoA estimation value corresponding to the first subarray is close to the second AoA estimation value corresponding to the second subarray, the first AoA estimation value corresponding to the first subarray and the second AoA estimation value corresponding to the second subarray can be obtained quickly by comparing the AoA estimation value corresponding to the first subarray with the AoA estimation value corresponding to the second subarray, and therefore candidate AoA estimation values can be determined quickly.

The present embodiment relates to an alternative implementation manner of determining a target AoA interval according to a candidate AoA estimation value and determining a target AoA estimation value based on the target AoA interval. On the basis of the foregoing embodiment, the foregoing S203 may include: and determining a target AoA estimation value by adopting a preset searching method in a target AoA interval according to the positioning signals of the terminals received by all the sub-arrays.

The target AoA interval is a cell around the candidate AoA estimate. For example, when the candidate AoA estimate is 9.8 °, the target AoA interval may be 8.8 ° to 10.8 °. Because the spectral peak search algorithm can set a search range, the spectral peak search algorithm can be adopted to carry out local search in a target AoA interval.

Specifically, after all the subarrays receive the positioning signals of the terminal, the process of obtaining the target AoA estimation value according to the positioning signals may be represented as follows:

（10）

in the formula (I), the compound is shown in the specification,

indicating that all the subarrays received the positioning signal of the terminal,

which represents a positioning signal transmitted by the terminal,

the representation of the noise subspace is represented,

a set of direction vectors representing angles of arrival.

（11）

In the formula (I), the compound is shown in the specification,

and

respectively, of the first and second sub-array, and therefore, the existence of a fuzzy angle value is assumed

And then:

（12）

in the above formula, can obtain

The two sets of fuzzy aoas obtained by the two subarrays do not have an additional equality except for the target AoA estimate, i.e. there is no additional equality between them, i.e. there is no ambiguity in the target AoA estimate

It is unlikely that both will be true. Therefore, the positioning signals of the terminal received by all the sub-arrays have only one target AoA estimated value within the target AoA interval, and the accuracy of the target AoA estimated value is higher than that of the candidate AoA estimated value.

In the AoA estimation method, the base station determines the target AoA estimation value by adopting a preset search method in the target AoA interval according to the positioning signals of the terminals received by all the sub-arrays, the accuracy of the candidate AoA estimation value is insufficient, the target AoA estimation value is higher in accuracy by searching in a small range around the candidate AoA estimation value, and meanwhile, compared with a method for determining the target AoA estimation value only through the positioning signals of the terminals received by all the sub-arrays, the calculation amount is less and the whole AoA interval does not need to be traversed.

In another embodiment, as shown in fig. 9, the AoA estimation method is described in detail below for the convenience of those skilled in the art, and includes:

s901, in a preset first AoA interval, acquiring a first initial AoA estimation value according to a positioning signal of a terminal received by a first subarray;

s902, determining at least one first other AoA estimated value based on a linear relation between the AoA estimated values and the first initial AoA estimated value to obtain a first AoA estimated value set;

s903, constructing a correction function according to the positioning signal of the terminal received by the second subarray;

s904, substituting the first initial AoA estimation value and each first other AoA estimation value into a correction function respectively to obtain a value of the correction function;

s905, determining the AoA estimation value corresponding to the maximum correction function value as a candidate AoA estimation value;

s906, in a preset second AoA interval, acquiring a second initial AoA estimation value according to the positioning signal of the terminal received by the second subarray;

s907, determining at least one second other AoA estimated value based on the linear relation between the AoA estimated values and the second initial AoA estimated value to obtain a second AoA estimated value set;

s908, obtaining a difference between each AoA estimate in the first AoA estimate set and each AoA estimate in the second AoA estimate set;

s909, obtaining a first AoA estimated value in the first AoA estimated value set and a second AoA estimated value in the second AoA estimated value set corresponding to the difference value with the smallest absolute value;

s910, determining the average value of the first AoA estimation value and the second AoA estimation value as a candidate AoA estimation value;

and S911, determining a target AoA estimation value by adopting a preset searching method in a target AoA interval according to the positioning signals of the terminals received by all the subarrays.

It should be noted that, for the descriptions in the above S901 to S911, reference may be made to the descriptions related to the above embodiments, and the effects thereof are similar, and the description of this embodiment is not repeated herein.

In the AoA estimation method, a base station can obtain a first initial AoA estimation value according to a positioning signal of a terminal received by a first subarray in a preset first AoA interval, determine at least one first other AoA estimation value based on a linear relation between the AoA estimation values and the first initial AoA estimation value, obtain a first AoA estimation value set, construct a correction function according to a positioning signal of the terminal received by a second subarray, respectively substitute the first initial AoA estimation value and each first other AoA estimation value into the correction function, obtain a value of the correction function, determine an AoA estimation value corresponding to a maximum correction function value as a candidate AoA estimation value, and determine a target AoA estimation value in the target AoA interval by adopting a preset search method according to the positioning signals of the terminals received by all the subarrays; in addition, on the basis of obtaining the first AoA estimation value set, in a preset second AoA interval, obtaining a second initial AoA estimation value according to a positioning signal of the terminal received by a second subarray, determining at least one second other AoA estimation value based on a linear relation between the AoA estimation values and the second initial AoA estimation value, obtaining a second AoA estimation value set, obtaining a difference value between each AoA estimation value in the first AoA estimation value set and each AoA estimation value in the second AoA estimation value set, obtaining a first AoA estimation value in the first AoA estimation value set and a second AoA estimation value in the second AoA estimation value set corresponding to the smallest difference value, determining an average value of the first AoA estimation value and the second AoA estimation value as a candidate AoA estimation value, and determining a target AoA estimation value in the target AoA interval by using a preset search method according to the positioning signals of the terminal received by all the subarrays, by dividing the antenna array into two antenna sub-arrays, the AoA estimated value corresponding to the sub-array 1 can be determined according to the positioning signal received by the sub-array 1, a correction function is constructed according to the positioning signal received by the sub-array 2, the AoA estimated value corresponding to the sub-array 1 is input into the correction function corresponding to the sub-array 2, a candidate AoA estimated value with insufficient accuracy can be obtained, or the AoA estimated value corresponding to the sub-array 1 can be determined according to the positioning signal received by the sub-array 1, the AoA estimated value corresponding to the sub-array 2 is determined according to the positioning signal received by the sub-array 2, the AoA estimated value corresponding to the first sub-array is compared with the AoA estimated value corresponding to the second sub-array to obtain two closest AoA estimated values, the average value of the two AoA estimated values is taken as the candidate AoA estimated value with insufficient accuracy, a small interval around the candidate AoA estimated value is taken, a search is performed in a small interval around the candidate AoA estimated value according to the positioning signal received by the antenna array, the accuracy of the obtained target AoA estimated value is higher.

It should be understood that, although the steps in the flowcharts related to the embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in the flowcharts related to the above embodiments may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the steps or stages is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the present application further provides an AoA estimation device for implementing the AoA estimation method. The implementation scheme for solving the problem provided by the apparatus is similar to the implementation scheme described in the above method, so specific limitations in one or more embodiments of the AoA estimation apparatus provided below can be referred to the limitations of the AoA estimation method in the foregoing, and details are not described here.

In one embodiment, as shown in fig. 10, a first block diagram of an AoA estimation apparatus is provided, which includes: a processing module 11, a first determining module 12 and a second determining module 13, wherein:

the processing module 11 is configured to obtain an initial AoA estimation value of at least one subarray in a preset AoA interval, and determine at least one other AoA estimation value of the subarray according to the initial AoA estimation value;

a first determining module 12, configured to determine a candidate AoA estimate according to the initial AoA estimate and the other AoA estimates;

a second determining module 13, configured to determine a target AoA interval according to the candidate AoA estimated value, and determine a target AoA estimated value based on the target AoA interval; the length of the target AoA interval is less than a second threshold.

The AoA estimation apparatus provided in this embodiment may perform the method embodiments described above, and the implementation principle and the technical effect are similar, which are not described herein again.

In an embodiment, as shown in fig. 11, there is provided a second block diagram of an AoA estimation apparatus, where the processing module 11 includes: a first acquisition unit 111 and a first determination unit 112, wherein:

a first obtaining unit 111, configured to obtain a first initial AoA estimated value according to a positioning signal of a terminal received by a first subarray in a preset first AoA interval;

a first determining unit 112 for determining at least one first further AoA estimate based on a linear relationship between the AoA estimates and said first initial AoA estimate.

In one embodiment, as shown in fig. 12, a third structural block diagram of an AoA estimation apparatus is provided, and the first determining module 12 includes: a building unit 121 and a second determining unit 122, wherein:

a constructing unit 121, configured to construct a correction function according to the positioning signal of the terminal received by the second subarray;

a second determining unit 122, configured to determine the candidate AoA estimate based on the first initial AoA estimate, the at least one first further AoA estimate and the correction function.

Optionally, the second determining unit 122 is specifically configured to substitute the first initial AoA estimated value and each of the first other AoA estimated values into the correction function, so as to obtain a value of the correction function; and determining the AoA estimated value corresponding to the maximum correction function value as the candidate AoA estimated value.

In an embodiment, as shown in fig. 13, a fourth block diagram of an AoA estimation apparatus is provided, and the processing module 11 includes: a first acquisition unit 111 and a second acquisition unit 113, wherein:

a first obtaining unit 111, configured to obtain a first initial AoA estimated value according to a positioning signal of a terminal received by a first subarray in a preset first AoA interval; determining at least one first other AoA estimated value based on the linear relation between the AoA estimated values and the first initial AoA estimated value to obtain a first AoA estimated value set; the first set of AoA estimate values includes the first initial AoA estimate value and the first other AoA estimate values;

a second obtaining unit 113, configured to obtain a second initial AoA estimated value according to a positioning signal of the terminal received by the second subarray in a preset second AoA interval; determining at least one second other AoA estimated value based on the linear relation between the AoA estimated values and the second initial AoA estimated value to obtain a second AoA estimated value set; the second set of AoA estimate values includes the second initial AoA estimate and the second other AoA estimate.

In an embodiment, as shown in fig. 14, a fifth structural block diagram of an AoA estimation apparatus is provided, and the first determining module 12 includes: a third acquisition unit 123, a fourth acquisition unit 124, and a third determination unit 125, wherein:

a third obtaining unit 123, configured to obtain a difference between each AoA estimated value in the first AoA estimated value set and each AoA estimated value in the second AoA estimated value set;

a fourth obtaining unit 124, configured to obtain a first AoA estimated value in the first AoA estimated value set and a second AoA estimated value in the second AoA estimated value set, where the difference value with the smallest absolute value corresponds to the smallest absolute value;

a third determining unit 125, configured to determine an average value of the first AoA estimate and the second AoA estimate as the candidate AoA estimate.

In an embodiment, as shown in fig. 15, a sixth structural block diagram of an AoA estimation apparatus is provided, and the second determining module 13 includes: a fourth determination unit 131, wherein:

a fourth determining unit 131, configured to determine the target AoA estimated value by using a preset search method in the target AoA interval according to the positioning signals of the terminals received by all the subarrays.

The various modules in the AoA estimation device described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.

In one embodiment, a base station is provided, the internal structure of which may be as shown in fig. 16. The base station comprises a processor, a memory, a communication interface, a display screen and an input device which are connected through a system bus. Wherein the processor of the base station is configured to provide computational and control capabilities. The memory of the base station comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the base station is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, a mobile cellular network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a positioning method.

Those skilled in the art will appreciate that the architecture shown in fig. 16 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, there is provided a base station comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program implementing the steps of: the AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps:

determining candidate AoA estimated values according to the initial AoA estimated value and other AoA estimated values;

determining a target AoA interval according to the candidate AoA estimation value, and determining a target AoA estimation value based on the target AoA interval; the length of the target AoA interval is less than the second threshold.

In one embodiment, the processor, when executing the computer program, further performs the steps of: acquiring an initial AoA estimated value of at least one subarray in a preset AoA interval, and determining at least one other AoA estimated value of the subarray according to the first initial AoA estimated value, wherein the method comprises the following steps:

at least one first further AoA estimate is determined based on a linear relationship between the AoA estimates and the first initial AoA estimate.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining candidate AoA estimates from the initial AoA estimate and the other AoA estimates, comprising:

a candidate AoA estimate is determined based on the first initial AoA estimate, the at least one first further AoA estimate, and the correction function.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a candidate AoA estimate based on the first initial AoA estimate, the at least one first further AoA estimate, and the correction function, comprising:

respectively substituting the first initial AoA estimation value and each first other AoA estimation value into a correction function to obtain a value of the correction function;

and determining the AoA estimated value corresponding to the maximum correction function value as a candidate AoA estimated value.

in a preset first AoA interval, acquiring a first initial AoA estimation value according to a positioning signal of a terminal received by a first subarray; determining at least one first other AoA estimated value based on the linear relation between the AoA estimated values and the first initial AoA estimated value to obtain a first AoA estimated value set; the first AoA estimation value set comprises a first initial AoA estimation value and first other AoA estimation values;

in a preset second AoA interval, acquiring a second initial AoA estimation value according to a positioning signal of the terminal received by a second subarray; determining at least one second other AoA estimated value based on the linear relation between the AoA estimated values and the second initial AoA estimated value to obtain a second AoA estimated value set; the second set of AoA estimate values includes a second initial AoA estimate value and a second other AoA estimate value.

obtaining a difference value between each AoA estimated value in the first AoA estimated value set and each AoA estimated value in the second AoA estimated value set;

acquiring a first AoA estimation value in a first AoA estimation value set and a second AoA estimation value in a second AoA estimation value set corresponding to the difference value with the minimum absolute value;

an average of the first and second AoA estimates is determined as a candidate AoA estimate.

In one embodiment, the processor, when executing the computer program, further performs the steps of: determining a target AoA interval according to the candidate AoA estimation value, and determining a target AoA estimation value based on the target AoA interval, wherein the method comprises the following steps:

and determining a target AoA estimation value by adopting a preset searching method in a target AoA interval according to the positioning signals of the terminals received by all the sub-arrays.

In one embodiment, the processor, when executing the computer program, further performs the steps of: the antenna spacing of a target sub-array in each sub-array is smaller than or equal to a first threshold, the antenna spacing of other sub-arrays except the target sub-array is larger than the first threshold, or the antenna spacing of each sub-array is larger than the first threshold; the target sub-array is any one of the sub-arrays.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of: the AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps:

In one embodiment, the computer program when executed by the processor further performs the steps of: acquiring an initial AoA estimated value of at least one subarray in a preset AoA interval, and determining at least one other AoA estimated value of the subarray according to the first initial AoA estimated value, wherein the method comprises the following steps:

In one embodiment, the computer program when executed by the processor further performs the steps of: determining candidate AoA estimates from the initial AoA estimate and the other AoA estimates, comprising:

In one embodiment, the computer program when executed by the processor further performs the steps of: determining a candidate AoA estimate based on the first initial AoA estimate, the at least one first further AoA estimate, and the correction function, comprising:

In one embodiment, the computer program when executed by the processor further performs the steps of: determining a target AoA interval according to the candidate AoA estimation value, and determining a target AoA estimation value based on the target AoA interval, wherein the method comprises the following steps:

In one embodiment, the computer program when executed by the processor further performs the steps of: the antenna spacing of a target sub-array in each sub-array is smaller than or equal to a first threshold, the antenna spacing of other sub-arrays except the target sub-array is larger than the first threshold, or the antenna spacing of each sub-array is larger than the first threshold; the target sub-array is any one of the sub-arrays.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of: the AoA estimation method is applied to a base station, the base station comprises at least two sub-arrays, and the method comprises the following steps:

It should be noted that, the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) referred to in the present application are information and data authorized by the user or sufficiently authorized by each party.

It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware related to instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, database, or other medium used in the embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high-density embedded nonvolatile Memory, resistive Random Access Memory (ReRAM), Magnetic Random Access Memory (MRAM), Ferroelectric Random Access Memory (FRAM), Phase Change Memory (PCM), graphene Memory, and the like. Volatile Memory can include Random Access Memory (RAM), external cache Memory, and the like. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others. The databases referred to in various embodiments provided herein may include at least one of relational and non-relational databases. The non-relational database may include, but is not limited to, a block chain based distributed database, and the like. The processors referred to in the embodiments provided herein may be general purpose processors, central processing units, graphics processors, digital signal processors, programmable logic devices, quantum computing based data processing logic devices, etc., without limitation.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present application. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. An AoA estimation method applied to a base station, wherein the base station comprises at least two sub-arrays, the method comprising:

2. The method of claim 1, wherein obtaining an initial AoA estimate for at least one subarray during a predetermined AoA interval and determining at least one other AoA estimate for the subarray based on the initial AoA estimate comprises:

3. The method of claim 2, wherein determining a candidate AoA estimate from the initial AoA estimate and the other AoA estimates comprises:

4. The method of claim 3, wherein determining the candidate AoA estimate based on the first initial AoA estimate, the at least one first additional AoA estimate, and the correction function comprises:

5. The method of claim 1, wherein obtaining an initial AoA estimate for at least one subarray during a predetermined AoA interval and determining at least one other AoA estimate for the subarray based on the initial AoA estimate comprises:

6. The method of claim 5, wherein determining a candidate AoA estimate from the initial AoA estimate and the other AoA estimates comprises:

7. The method according to any one of claims 1-6, wherein determining a target AoA interval from the candidate AoA estimates and determining a target AoA estimate based on the target AoA interval comprises:

8. The method according to any one of claims 1 to 6, wherein the antenna spacing of a target sub-array in each sub-array is equal to or less than a first threshold, the antenna spacing of other sub-arrays except the target sub-array is greater than the first threshold, or the antenna spacing of each sub-array is greater than the first threshold; the target sub-array is any one of the sub-arrays.

9. An AoA estimation apparatus applied to a base station including at least two sub-arrays, the apparatus comprising:

10. A base station comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 8.

11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 8.

12. A computer program product comprising a computer program, characterized in that the computer program realizes the steps of the method of any one of claims 1 to 8 when executed by a processor.