CN114384465A

CN114384465A - Azimuth angle determination method and device

Info

Publication number: CN114384465A
Application number: CN202011125912.3A
Authority: CN
Inventors: 郭富祥
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-10-20
Filing date: 2020-10-20
Publication date: 2022-04-22

Abstract

The application discloses an azimuth angle determining method and device, which are applied to electronic equipment, wherein the electronic equipment comprises a first UWB antenna and a second UWB antenna, and the method comprises the following steps: receiving a UWB data packet sent by a tag device; determining a phase difference between the receipt of said UWB data packet by said first UWB antenna and said second UWB antenna; acquiring an included angle between the electronic equipment and the vertical direction; and determining the azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle. By adopting the method and the device, the accuracy of determining the direction can be improved.

Description

Azimuth angle determination method and device

Technical Field

The present application relates to the field of electronic technologies, and in particular, to an azimuth angle determining method and apparatus.

Background

At present, electronic devices (such as smart phones, tablet computers, and the like) have become an indispensable part of the life of people. The electronic equipment has the functions of receiving and sending information, shooting, talking, audio and video playing and the like. In daily life, a user often searches for an article (such as a wireless earphone, etc.), and if the user knows the position of the searched article relative to a certain article, the time for searching for the article can be shortened.

Disclosure of Invention

The embodiment of the application provides an azimuth angle determining method and device.

In a first aspect, an embodiment of the present application provides an azimuth angle determining method, which is applied to an electronic device, where the electronic device includes a first UWB antenna and a second UWB antenna, and the method includes:

receiving a UWB data packet sent by a tag device;

determining a phase difference between the receipt of said UWB data packet by said first UWB antenna and said second UWB antenna;

acquiring an included angle between the electronic equipment and the vertical direction;

and determining the azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle.

In a second aspect, an embodiment of the present application provides an azimuth determining apparatus, which is applied to an electronic device, where the electronic device includes a first UWB antenna and a second UWB antenna, and the apparatus includes:

the receiving and sending unit is used for receiving the UWB data packet sent by the label equipment;

a determining unit configured to determine a phase difference between the UWB packets received by the first UWB antenna and the second UWB antenna;

the acquisition unit is used for acquiring an included angle between the electronic equipment and the vertical direction;

the determining unit is further configured to determine an azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a transceiver, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in any of the methods of the first aspect of the embodiment of the present application.

In a fourth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform part or all of the steps described in any one of the methods of the first aspect of the present application.

In a fifth aspect, the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps as described in any one of the methods of the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

It can be seen that, in the embodiment of the application, the electronic device receives the UWB data packet sent by the tag device first, then determines the phase difference of the first UWB antenna and the second UWB antenna receiving the UWB data packet, and finally determines the azimuth angle of the tag device and the electronic device based on the included angle between the electronic device and the vertical direction and the phase difference, so that the azimuth of the tag device relative to the electronic device is determined by the electronic device, and in addition, the attitude of the electronic device is considered for determining the azimuth, so that the accuracy of determining the azimuth can be improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an electronic device according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a software structure of an electronic device according to an embodiment of the present application;

fig. 3A is a schematic flowchart of an azimuth determination method according to an embodiment of the present application;

fig. 3B is a schematic diagram of an included angle between an electronic device and a vertical direction according to an embodiment of the present disclosure;

FIG. 3C is a schematic diagram of a schematic representation provided by an embodiment of the present application;

FIG. 3D is a schematic illustration of an azimuth angle provided by an embodiment of the present application;

fig. 4 is a schematic structural diagram of an azimuth angle determining apparatus according to an embodiment of the present application;

fig. 5 is a schematic structural diagram of another electronic device provided in an embodiment of the present application.

Detailed Description

The terminology used in the description of the embodiments section of the present application is for the purpose of describing particular embodiments of the present application only and is not intended to be limiting of the present application. The terms "first," "second," "third," and "fourth," etc. in the description and claims of this application and in the accompanying drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions.

In order to better understand the scheme of the embodiments of the present application, the following first introduces the related terms and concepts that may be involved in the embodiments of the present application.

1) The electronic device may be a portable electronic device, such as a cell phone, a tablet computer, a wearable electronic device with wireless communication capabilities (e.g., a smart watch), etc., that also contains other functionality, such as personal digital assistant and/or music player functionality. Exemplary embodiments of the portable electronic device include, but are not limited to, portable electronic devices that carry an IOS system, an Android system, a Microsoft system, or other operating system. The portable electronic device may also be other portable electronic devices such as a Laptop computer (Laptop) or the like. It should also be understood that in other embodiments, the electronic device may not be a portable electronic device, but may be a desktop computer.

2) Ultra Wideband (UWB) is a wireless carrier communication technology, which does not use sinusoidal carriers, but uses nanosecond-level non-sinusoidal narrow pulses to transmit data, so that the occupied frequency spectrum range is wide. The UWB has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, low interception capability, high positioning accuracy and the like, and is particularly suitable for high-speed wireless access in dense multipath places such as indoor places and the like.

Fig. 1 shows a schematic structural diagram of an electronic device 100. The electronic device 100 may include a processor 110, an external memory interface 120, an internal memory 121, a Universal Serial Bus (USB) interface 130, a charge management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a first UWB antenna, a second UWB antenna, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a compass 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a Subscriber Identification Module (SIM) card interface 195, a UWB module 200, and the like.

It is to be understood that the illustrated structure of the embodiment of the present application does not specifically limit the electronic device 100. In other embodiments of the present application, electronic device 100 may include more or fewer components than shown, or some components may be combined, some components may be split, or a different arrangement of components. The illustrated components may be implemented in hardware, software, or a combination of software and hardware.

Processor 110 may include one or more processing units, such as: the processor 110 may include an Application Processor (AP), a modem processor, a Graphics Processing Unit (GPU), an Image Signal Processor (ISP), a controller, a video codec, a Digital Signal Processor (DSP), a baseband processor, and/or a neural-Network Processing Unit (NPU), etc. Wherein the different processing units may be separate components or may be integrated in one or more processors. In some embodiments, the electronic device 101 may also include one or more processors 110. The controller can generate an operation control signal according to the instruction operation code and the time sequence signal to complete the control of instruction fetching and instruction execution. In other embodiments, a memory may also be provided in processor 110 for storing instructions and data. Illustratively, the memory in the processor 110 may be a cache memory. The memory may hold instructions or data that have just been used or recycled by the processor 110. If the processor 110 needs to reuse the instruction or data, it can be called directly from the memory. This avoids repeated accesses and reduces the latency of the processor 110, thereby increasing the efficiency with which the electronic device 101 processes data or executes instructions.

In some embodiments, processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit audio (I2S) interface, a Pulse Code Modulation (PCM) interface, a universal asynchronous receiver/transmitter (UART) interface, a Mobile Industry Processor Interface (MIPI), a general-purpose input/output (GPIO) interface, a SIM card interface, a USB interface, and/or the like. The USB interface 130 is an interface conforming to the USB standard specification, and may specifically be a Mini USB interface, a Micro USB interface, a USB Type C interface, or the like. The USB interface 130 may be used to connect a charger to charge the electronic device 101, and may also be used to transmit data between the electronic device 101 and peripheral devices. The USB interface 130 may also be used to connect to a headset to play audio through the headset.

It should be understood that the interface connection relationship between the modules illustrated in the embodiments of the present application is only an illustration, and does not limit the structure of the electronic device 100. In other embodiments of the present application, the electronic device 100 may also adopt different interface connection manners or a combination of multiple interface connection manners in the above embodiments.

The charging management module 140 is configured to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger via the USB interface 130. In some wireless charging embodiments, the charging management module 140 may receive a wireless charging input through a wireless charging coil of the electronic device 100. The charging management module 140 may also supply power to the electronic device through the power management module 141 while charging the battery 142.

The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and/or the charge management module 140, and supplies power to the processor 110, the internal memory 121, the external memory, the display 194, the camera 193, the wireless communication module 160, and the like. The power management module 141 may also be used to monitor parameters such as battery capacity, battery cycle count, battery state of health (leakage, impedance), etc. In some other embodiments, the power management module 141 may also be disposed in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 may be disposed in the same device.

The wireless communication function of the electronic device 100 may be implemented by the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, a modem processor, a baseband processor, and the like.

The antennas 1 and 2 are used for transmitting and receiving electromagnetic wave signals. Each antenna in the electronic device 100 may be used to cover a single or multiple communication bands. Different antennas can also be multiplexed to improve the utilization of the antennas. For example: the antenna 1 may be multiplexed as a diversity antenna of a wireless local area network. In other embodiments, the antenna may be used in conjunction with a tuning switch.

The first UWB antenna and the second UWB antenna are used to transmit and receive UWB signals. The first UWB antenna and the second UWB antenna are arranged in the same horizontal direction. The distance between the first UWB antenna and the second UWB antenna is a set value, and the set value is smaller than the width of the electronic device.

The mobile communication module 150 may provide a solution including 2G/3G/4G/5G wireless communication applied to the electronic device 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a Low Noise Amplifier (LNA), and the like. The mobile communication module 150 may receive the electromagnetic wave from the antenna 1, filter, amplify, etc. the received electromagnetic wave, and transmit the electromagnetic wave to the modem processor for demodulation. The mobile communication module 150 may also amplify the signal modulated by the modem processor, and convert the signal into electromagnetic wave through the antenna 1 to radiate the electromagnetic wave. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 may be disposed in the same device as at least some of the modules of the processor 110.

The wireless communication module 160 may provide a solution for wireless communication applied to the electronic device 100, including Wireless Local Area Networks (WLANs) (e.g., wireless fidelity (Wi-Fi) networks), bluetooth (blue tooth, BT), Global Navigation Satellite System (GNSS), Frequency Modulation (FM), Near Field Communication (NFC), Infrared (IR), UWB, and the like. The wireless communication module 160 may be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, performs frequency modulation and filtering processing on electromagnetic wave signals, and transmits the processed signals to the processor 110. The wireless communication module 160 may also receive a signal to be transmitted from the processor 110, perform frequency modulation and amplification on the signal, and convert the signal into electromagnetic waves through the antenna 2 to radiate the electromagnetic waves.

The UWB module 200 may provide a solution for UWB communication applied to the electronic device 100. The UWB module 200 may receive a UWB signal from the first UWB antenna or the second UWB antenna and then transfer the received UWB signal to the processor 110. UWB module 200 may also receive signals to be transmitted from processor 110 and convert the signals to be radiated via the first UWB antenna or the second UWB antenna.

The electronic device 100 implements display functions via the GPU, the display screen 194, and the application processor. The GPU is a microprocessor for image processing, and is connected to the display screen 194 and an application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or alter display information.

The display screen 194 is used to display images, videos, and the like. The display screen 194 includes a display panel. The display panel may be a Liquid Crystal Display (LCD), an organic light-emitting diode (OLED), an active matrix organic light-emitting diode (active-matrix organic light-emitting diode, AMOLED), a flexible light-emitting diode (FLED), a mini light-emitting diode (mini-light-emitting diode, mini), a Micro-o led, a quantum dot light-emitting diode (QLED), or the like. In some embodiments, the electronic device 100 may include 1 or more display screens 194.

The electronic device 100 may implement a photographing function through the ISP, the camera 193, the video codec, the GPU, the display screen 194, the application processor, and the like.

The ISP is used to process the data fed back by the camera 193. For example, when a photo is taken, the shutter is opened, light is transmitted to the camera photosensitive element through the lens, the optical signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converting into an image visible to naked eyes. The ISP can also carry out algorithm optimization on the noise, brightness and skin color of the image. The ISP can also optimize parameters such as exposure, color temperature and the like of a shooting scene. In some embodiments, the ISP may be provided in camera 193.

The camera 193 is used to capture still images or video. The object generates an optical image through the lens and projects the optical image to the photosensitive element. The photosensitive element may be a Charge Coupled Device (CCD) or a complementary metal-oxide-semiconductor (CMOS) phototransistor. The light sensing element converts the optical signal into an electrical signal, which is then passed to the ISP where it is converted into a digital image signal. And the ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into image signal in standard RGB, YUV and other formats. In some embodiments, the electronic device 100 may include 1 or more cameras 193.

The digital signal processor is used for processing digital signals, and can process digital image signals and other digital signals. For example, when the electronic device 100 selects a frequency bin, the digital signal processor is used to perform fourier transform or the like on the frequency bin energy.

Video codecs are used to compress or decompress digital video. The electronic device 100 may support one or more video codecs. In this way, the electronic device 100 may play or record video in a variety of encoding formats, such as: moving Picture Experts Group (MPEG) 1, MPEG2, MPEG3, MPEG4, and the like.

The NPU is a neural-network (NN) computing processor that processes input information quickly by using a biological neural network structure, for example, by using a transfer mode between neurons of a human brain, and can also learn by itself continuously. Applications such as intelligent recognition of the electronic device 100 can be realized through the NPU, for example: image recognition, face recognition, speech recognition, text understanding, and the like.

The external memory interface 120 may be used to connect an external memory card, such as a Micro SD card, to extend the memory capability of the electronic device 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function. For example, files such as music, video, etc. are saved in an external memory card.

Internal memory 121 may be used to store one or more computer programs, including instructions. The processor 110 may execute the above-mentioned instructions stored in the internal memory 121, so as to enable the electronic device 101 to execute the azimuth angle determination method provided in some embodiments of the present application, and various applications and data processing. The internal memory 121 may include a program storage area and a data storage area. Wherein, the storage program area can store an operating system; the storage program area may also store one or more applications (e.g., gallery, contacts, etc.), and the like. The storage data area may store data (such as photos, contacts, etc.) created during use of the electronic device 101, and the like. Further, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic disk storage components, flash memory components, Universal Flash Storage (UFS), and the like. In some embodiments, the processor 110 may cause the electronic device 101 to execute the display page elements provided in the embodiments of the present application and other application and data processing by executing instructions stored in the internal memory 121 and/or instructions stored in a memory provided in the processor 110. The electronic device 100 may implement audio functions through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the earphone interface 170D, and the application processor, etc. Such as music playing, recording, etc.

The sensor module 180 may include a pressure sensor 180A, a gyro sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, an attitude sensor 180M, and the like.

The pressure sensor 180A is used for sensing a pressure signal, and converting the pressure signal into an electrical signal. In some embodiments, the pressure sensor 180A may be disposed on the display screen 194. The pressure sensor 180A can be of a wide variety, such as a resistive pressure sensor, an inductive pressure sensor, a capacitive pressure sensor, and the like. The capacitive pressure sensor may be a sensor comprising at least two parallel plates having an electrically conductive material. When a force acts on the pressure sensor 180A, the capacitance between the electrodes changes. The electronic device 100 determines the strength of the pressure from the change in capacitance. When a touch operation is applied to the display screen 194, the electronic apparatus 100 detects the intensity of the touch operation according to the pressure sensor 180A. The electronic apparatus 100 may also calculate the touched position from the detection signal of the pressure sensor 180A. In some embodiments, the touch operations that are applied to the same touch position but different touch operation intensities may correspond to different operation instructions. For example: and when the touch operation with the touch operation intensity smaller than the first pressure threshold value acts on the short message application icon, executing an instruction for viewing the short message. And when the touch operation with the touch operation intensity larger than or equal to the first pressure threshold value acts on the short message application icon, executing an instruction of newly building the short message.

The gyro sensor 180B may be used to determine the motion attitude of the electronic device 100. In some embodiments, the angular velocity of electronic device 100 about three axes (i.e., X, Y and the Z axis) may be determined by gyroscope sensor 180B. The gyro sensor 180B may be used for photographing anti-shake. For example, when the shutter is pressed, the gyro sensor 180B detects a shake angle of the electronic device 100, calculates a distance to be compensated for by the lens module according to the shake angle, and allows the lens to counteract the shake of the electronic device 100 through a reverse movement, thereby achieving anti-shake. The gyroscope sensor 180B may also be used for navigation, somatosensory gaming scenes.

The acceleration sensor 180E may detect the magnitude of acceleration of the electronic device 100 in various directions (typically three axes). The magnitude and direction of gravity can be detected when the electronic device 100 is stationary. The method can also be used for recognizing the posture of the electronic equipment, and is applied to horizontal and vertical screen switching, pedometers and other applications.

The ambient light sensor 180L is used to sense the ambient light level. Electronic device 100 may adaptively adjust the brightness of display screen 194 based on the perceived ambient light level. The ambient light sensor 180L may also be used to automatically adjust the white balance when taking a picture. The ambient light sensor 180L may also cooperate with the proximity light sensor 180G to detect whether the electronic device 100 is in a pocket to prevent accidental touches.

The fingerprint sensor 180H is used to collect a fingerprint. The electronic device 100 can utilize the collected fingerprint characteristics to unlock the fingerprint, access the application lock, photograph the fingerprint, answer an incoming call with the fingerprint, and so on.

The temperature sensor 180J is used to detect temperature. In some embodiments, electronic device 100 implements a temperature processing strategy using the temperature detected by temperature sensor 180J. For example, when the temperature reported by the temperature sensor 180J exceeds a threshold, the electronic device 100 performs a reduction in performance of a processor located near the temperature sensor 180J, so as to reduce power consumption and implement thermal protection. In other embodiments, the electronic device 100 heats the battery 142 when the temperature is below another threshold to avoid the low temperature causing the electronic device 100 to shut down abnormally. In other embodiments, when the temperature is lower than a further threshold, the electronic device 100 performs boosting on the output voltage of the battery 142 to avoid abnormal shutdown due to low temperature.

The touch sensor 180K is also referred to as a "touch panel". The touch sensor 180K may be disposed on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, which is also called a "touch screen". The touch sensor 180K is used to detect a touch operation applied thereto or nearby. The touch sensor can communicate the detected touch operation to the application processor to determine the touch event type. Visual output associated with the touch operation may be provided through the display screen 194. In other embodiments, the touch sensor 180K may be disposed on a surface of the electronic device 100, different from the position of the display screen 194.

Fig. 2 shows a block diagram of a software structure of the electronic device 100. The layered architecture divides the software into several layers, each layer having a clear role and division of labor. The layers communicate with each other through a software interface. In some embodiments, the Android system is divided into four layers, an application layer, an application framework layer, an Android runtime (Android runtime) and system library, and a kernel layer from top to bottom. The application layer may include a series of application packages.

As shown in fig. 2, the application package may include applications such as camera, gallery, calendar, phone call, map, navigation, WLAN, bluetooth, music, video, short message, etc.

The application framework layer provides an Application Programming Interface (API) and a programming framework for the application program of the application layer. The application framework layer includes a number of predefined functions.

As shown in FIG. 2, the application framework layers may include a window manager, content provider, view system, phone manager, resource manager, notification manager, and the like.

The window manager is used for managing window programs. The window manager can obtain the size of the display screen, judge whether a status bar exists, lock the screen, intercept the screen and the like.

The content provider is used to store and retrieve data and make it accessible to applications. The data may include video, images, audio, calls made and received, browsing history and bookmarks, phone books, etc.

The view system includes visual controls such as controls to display text, controls to display pictures, and the like. The view system may be used to build applications. The display interface may be composed of one or more views. For example, the display interface including the short message notification icon may include a view for displaying text and a view for displaying pictures.

The phone manager is used to provide communication functions of the electronic device 100. Such as management of call status (including on, off, etc.).

The resource manager provides various resources for the application, such as localized strings, icons, pictures, layout files, video files, and the like.

The notification manager enables the application to display notification information in the status bar, can be used to convey notification-type messages, can disappear automatically after a short dwell, and does not require user interaction. Such as a notification manager used to inform download completion, message alerts, etc. The notification manager may also be a notification that appears in the form of a chart or scroll bar text at the top status bar of the system, such as a notification of a background running application, or a notification that appears on the screen in the form of a dialog window. For example, prompting text information in the status bar, sounding a prompt tone, vibrating the electronic device, flashing an indicator light, etc.

The Android Runtime comprises a core library and a virtual machine. The Android runtime is responsible for scheduling and managing an Android system.

The core library comprises two parts: one part is a function which needs to be called by java language, and the other part is a core library of android.

The application layer and the application framework layer run in a virtual machine. And executing java files of the application program layer and the application program framework layer into a binary file by the virtual machine. The virtual machine is used for performing the functions of object life cycle management, stack management, thread management, safety and exception management, garbage collection and the like.

The system library may include a plurality of functional modules. For example: surface managers (surface managers), media libraries (media libraries), three-dimensional graphics processing libraries (e.g., OpenGL ES), 2D graphics engines (e.g., SGL), and the like.

The surface manager is used to manage the display subsystem and provide fusion of 2D and 3D layers for multiple applications.

The media library supports a variety of commonly used audio, video format playback and recording, and still image files, among others. The media library may support a variety of audio-video encoding formats, such as: MPEG4, H.264, MP3, AAC, AMR, JPG, PNG, etc.

The three-dimensional graphic processing library is used for realizing three-dimensional graphic drawing, image rendering, synthesis, layer processing and the like.

The 2D graphics engine is a drawing engine for 2D drawing.

The kernel layer is a layer between hardware and software. The inner core layer at least comprises a display driver, a camera driver, an audio driver and a sensor driver.

Referring to fig. 3A, fig. 3A is a flowchart illustrating an azimuth determination method according to an embodiment of the present application, applied to an electronic device including a first UWB antenna and a second UWB antenna, where as shown in the figure, the azimuth determination method includes the following operations.

Step 301: the electronic device receives the UWB data packet sent by the tag device.

Wherein the tag device comprises a UWB module and a UWB antenna, the UWB module may provide a solution for UWB communication applied on the tag device. The UWB module can receive UWB signals from the UWB antenna and then transmit the received UWB signals to the processor of the tag device, and the UWB module can also receive signals to be transmitted from the processor of the tag device and then convert the signals into UWB signals to be radiated through the UWB antenna.

The label device includes, for example, a wireless headset, a smart phone, and a smart wearable device (e.g., a smart watch, a smart ring, etc.).

The electronic equipment and the label equipment are in a binding relationship.

Optionally, before step 301, the method further comprises: the electronic equipment sends an angle measurement request to the label equipment; and after receiving the angle measurement request, the tag device sends the UWB data packet to the electronic device.

Wherein the angle measurement request carries at least one of: identification of the electronic device, setting identification.

Wherein the UWB data packet comprises at least one of the following: an angle measurement response aiming at the angle measurement request, an identifier of the electronic equipment and a setting identifier.

The identification of the electronic device may be the name of the electronic device, the model of the electronic device, a cell phone number, and the like.

The setting identifier is preset to verify whether the UWB data packet carrying the setting identifier is a data packet for angle measurement.

Step 302: the electronic device determines a phase difference between the receipt of the UWB data packet by the first UWB antenna and the second UWB antenna.

In one implementation of the present application, the electronic device determining a phase difference based on the UWB data packet includes:

the electronic equipment acquires a first phase of the UWB data received by the first UWB antenna and acquires a second phase of the UWB data received by the second UWB antenna;

the electronics determine the phase difference based on the first phase and the second phase.

Step 303: the electronic equipment obtains an included angle between the electronic equipment and the vertical direction.

The included angle between the electronic device and the vertical direction (as shown in fig. 3B) can be measured by an attitude sensor of the electronic device.

Step 304: and the electronic equipment determines the azimuth angle of the tag equipment relative to the electronic equipment based on the phase difference and the included angle.

In an implementation manner of the present application, the determining, by the electronic device, an azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle includes:

the electronic equipment determines an azimuth calculation function based on the included angle;

the electronic device determines the azimuth based on the azimuth calculation function and the phase difference.

Optionally, the determining an azimuth calculation function based on the included angle includes:

if the included angle is in a first included angle range, the electronic equipment determines that the azimuth angle calculation function is f₁(x)＝acos(x/180)；

If the included angle is in a second included angle range, the electronic equipment determines that the azimuth angle calculation function is f₂(x)＝acos(1.02x/180)+6；

If the included angle is in a third included angle range, the electronic equipment determines that the azimuth angle calculation function is f₃(x)＝acos(1.05x/180)-10；

Wherein, x represents the phase difference, the contained angle that first contained angle scope includes all is less than the contained angle that second contained angle scope includes, first contained angle scope includes the contained angle all is greater than the contained angle that third contained angle scope includes.

Wherein the first included angle ranges from-15 degrees to-15 degrees, the second included angle ranges from 15 degrees to 45 degrees, and the third included angle ranges from-45 degrees to-15 degrees.

The basic principle introduction of UWB angle measurement is as follows: as shown in fig. 3C, the electronic device is provided with two UWB antennas a and B at a distance d. The electronic device may measure the phase of the UWB antenna a and the UWB packet transmitted from the tag device received by the UWB antenna a, thereby calculating the phase difference. The path difference p between the antenna of the tag device and the UWB antenna a is calculated from the phase difference. And calculating the arrival angle theta (the azimuth angle of the tag device relative to the electronic device) according to the p and the d through a (trigonometric) function relation. Theoretically, if d is a half wavelength of the UWB carrier, the phase difference is 0 ° when the tag device is located right in front of the electronic device; when the label device is positioned on the left side of the electronic device (theta is equal to-90 degrees), the phase difference is 180 degrees; when the tag device is located on the right side of the electronic device (θ is 90 °), the phase difference is-180 °. In fact, due to various hardware factors, different electronic devices have different corresponding relations between θ and the phase difference, and calibration is required to obtain a calculation formula. When in use, the phase difference is measured, and then theta is calculated.

Specifically, after knowing an included angle between the electronic device and the vertical direction, the electronic device may determine an azimuth calculation function, and then substitute the phase difference into the azimuth calculation function to calculate an azimuth of the tag device and the electronic device (as shown in fig. 3D), so as to know in which azimuth of the electronic device the tag device is.

It can be seen that, in the embodiment of the present application, the electronic device receives the UWB data packet sent by the tag device first, then determines the phase difference between the first UWB antenna and the second UWB antenna when the UWB data packet is received, and finally determines the azimuth angle between the tag device and the electronic device based on the included angle between the electronic device and the vertical direction and the phase difference, thereby determining the azimuth of the tag device relative to the electronic device through the electronic device. In addition, when the existing electronic equipment utilizes the UWB technology to measure the angle of other equipment, the attitude of the electronic equipment can influence the angle measurement precision.

In an implementation manner of the present application, the UWB data packet is sent after receiving an angle measurement request sent by the electronic device, and before the electronic device determines the azimuth angle based on the phase difference and the included angle, the method further includes:

the electronic device determines that an angle measurement response to the angle measurement request is included in the UWB data packet.

Optionally, the method further comprises:

and the electronic equipment determines that the difference value between the sending time of the angle measurement request and the receiving time of the UWB data packet is less than or equal to a preset threshold value.

Optionally, the method further comprises:

the electronic device determines that the UWB data packet includes an identification of the electronic device.

Optionally, the method further comprises:

and the electronic equipment determines that the UWB data packet comprises the setting identification.

It can be seen that, in the embodiment of the present application, the electronic device performs the angle measurement operation only when the UWB packet satisfies a certain condition, so that the power consumption can be reduced.

Fig. 4 shows an azimuth angle determining apparatus 400 provided in an embodiment of the present application, where the apparatus 400 may be an electronic device, and may also be a chip in the electronic device. The apparatus 400 comprises:

a transceiving unit 410, configured to receive a UWB data packet sent by a tag device;

a determining unit 420, configured to determine a phase difference between the UWB packets received by the first UWB antenna and the second UWB antenna;

an obtaining unit 430, configured to obtain an included angle between the electronic device and a vertical direction;

the determining unit 420 is further configured to determine an azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle.

In an implementation manner of the present application, in determining the phase difference based on the UWB data packet, the obtaining unit 430 is specifically configured to:

obtaining a first phase of said first UWB antenna receiving said UWB data and obtaining a second phase of said second UWB antenna receiving said UWB data;

determining the phase difference based on the first phase and the second phase.

In an implementation manner of the present application, in determining an azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle, the determining unit 420 is specifically configured to:

determining an azimuth calculation function based on the included angle;

determining the azimuth angle based on the azimuth angle calculation function and the phase difference.

Optionally, in determining the azimuth calculation function based on the included angle, the determining unit 420 is specifically configured to:

if the included angle is in a first included angle range, determining the azimuth angle calculation function as f₁(x)＝acos(x/180)；

If the included angle is in a second included angle range, determining the azimuth angle calculation function as f₂(x)＝acos(1.02x/180)+6；

If the included angle is in a third included angle range, determining the azimuth angle calculation function as f₃(x)＝acos(1.05x/180)-10；

In an implementation manner of the present application, the UWB data packet is sent after receiving the angle measurement request sent by the electronic device, and the determining unit 420 is further configured to determine that the UWB data packet includes an angle measurement response to the angle measurement request before determining the azimuth angle based on the phase difference and the included angle.

Optionally, the determining unit 420 is further configured to determine that a difference between the sending time of the angle measurement request and the receiving time of the UWB packet is smaller than or equal to a preset threshold.

Optionally, the determining unit 420 is further configured to determine that the UWB data packet includes an identifier of the electronic device.

It should be appreciated that the apparatus 400 herein is embodied in the form of a functional unit. The term "unit" herein may refer to an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (e.g., a shared, dedicated, or group processor) and memory that execute one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that support the described functionality. In an optional example, it may be understood by those skilled in the art that the apparatus 400 may be embodied as an electronic device in the foregoing embodiment, and the apparatus 400 may be configured to perform each process and/or step corresponding to the electronic device in the foregoing method embodiment, and in order to avoid repetition, details are not described here again.

The apparatus 400 of each of the above schemes has functions of implementing corresponding steps executed by the electronic device in the above method; the functions can be realized by hardware, and the functions can also be realized by executing corresponding software by hardware. The hardware or software comprises one or more modules corresponding to the functions; for example, the transmitting unit may be replaced by a transmitter, the receiving unit may be replaced by a receiver, other units, such as the determining unit, may be replaced by a processor, and the transceiving operation and the related processing operation in the respective method embodiments are respectively performed.

In an embodiment of the present application, the apparatus 400 in fig. 4 may also be a chip or a chip system, for example: system on chip (SoC). Correspondingly, the receiving unit and the transmitting unit may be a transceiver circuit of the chip, and are not limited herein.

Fig. 5 illustrates an electronic device 500 provided by an embodiment of the present application, where the electronic device 500 includes a processor 510, a memory 520, a transceiver 530, and one or more programs, the electronic device further including a first UWB antenna and a second UWB antenna, where the one or more programs are stored in the memory 520 and configured to be executed by the processor 510, and the programs include instructions for:

receiving a UWB data packet sent by a tag device;

In one implementation of the subject application, the program includes instructions that are specific for performing the steps of:

determining the phase difference based on the first phase and the second phase.

In an implementation manner of the present application, in determining an azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle, the program includes instructions specifically configured to:

determining an azimuth calculation function based on the included angle;

In an implementation of the present application, in determining the azimuth calculation function based on the included angle, the program includes instructions specifically configured to:

In one implementation of the present application, the UWB data packet is transmitted after receiving an angle measurement request transmitted by the electronic device, and before determining the azimuth angle based on the phase difference and the included angle, the program further includes instructions for performing the following steps:

determining that the UWB data packet includes an angle measurement response to the angle measurement request.

In an implementation manner of the present application, the program includes instructions for further performing the following steps:

and determining that the difference value between the sending time of the angle measurement request and the receiving time of the UWB data packet is less than or equal to a preset threshold value.

and determining that the UWB data packet comprises the identification of the electronic equipment.

It will be appreciated that the memory 520 may include both read-only memory and random access memory, and provides instructions and data to the processor. The portion of memory may also include non-volatile random access memory. For example, the memory may also store device type information.

It should be understood that, in the embodiment of the present application, the processor 510 of the above apparatus may be a Central Processing Unit (CPU), and the processor 510 may also be other general processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The steps of a method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware processor, or may be implemented by a combination of hardware and software elements in a processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory, and a processor executes instructions in the memory, in combination with hardware thereof, to perform the steps of the above-described method. To avoid repetition, it is not described in detail here.

The present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program makes a computer perform some or all of the steps described in the electronic device in the above method embodiments.

Embodiments of the present application also provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps described in the electronic device in the above method. The computer program product may be a software installation package.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Those of ordinary skill in the art will appreciate that the various method steps and elements described in connection with the embodiments disclosed herein can be implemented as electronic hardware, computer software, or combinations of both, and that the steps and elements of the various embodiments have been described above generally in terms of their functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially or partially contributed by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. An azimuth determination method applied to an electronic device including a first Ultra Wideband (UWB) antenna and a second UWB antenna, the method comprising:

receiving a UWB data packet sent by a tag device;

2. The method of claim 1, wherein said determining a phase difference based on said UWB data packets comprises:

determining the phase difference based on the first phase and the second phase.

3. The method of claim 1 or 2, wherein determining an azimuth angle of the tag device relative to the electronic device based on the phase difference and the included angle comprises:

determining an azimuth calculation function based on the included angle;

4. The method of claim 3, wherein determining an azimuth calculation function based on the included angle comprises:

5. The method of any of claims 1-4, wherein the UWB data packet is transmitted after receiving an angle measurement request transmitted by the electronic device, and wherein the method further comprises, before determining the azimuth angle based on the phase difference and the included angle:

6. The method of claim 5, further comprising:

7. The method of claim 5 or 6, further comprising:

8. An azimuth angle determining apparatus applied to an electronic device including a first ultra wideband technology UWB antenna and a second UWB antenna, the apparatus comprising:

9. An electronic device comprising a processor, a memory, a transceiver, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-7.

10. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-7.