CN116918274A - Method, device and antenna system for estimating wave beam arrival angle - Google Patents

Abstract

The application discloses a method, a device and an antenna system for estimating a beam arrival angle. The method comprises the following steps: constructing a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays; establishing a receiving signal model of a virtual antenna array according to the relative position information between each group of antenna arrays in at least two groups of uniform linear antenna arrays and the receiving signal model of each group of antenna arrays; and estimating the beam arrival angle of the virtual antenna array based on a received signal model of the virtual antenna array by adopting a spatial super-resolution angle estimation algorithm. The method can obtain the angle estimation performance of an ideal array approaching to the same aperture as the virtual antenna array by only carrying out joint processing on the received signals of at least two groups of uniform linear antenna arrays without any actual modification on the physical structure of the antenna array, and can improve the angle estimation performance of the antenna system on the basis of not increasing the physical complexity of the antenna system.

Description

Method, device and antenna system for estimating beam arrival angle Technical field

The present application relates to the field of mobile communication technology, and in particular, to a method, device and antenna system for estimating the angle of arrival of a beam.

Background technique

In the radio positioning or directional technology of the antenna system, estimating the beam arrival angle (referred to as angle estimation) is a basic technology, which processes the signal received by the antenna array to estimate the source direction of the signal. The angle estimation performance of the antenna system is limited by the diameter of the antenna array. Currently, if you want to improve the angle estimation accuracy, you need to increase the physical complexity of the antenna system, such as designing more array elements or a larger diameter antenna array.

Therefore, how to improve the angle estimation performance of the antenna system without increasing the physical complexity of the antenna system is a technical problem to be solved by this application.

Contents of the invention

This application provides a method, device and antenna system for estimating the angle of arrival of a beam, so as to improve the angle estimation performance of the antenna system without increasing the physical complexity of the antenna system.

The first aspect provides a method for estimating the angle of arrival of a beam, which method can be applied to the baseband processing unit BBU or a chip in the BBU. Taking the method that can be applied to BBU as an example, the method includes: constructing a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays, and the virtual antenna array satisfies the far-field assumption conditions; based on at least two sets of uniform linear antenna arrays The relative position information between each group of antenna arrays in the array and the received signal model of each group of antenna arrays are used to establish the received signal model of the virtual antenna array; the spatial super-resolution angle estimation algorithm is used to estimate the received signal model based on the virtual antenna array. The beam arrival angle of the virtual antenna array.

The embodiment of the present application constructs a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays. This construction process does not make any actual changes to the physical structure of the antenna array, but only changes the physical structure of the at least two sets of uniform linear antenna arrays. The received signals are jointly processed to obtain angle estimation performance that approximates an ideal array with the same aperture as the virtual antenna array. This can improve the angle estimation performance of the antenna system without increasing the physical complexity of the antenna system.

In one possible design, the BBU establishing the received signal model of the virtual antenna array may include: determining the beam arrival angle relationship and phase relationship of each group of antenna arrays based on the relative position information of at least two groups of uniform linear antenna arrays; Rewrite the received signal model of each group of antenna arrays with the relationship between The reception vector of each array element is expressed based on the reception vector of the first array element, where the first array element is any element in at least two sets of uniform linear antenna arrays; based on the rewritten reception vector of each set of antenna arrays The signal model determines the received signal model of the virtual antenna array.

When rewriting the received signal model of each group of antenna arrays, the embodiment of the present application makes the dependent variable in the received signal model of each group of antenna array represented by the beam arrival angle of the virtual antenna array, and makes the received signal model of each group of antenna array The reception vector of each array element in is expressed based on the reception vector of the first array element, and then the reception signal model of the virtual antenna array can be stacked based on the rewritten reception signal model of each group of antenna arrays. Simple implementation and high reliability.

The following takes at least two sets of uniform linear antenna arrays consisting of a first antenna array and a second antenna array as an example:

In a possible design, the relative position information of at least two sets of uniform linear antenna arrays includes: the array element spacing d in the first antenna array and the second antenna array is half a wavelength λ/2, where λ is the wavelength, and the first The number of elements of the antenna array is 2N+1, the number of elements of the second antenna array is 2M+1, and the distance between the center point O ₁ of the first antenna array and the center point O ₂ of the second antenna array is K (λ/ 2), the angle between the line connecting O ₁ and O ₂ and the radial direction of the first antenna array is ф ₁ , and the angle between the line connecting O ₁ and O ₂ and the radial direction of the second antenna array is ф ₂ ;

The received signal model of the first antenna array with the first array element as the reference point within Q symbol periods is:

Y ₁ =A ₁ S+W ₁ ;

The received signal model of the second antenna array with the first array element as the reference point in the first q symbol periods is:

Y ₂ =A ₂ S+W ₂ ;

Among them, Y ₁ =[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,], are the receiving matrices;

Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _{2 ,2M+1} (q)] ^T , is the received vector in the q-th symbol period, and T represents the transpose operation;

is the steering vector; where θ ₁ is the beam arrival angle of the first antenna array, θ ₂ is the beam arrival angle of the second antenna array;

S=[S ₁ , S ₂ ,..., S _Q ], which is a training sequence vector composed of Q pilot symbols;

W ₁ = [W ₁₁ W ₁₂ ,…, W _1Q ], W ₂ = [W ₂₁ W ₂₂ ,…, W _2Q ], which are noise matrices;

W _1q = [W ₁₁ (q), W ₁₂ (q),…, W _1,2N+1 (q)] ^T ;

W _2q = [W ₂₁ (q), W ₂₂ (q),…, W _2,2M+1 (q)] ^T ;

W _1q and W _2q are the noise vectors of the q-th symbol period;

The array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is the midpoint of the line connecting O ₁ and O ₂ ;

The beam arrival angle relationship of each group of antenna arrays determined based on the relative position information between each group of antenna arrays includes:

θ ₁ =φ ₁ +θ; (1)

θ ₂ =φ ₂ -θ; (2)

Among them, θ is the beam arrival angle of the virtual antenna array;

Rewrite the received signal model of each antenna array based on the phase relationship and beam arrival angle relationship, including:

The received signal of the n-th element of the first antenna array in the q-th symbol period with the first element of the first antenna array as the reference point is:

Taking the center point O ₁ of the first antenna array as the reference point, according to formula (1), the received signal of the n-th element of the first antenna array in the q-th symbol period is rewritten as:

Among them, n=1, 2, ..., 2N+1.

The received signal of the m-th element of the second antenna array in the q-th symbol period with the first element of the second antenna array as the reference point is:

Taking the center point O ₂ of the second antenna array as the reference point, according to formula (2), the received signal of the m-th element of the second antenna array in the q-th symbol period is rewritten as:

Taking the center point O ₁ of the first antenna element as the reference point, according to formulas (1) (2) and the distance K (λ/2) between O ₂ and O ₁ , the m-th array element of the second antenna array is The received signal in the q-th symbol period is rewritten as:

Among them, m=1, 2,...,2M+1;

The received signal model of the virtual antenna array is determined based on the rewritten received signal model of each group of antenna arrays, including:

According to formulas (4) and (7), the received signals of the virtual antenna array are stacked into a (2N+2M+2)×Q-dimensional matrix, and the received signal model of the virtual antenna array is obtained:

Y=[y(1), y(2),…,y(Q)]=AS+W;

in,

In another possible design, at least two sets of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

The relative position information of at least two sets of uniform linear antenna arrays includes: the array element spacing d in the first antenna array and the second antenna array is half a wavelength λ/2, where λ is the wavelength, and the number of array elements in the first antenna array is 2N+1, the number of elements of the second antenna array is 2M+1, the distance between the center point O ₁ of the first antenna array and the center point O ₂ of the second antenna array is K (λ/2), O ₁ and O The angle between the line connecting ₂ and the radial direction of the first antenna array is ф ₁ , and the angle between the line connecting O ₁ and O ₂ and the radial direction of the second antenna array is ф ₂ ;

The received signal model of the first antenna array in the first q symbol periods is:

Y ₁ =A ₁ S+W ₁ ;

The received signal model of the second antenna array in the first q symbol periods is:

Y ₂ =A ₂ S+W ₂ ;

Among them, Y ₁ =[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,], are the receiving matrices;

Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _{2 ,2M+1} (q)] ^T , is the received vector in the q-th symbol period, and T represents the transpose operation;

is the steering vector; where θ ₁ is the beam arrival angle of the first antenna array, θ ₂ is the beam arrival angle of the second antenna array;

S=[S ₁ , S ₂ ,..., S _Q ], which is a training sequence vector composed of Q pilot symbols;

W ₁ = [W ₁₁ W ₁₂ ,…, W _1Q ], W ₂ = [W ₂₁ W ₂₂ ,…, W _2Q ], which are noise matrices;

W _1q = [W ₁₁ (q), W ₁₂ (q),…, W _1,2N+1 (q)] ^T ;

W _2q = [W ₂₁ (q), W ₂₂ (q),…, W _2,2M+1 (q)] ^T ;

W _1q and W _2q are the noise vectors of the q-th symbol period;

The array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is the midpoint of the line connecting O ₁ and O ₂ ;

The received signal model of the virtual antenna array is:

Y=[y(1), y(2),…,y(Q)]=AS+W;

in,

In the q-th symbol period, the received signals of each array element in the virtual antenna array with the center point O ₁ of the first antenna array as the reference point satisfy the following relationship:

Among them, θ ₁ =φ ₁ +θ, θ ₂ =φ ₂ -θ; n = 1, 2,..., 2N+1; m = 1, 2,..., 2M+1; θ is the beam arrival of the virtual antenna array horn.

The above two designs use two sets of uniform linear antenna arrays to construct a virtual antenna array, which is simple to implement and has high reliability.

In one possible design, before the BBU estimates the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, the BBU can also calculate each group based on the received signal model of each of at least two sets of uniform linear antenna arrays. The initial estimate of the beam arrival angle of the antenna array; then determine the search range of the spatial super-resolution angle estimation algorithm based on the initial estimate of the beam arrival angle of each group of antenna arrays.

For example, the search scope could be:

in, is the initial estimate of the beam arrival angle of the first antenna array, is the initial estimated value of the beam arrival angle of the second antenna array, and Δ is the preset value.

In this way, the search range of the spatial super-resolution angle estimation algorithm used by the BBU when estimating the beam arrival angle of the virtual antenna array can be reduced, and the accuracy and efficiency of angle estimation can be further improved.

In one possible design, Δ is inversely related to the signal-to-noise ratio. In other words, the higher the signal-to-noise ratio, the smaller Δ, and the lower the signal-to-noise ratio, the higher Δ.

In this way, the accuracy of angle estimation can be further improved.

In one possible design, the BBU uses a spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, and then updates each group of antennas based on the beam arrival angle of the virtual antenna array. The initial estimate of the beam arrival angle of the array is used to obtain the final estimate of the beam arrival angle of each antenna array.

In this way, the angle estimation accuracy of each antenna array can be improved.

The second aspect provides a device for estimating the angle of arrival of a beam. The device is, for example, a BBU, or a chip in the BBU. The device includes a module/unit for performing the method described in the above-mentioned first aspect or any possible design of the first aspect.

Exemplarily, the device may include: a building module configured to construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays; and based on at least two sets of uniform linear antenna arrays. The relative position information and the received signal model of each group of antenna arrays are used to establish the received signal model of the virtual antenna array; the estimation module is used to use the spatial super-resolution angle estimation algorithm to estimate the virtual antenna array based on the received signal model of the virtual antenna array. Beam arrival angle.

In a third aspect, an antenna system is provided, including: at least two radio frequency remote units, each radio frequency remote unit includes a set of uniform linear antenna arrays, the radio frequency remote unit is used to receive wireless signals; a baseband processing unit, and At least two radio frequency remote units are communicatively connected, and the baseband processing unit is configured to perform the method described in the above-mentioned first aspect or any possible design of the first aspect. For example, the baseband processing unit can be used to: construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays, and the virtual antenna array satisfies far-field assumptions; and construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays. The relative position information between antenna arrays and the received signal model of each group of antenna arrays are used to establish the received signal model of the virtual antenna array; a spatial super-resolution angle estimation algorithm is used to estimate the beam of the virtual antenna array based on the received signal model of the virtual antenna array. Arrival at the corner.

A fourth aspect provides a communication device, including a processor and a memory; the memory is used to store computer execution instructions; the processor is used to execute the computer execution instructions stored in the memory, so that the communication device executes the above first aspect or any of the first aspects. One possible design is the approach described.

In a fifth aspect, a communication device is provided, including a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor runs the code instructions to execute the above-mentioned first aspect or any possibility of the first aspect. The method described in the design.

In a sixth aspect, a computer-readable storage medium is provided. The readable storage medium is used to store instructions. When the instructions are executed, the method described in the above-mentioned first aspect or any possible design of the first aspect is implemented. .

A seventh aspect provides a chip, which is coupled with a memory and used to read and execute program instructions stored in the memory to implement the method described in the above first aspect or any possible design of the first aspect.

In an eighth aspect, a computer program product containing instructions is provided. The computer program product stores instructions, which when run on a computer, cause the computer to execute the above-mentioned first aspect or any possible design of the first aspect. Methods.

For the technical effects that can be achieved by any one of the above-mentioned second to eighth aspects and the possible designs in any aspect, please refer to the description of the technical effects that can be achieved by the above-mentioned first aspect and its corresponding possible designs, which will not be repeated here. Repeat.

Description of the drawings

Figure 1 is a schematic diagram of an antenna system provided by an embodiment of the present application;

Figure 2 is a flow chart of a method for estimating the angle of arrival of a beam provided by an embodiment of the present application;

Figure 3 is a schematic diagram of another antenna system provided by an embodiment of the present application;

Figure 4A is a schematic diagram of the MSE statistical results of angle estimation error;

Figure 4B is a schematic diagram of the MAE statistical results of angle estimation error;

Figure 5 is a schematic structural diagram of a device for estimating the angle of arrival of a beam according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a communication device according to an embodiment of the present application.

Detailed ways

The technical solutions of the embodiments of the present application can be applied to various communication systems, such as fifth generation (5th generation, 5G) communication systems, sixth generation (6th generation, 6G) communication systems or other future evolution systems, or other various Any wireless communication system using wireless access technology, etc., as long as there is a need to estimate the angle of arrival (Angle Of Arrival, AOA) of the beam in the communication system, the technical solution of the embodiment of the present application can be adopted.

Communication systems (for example, 5G communication systems) can use millimeter wave frequency bands to provide high-rate wireless communication services. The millimeter wave frequency band has strong directional performance and can provide better positioning performance than the microwave frequency band. At the same time, the millimeter wave frequency band is rich in bandwidth resources, which helps to provide sufficient spatial diversity gain to improve communication system performance. However, the millimeter wave communication frequency band is high and fading is severe, resulting in limited transmission distance and reduced coverage. In addition, millimeter waves have weak penetrating power and are easily blocked. In order to overcome the problem of reduced communication quality and reduced coverage caused by occlusion, radio frequency remote technology can be used to improve coverage and communication rate performance. However, especially in remote radio frequency scenarios, if you want to improve the angle estimation accuracy by designing more array elements or a larger-diameter antenna array, the implementation will be more complicated. This application can be applied to communication systems using millimeter wave frequency bands, but it should be understood that this application is not limited thereto.

Referring to Figure 1, an antenna system is provided according to an embodiment of the present application. The antenna system includes at least two radio frequency remote units (Remote Radio Units, RRUs) and one baseband processing unit (Base Band Unite, BBU). It should be understood that FIG. 1 only takes two RRUs, namely RRU1 and RRU2, as an example, and the actual number of RRUs may not be limited to this.

The BBU is usually centrally deployed in the computer room, and the RRU is deployed at the remote end (close to the antenna). The BBU and RRU are connected through optical fibers for signal transmission. Among them, the BBU is mainly responsible for all L1 (Layer1, Layer 1), L2 (Layer2, Layer 2), and L3 (Layer3, Layer 3) processing, including high-level data transmission, scheduling, and baseband signal processing. The RRU is mainly responsible for the up and down of signals. Frequency conversion, power amplifier, filtering, and medium RF signal conversion.

As shown in Figure 1, each RRU is equipped with a set of uniform linear antenna arrays. RRU1 includes multiple array elements connected in series, and the spacing between adjacent elements is approximately uniform. RRU2 includes multiple array elements connected in series, and the spacing between adjacent elements is approximately uniform. The aperture of each antenna array is the ratio of the physical size of the antenna array to the wavelength, that is, r=(N-1)d/λ, where N is the number of antenna elements, d is the element spacing, and λ is the wavelength.

It should be understood that each set of antenna arrays on the antenna system satisfies the far-field assumption. The so-called far field assumption means that the distance from the mobile station to the antenna array is much larger than the aperture of the antenna array. For an antenna array that satisfies the far-field assumption, the amplitude of the incoming wave signals arriving at each element of the antenna array can be considered equal, with only a difference in phase. Wherein, mobile station refers to any device capable of wireless communication with the antenna system, such as mobile phones, computers with mobile terminal equipment, portable, pocket-sized, handheld, mobile devices built into computers, etc., wearable devices, Vehicle-mounted terminal equipment, etc., are not limited by this application.

It should be understood that FIG. 1 only shows the antenna array on the RRU, and does not show other components of the RRU, such as frequency converters, power amplifiers, filters, etc.

Referring to Figure 2, a method for estimating the angle of arrival of a beam is provided in an embodiment of the present application. This method is applied to the antenna system shown in Figure 1 as an example. Methods include:

S201. The BBU constructs a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays. The virtual antenna array satisfies the far-field assumption condition; according to the at least two sets of uniform linear antenna arrays, the distance between each set of antenna arrays is The relative position information and the received signal model of each group of antenna arrays are used to establish the received signal model of the virtual antenna array.

It should be understood that at least two sets of uniformly linear antenna arrays means that each of the at least two sets of antenna arrays is uniformly linear, and the at least two sets of antenna arrays as a whole may be linear or nonlinear.

The BBU constructs a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays, including: BBU determines the physical conditions of at least two sets of uniform linear antenna arrays, and obtains a virtual set of virtual antenna arrays based on the physical conditions of each set of uniform linear antenna arrays. The physical condition of the antenna array. For example, all the array elements of the virtual antenna array are all the actual array elements in the at least two groups of uniform linear antenna arrays, and the center of the virtual antenna array is the center of the actual at least two groups of uniform linear antenna arrays. It should be understood that this construction process does not make any changes to the actual physical structure of the at least two sets of uniform linear antenna arrays.

For example, a set of non-uniform linear virtual antenna arrays is constructed with two sets of uniform linear antenna arrays. See Figure 3. The antenna array on RRU1 is the first antenna array, and the antenna array on RRU2 is the second antenna array. The relative position information of one antenna array and the second antenna array includes:

1). The array element spacing d in the first antenna array is half wavelength λ/2, and the array element spacing d in the second antenna array is half wavelength λ/2, where λ is the wavelength;

2). The number of array elements of the first antenna array is 2N+1, and the number of array elements of the second antenna array is 2M+1; where M and N are positive integers, M and N are the same or different, and are not limited in this application;

3). The distance between the center point O ₁ of the first antenna array and the center point O ₂ of the second antenna array is K (λ/2);

4). The angle between the line connecting O ₁ and O ₂ and the radial direction of the first antenna array is ф _1. The angle between the line connecting O ₁ and O ₂ and the radial direction of the second antenna array is ф _2. .

Correspondingly, the array elements of the virtual antenna array constructed based on the first antenna array and the second antenna array are each array element of the first antenna array and the second antenna array, and the center of the virtual antenna array is connected by O ₁ and O ₂ midpoint. The aperture of the virtual antenna array is the ratio of the physical size of the virtual antenna array (that is, the overall physical size of the first antenna array and the second antenna array) to the wavelength, that is, r=(N-1)d/λ, N is the antenna array element number, d is the array element spacing, and λ is the wavelength.

It should be understood that in addition to the far-field assumptions that the virtual antenna array should satisfy, the uplink of the antenna system that constitutes the virtual antenna array also satisfies any one or more of the following assumptions: 1), the channel has sparse multi-path characteristics, and The direct path power is much larger than the non-direct path power. Therefore, when allocating power according to the water filling theorem, you can only estimate the angle of the direct path and shape it only in the direction of the direct path. The non-direct path can be ignored with almost no loss of channel capacity; 2), The channel is a slow fading channel. The channel remains unchanged within one frame. Because beamforming cannot be performed before angle estimation, the receiving signal-to-noise ratio is low. Only by accumulating the energy of multiple symbols to improve the processing signal-to-noise ratio can reliable estimation be achieved. Angle; 3). The pilot symbol sequences transmitted by each mobile station are orthogonal to each other. In this way, interference between users can be suppressed, and the BBU reception model can be equivalent to a single-user single-path model; 4). Each array element on the RRU receives After the signal is down-converted, it can be directly transmitted to the BBU; 5). Each RRU connected to the same BBU through optical fiber is strictly synchronized. In this way, the signals of each RRU can be jointly processed after reaching the BBU; 6). Each array element on the RRU The additive noise is independent of the received signal. In this way, algorithms such as MUSIC/ESPRIT can use the orthogonality of the signal space and the noise space to form a spatial super-resolution algorithm.

After BBU determines the physical conditions of each group of actual antenna arrays and the physical conditions of the virtual antenna array, it can obtain the received signal model of each group of antenna arrays and the relative position information between each group of antenna arrays, and then combines the actual conditions of each group The received signal model of the antenna array is used to calculate the received signal model of the virtual antenna array.

One possible calculation method is: based on the relative position information of at least two groups of uniform linear antenna arrays, determine the beam arrival angle relationship and phase relationship of each group of antenna arrays; rewrite the beam arrival angle relationship of each group of antenna arrays based on the phase relationship and beam arrival angle relationship. The received signal model is such that the dependent variable in the received signal model of each group of antenna arrays is represented by the beam arrival angle of the virtual antenna array, and the received vector of each array element in the received signal model of each group of antenna arrays is represented by the first array The first array element is any element in at least two groups of uniform linear antenna arrays; the received signal model of the virtual antenna array is determined based on the rewritten received signal model of each group of antenna arrays.

For example, still taking the two sets of uniform linear antenna arrays shown in Figure 3 to construct a set of non-uniform linear virtual antenna arrays as an example:

The received signal model of the first antenna array with the first array element as the reference point within Q symbol periods is:

Y ₁ =A ₁ S+W ₁ ;

The received signal model of the second antenna array with the first array element as the reference point in the first q symbol periods is:

Y ₂ =A ₂ S+W ₂ ;

Among them, Y ₁ =[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,], are the receiving matrices;

Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _{2 ,2M+1} (q)] ^T , is the received vector in the q-th symbol period, and T represents the transpose operation;

is the steering vector; where θ ₁ is the beam arrival angle of the first antenna array, θ ₂ is the beam arrival angle of the second antenna array;

S=[S ₁ , S ₂ ,..., S _Q ], which is a training sequence vector composed of Q pilot symbols;

W ₁ = [W ₁₁ W ₁₂ ,…, W _1Q ], W ₂ = [W ₂₁ W ₂₂ ,…, W _2Q ], which are noise matrices;

W _1q = [W ₁₁ (q), W ₁₂ (q),…, W _1,2N+1 (q)] ^T ;

W _2q = [W ₂₁ (q), W ₂₂ (q),…, W _2,2M+1 (q)] ^T ;

W _1q and W _2q are the noise vectors of the q-th symbol period;

The beam arrival angle relationship of each group of antenna arrays determined based on the relative position information between each group of antenna arrays includes:

θ ₁ =φ ₁ +θ; (1)

θ ₂ =φ ₂ -θ; (2)

Among them, θ is the beam arrival angle of the virtual antenna array;

Referring to Figure 3, the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, with a total of 2M+2N+2 array elements; the center of the virtual antenna array is connected by O ₁ and O ₂ Midpoint O.

After obtaining the above information, the BBU can rewrite the received signal model of each antenna array based on the phase relationship and beam arrival angle relationship between the first antenna array and the second antenna array. The rewriting process includes the following formulas (3) to formula (8) )the process of:

The received signal of the n-th element of the first antenna array in the q-th symbol period with the first element of the first antenna array as the reference point is:

Taking the center point O ₁ of the first antenna array as the reference point, according to formula (1), the received signal of the n-th element of the first antenna array in the q-th symbol period is rewritten as:

Among them, n=1, 2,...,2N+1;

The received signal of the m-th element of the second antenna array in the q-th symbol period with the first element of the second antenna array as the reference point is:

Taking the center point O ₂ of the second antenna array as the reference point, according to formula (2), the received signal of the m-th element of the second antenna array in the q-th symbol period is rewritten as:

Taking the center point O ₁ of the first antenna element as the reference point, according to formulas (1) (2) and the distance K (λ/2) between O ₂ and O ₁ , the m-th array element of the second antenna array is The received signal in the q-th symbol period is rewritten as:

Among them, m=1, 2,...,2M+1;

The received signal model of the virtual antenna array is determined based on the rewritten received signal model of each group of antenna arrays, including:

According to formulas (4) and (7), the received signals of the virtual antenna array are stacked into a (2N+2M+2)×Q-dimensional matrix, and the received signal model of the virtual antenna array is obtained:

Y＝[y(1),y(2),…,y(Q)]＝AS+W (8)

in,

It should be understood that the actual physical structure of the virtual antenna array is the physical structure of the first antenna array and the second antenna array, so it is actually non-linear. However, the above calculation process compensates the angle of the received signal of each array element to convert the first antenna array into and the second antenna array as a whole are virtualized into a linear antenna array.

It should be emphasized that the above calculation process is only an example and not a limitation. In practical applications, other calculation methods can also be used. As long as it is based on the received signal model of each antenna array in at least two antenna arrays, it can be calculated from the at least two antenna arrays. Methods for receiving signal models of an entire antenna array (i.e., a virtual antenna array) are within the scope of protection of this application.

In addition, the actual antenna arrays used to construct the virtual antenna array are not limited to two groups, and can be more. However, it should be noted that when a virtual antenna array is constructed from three or more groups of antenna arrays, these three groups or The center points of all arrays in more than three groups of antenna arrays need to be on the same straight line. The idea of constructing a virtual antenna array for three or more groups of antenna arrays can refer to the method of constructing a virtual antenna array for two groups of antenna arrays mentioned above. For example, the dependent variable in the received signal model of each group of antenna arrays in the three groups of antenna arrays can be All are represented by the beam arrival angle of the virtual antenna array, and the reception vector of each array element in the received signal model of each of the three groups of antenna arrays is expressed based on the reception vector of the same array element, and then stacked The received signal model of the virtual antenna array is derived, and the process will not be described in detail here.

S202. The BBU uses a spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array.

Optionally, the spatial super-resolution angle estimation algorithm is the MUSIC algorithm or the ESPRIT algorithm, which is not limited in this application.

Based on the above, it can be seen that the embodiment of the present application constructs a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays. This construction process does not make any actual changes to the antenna array, but only changes the at least two sets of uniform linear antenna arrays. The received signals are jointly processed to obtain angle estimation performance that approximates an ideal array with the same aperture as the virtual antenna array. This can improve the angle estimation performance of the antenna system without increasing the physical complexity of the antenna system.

The following is a set of simulation data to illustrate the above effects:

The simulation parameters are set as follows: the number of array elements of uniform linear array 1 with half-wavelength spacing is 9, that is, N=4; the number of array elements of uniform linear array 2 with half-wavelength spacing is 11, that is, M=5; the center line of the two arrays is connected The distance is 20 times half wavelength, that is, K=20; the number of snapshots (number of pilot symbols) Q=200; θ=10°, θ ₁ =35°, θ ₂ =50°; the signal-to-noise ratio changes from -10dB to 10dB. The angle estimation algorithm uses the ESPRIT algorithm. The angle estimation performance indicators select the variance of the angle estimation error (MSE), and the mean absolute error (MAE).

The simulation results are shown in Figure 4A and Figure 4B. Figure 4A is a schematic diagram of the MSE statistical results of the angle estimation error. The curves from top to bottom in Figure 4A are: MSE of array 1, MSE of array 2, and MSE of the virtual array (i.e., the virtual antenna array composed of array 1 and array 2). , the MSE of an ideal array with the same caliber as the virtual array. Figure 4B is a schematic diagram of the MAE statistical results of the angle estimation error. The curves from top to bottom in Figure 4B are: the MAE of array 1, the MAE of array 2, the MAE of the virtual array, and the MAE of the ideal array with the same caliber as the virtual array.

It can be seen from the simulation results that the angle estimation performance of the virtual array is higher than that of a single array (i.e. array 1 or array 2), whether from the MSE perspective or the MAE perspective, and is close to the ideal array with the same caliber as the virtual array. Angle estimation performance.

Optionally, before estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, the BBU may also calculate the beam arrival angle of each group of antenna arrays based on the received signal model of each group of at least two sets of uniform linear antenna arrays. The initial estimate of the beam arrival angle is then used to determine the search range of the spatial super-resolution angle estimation algorithm used by the BBU when estimating the beam arrival angle of the virtual antenna array based on the initial estimate of the beam arrival angle of each group of antenna arrays. When the subsequent BBU uses the spatial super-resolution angle estimation algorithm to estimate the angle of the virtual antenna array, it can only search for angle estimates within the search range.

For example, suppose is the initial estimate of the beam arrival angle of the first antenna array, is the initial estimate of the beam arrival angle of the second antenna array, then the search range of the spatial super-resolution angle estimation algorithm used by the BBU when estimating the beam arrival angle of the virtual antenna array can be:

Among them, Δ is the default value. Optionally, the Δ is inversely related to the signal-to-noise ratio, that is, the higher the signal-to-noise ratio, the smaller Δ is, and the lower the signal-to-noise ratio, the higher Δ is.

In this way, the search range of the spatial super-resolution angle estimation algorithm used by the BBU when estimating the beam arrival angle of the virtual antenna array can be reduced, and the accuracy and efficiency of angle estimation can be further improved.

Further optionally, after the BBU estimates the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, the BBU can also update the initial estimated value of the beam arrival angle of each group of antenna arrays based on the beam arrival angle of the virtual antenna array. Obtain the final estimate of the beam arrival angle for each antenna array.

Still taking the two sets of uniform linear antenna arrays shown in Figure 3 to construct a set of non-uniform linear virtual antenna arrays as an example: Let θ be the beam arrival angle of the virtual antenna array composed of the first antenna array and the second antenna array. estimated value, then the final estimated value of the beam arrival angle of the first antenna array can be determined according to the above formulas (1) and (2). Determine the final estimate of the beam arrival angle of the second antenna array as φ ₁ + θ is φ ₂ -θ.

In this way, the angle estimation accuracy of each antenna array can be improved.

Based on the same technical concept, embodiments of the present application also provide a device for estimating the angle of arrival of a beam. The device is, for example, a BBU, or a chip in the BBU. The device includes modules/units for executing the method steps shown in Figure 1 .

For example, referring to Figure 5, the device includes:

Construction module 501 is used to construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays; based on the relative position information between each group of antenna arrays in the at least two sets of uniform linear antenna arrays, each group of antennas The received signal model of the array is used to establish the received signal model of the virtual antenna array;

The estimation module 502 is configured to use a spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array.

Optionally, when the building module 501 establishes the received signal model of the virtual antenna array based on the relative position information between each group of antenna arrays in at least two groups of uniform linear antenna arrays and the received signal model of each group of antenna arrays, specifically Used for:

Determine the beam arrival angle relationship and phase relationship of each group of antenna arrays based on the relative position information of at least two groups of uniform linear antenna arrays;

Rewrite the received signal model of each group of antenna arrays based on the phase relationship and beam arrival angle relationship, so that the dependent variable in the received signal model of each group of antenna arrays is represented by the beam arrival angle of the virtual antenna array, and make the reception of each group of antenna arrays The reception vector of each array element in the signal model is expressed based on the reception vector of the first array element, where the first array element is any element in at least two sets of uniform linear antenna arrays;

The received signal model of the virtual antenna array is determined based on the rewritten received signal model of each group of antenna arrays.

Optionally, at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

The relative position information of at least two sets of uniform linear antenna arrays includes: the array element spacing d in the first antenna array and the second antenna array is half a wavelength λ/2, where λ is the wavelength, and the number of array elements in the first antenna array is 2N+1, the number of elements of the second antenna array is 2M+1, the distance between the center point O ₁ of the first antenna array and the center point O ₂ of the second antenna array is K (λ/2), O ₁ and O The angle between the line connecting ₂ and the radial direction of the first antenna array is ф ₁ , and the angle between the line connecting O ₁ and O ₂ and the radial direction of the second antenna array is ф ₂ ; the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is the midpoint of the line connecting O ₁ and O ₂ ;

The received signal model of the first antenna array with the first array element as the reference point within Q symbol periods is:

Y ₁ =A ₁ S+W ₁ ;

The received signal model of the second antenna array with the first array element as the reference point in the first q symbol periods is:

Y ₂ =A ₂ S+W ₂ ;

Among them, Y ₁ =[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,], are the receiving matrices;

Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _{2 ,2M+1} (q)] ^T , is the received vector in the q-th symbol period, and T represents the transpose operation;

is the steering vector; where θ ₁ is the beam arrival angle of the first antenna array, θ ₂ is the beam arrival angle of the second antenna array;

S=[S ₁ , S ₂ ,..., S _Q ], which is a training sequence vector composed of Q pilot symbols;

W ₁ = [W ₁₁ W ₁₂ ,…, W _1Q ], W ₂ = [W ₂₁ W ₂₂ ,…, W _2Q ], which are noise matrices;

W _1q = [W ₁₁ (q), W ₁₂ (q),…, W _1,2N+1 (q)] ^T ;

W _2q = [W ₂₁ (q), W ₂₂ (q),…, W _2,2M+1 (q)] ^T ;

W _1q and W _2q are the noise vectors of the q-th symbol period;

The building module 501 determines the beam arrival angle relationship of each group of antenna arrays based on the relative position information between each group of antenna arrays, including:

θ ₁ =φ ₁ +θ; (1)

θ ₂ =φ ₂ -θ; (2)

Among them, θ is the beam arrival angle of the virtual antenna array;

When rewriting the received signal model of each antenna array according to the phase relationship and beam arrival angle relationship, the building module 501 is specifically used to:

The received signal of the n-th element of the first antenna array in the q-th symbol period with the first element of the first antenna array as the reference point is:

Taking the center point O ₁ of the first antenna array as the reference point, according to formula (1), the received signal of the n-th element of the first antenna array in the q-th symbol period is rewritten as:

Among them, n=1, 2, ..., 2N+1.

The received signal of the m-th element of the second antenna array in the q-th symbol period with the first element of the second antenna array as the reference point is:

Taking the center point O ₂ of the second antenna array as the reference point, according to formula (2), the received signal of the m-th element of the second antenna array in the q-th symbol period is rewritten as:

Taking the center point O ₁ of the first antenna element as the reference point, according to formulas (1) (2) and the distance K (λ/2) between O ₂ and O ₁ , the m-th array element of the second antenna array is The received signal in the q-th symbol period is rewritten as:

Among them, m=1, 2,...,2M+1;

When determining the received signal model of the virtual antenna array based on the rewritten received signal model of each group of antenna arrays, the building module 501 is specifically used to:

According to formulas (4) and (7), the received signals of the virtual antenna array are stacked into a (2N+2M+2)×Q-dimensional matrix, and the received signal model of the virtual antenna array is obtained:

Y=[y(1), y(2),…,y(Q)]=AS+W;

in,

Optionally, at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

The relative position information of at least two sets of uniform linear antenna arrays includes: the array element spacing d in the first antenna array and the second antenna array is half a wavelength λ/2, where λ is the wavelength, and the number of array elements in the first antenna array is 2N+1, the number of elements of the second antenna array is 2M+1, the distance between the center point O ₁ of the first antenna array and the center point O ₂ of the second antenna array is K (λ/2), O ₁ and O The angle between the line connecting ₂ and the radial direction of the first antenna array is ф ₁ , and the angle between the line connecting O ₁ and O ₂ and the radial direction of the second antenna array is ф ₂ ; the array elements of the virtual antenna array are the elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is the midpoint of the line connecting O ₁ and O ₂ ;

The received signal model of the first antenna array in the first q symbol periods is:

Y ₁ =A ₁ S+W ₁ ;

The received signal model of the second antenna array in the first q symbol periods is:

Y ₂ =A ₂ S+W ₂ ;

Among them, Y ₁ =[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,], are the receiving matrices;

Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _{2 ,2M+1} (q)] ^T , is the received vector in the q-th symbol period, and T represents the transposition operation;

is the steering vector; where θ ₁ is the beam arrival angle of the first antenna array, θ ₂ is the beam arrival angle of the second antenna array;

S=[S ₁ , S ₂ ,..., S _Q ], which is a training sequence vector composed of Q pilot symbols;

W ₁ = [W ₁₁ W ₁₂ ,…, W _1Q ], W ₂ = [W ₂₁ W ₂₂ ,…, W _2Q ], which are noise matrices;

W _1q = [W ₁₁ (q), W ₁₂ (q),…, W _1,2N+1 (q)] ^T ;

W _2q = [W ₂₁ (q), W ₂₂ (q),…, W _2,2M+1 (q)] ^T ;

W _1q and W _2q are the noise vectors of the q-th symbol period;

The received signal model of the virtual antenna array is:

Y=[y(1), y(2),…,y(Q)]=AS+W;

in,

In the q-th symbol period, the received signals of each array element in the virtual antenna array with the center point O ₁ of the first antenna array as the reference point satisfy the following relationship:

Among them, θ ₁ =φ ₁ +θ, θ ₂ =φ ₂ -θ; n = 1, 2,..., 2N+1; m = 1, 2,..., 2M+1; θ is the beam arrival of the virtual antenna array horn.

Optionally, the estimation module 502 is also used to:

Before estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, calculating an initial estimate of the beam arrival angle of each group of antenna arrays based on the received signal model of each group of antenna arrays in at least two groups of uniformly linear antenna arrays. ;

The search range of the spatial super-resolution angle estimation algorithm is determined based on the initial estimate of the beam arrival angle of each group of antenna arrays.

Optional, the search scope can be:

in, is the initial estimate of the beam arrival angle of the first antenna array, is the initial estimated value of the beam arrival angle of the second antenna array, and Δ is the preset value.

Optionally, Δ is inversely related to the signal-to-noise ratio.

Optionally, the estimation module 502 is also used to:

After using the spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, the initial estimated value of the beam arrival angle of each group of antenna arrays is updated based on the beam arrival angle of the virtual antenna array. , to obtain the final estimate of the beam arrival angle of each antenna array.

Referring to Figure 6, based on the same technical concept, an embodiment of the present application also provides a communication device, including a processor 601 and a memory 602; the memory 602 is used to store computer execution instructions; the processor 601 is used to execute the computer execution stored in the memory 602. Instructions to cause the communication device to execute the method shown in Figure 2.

The processor 601 and the memory 602 may be coupled through an interface circuit or integrated together, without limitation here.

The specific connection medium between the processor 601 and the memory 602 is not limited in the embodiment of the present application. In the embodiment of the present application, the processor 601 and the memory 602 are connected through a bus in Figure 6. The bus is represented by a thick line in Figure 6. The connection methods between other components are only schematically explained and are not intended to be used. is limited. The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in Figure 6, but it does not mean that there is only one bus or one type of bus.

It should be understood that the processor mentioned in the embodiments of this application can be implemented by hardware or software. When implemented in hardware, the processor may be a logic circuit, an integrated circuit, or the like. When implemented in software, the processor may be a general-purpose processor implemented by reading software code stored in memory.

For example, the processor may be a central processing unit (CPU), or other general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), or an application specific integrated circuit (Application Specific Integrated Circuit, ASIC). , off-the-shelf programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

It should be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory. The volatile memory may be random access memory (RAM), which is used as an external cache. By way of illustration, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Eate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synchlink DRAM, SLDRAM) ) and direct memory bus random access memory (Direct Rambus RAM, DR RAM).

It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated in the processor.

It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

Based on the same technical concept, embodiments of the present application also provide a communication device, including a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor runs the code instructions to execute the steps shown in Figure 2 method.

Based on the same technical concept, embodiments of the present application also provide a computer-readable storage medium. The readable storage medium is used to store instructions. When the instructions are executed, the method shown in Figure 2 is implemented.

Based on the same technical concept, embodiments of the present application also provide a chip, which is coupled to a memory and used to read and execute program instructions stored in the memory to implement the method shown in Figure 2.

Based on the same technical concept, embodiments of the present application also provide a computer program product containing instructions. The computer program product stores instructions, which when run on a computer, cause the computer to execute the method shown in Figure 2.

Those skilled in the art will understand that embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment that combines software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to the present application. It will be understood that each process and/or block in the flowchart illustrations and/or block diagrams, and combinations of processes and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing device to produce a machine, such that the instructions executed by the processor of the computer or other programmable data processing device produce a use A device for realizing the functions specified in one process or multiple processes of the flowchart and/or one block or multiple blocks of the block diagram.

These computer program instructions may also be stored in a computer-readable memory that causes a computer or other programmable data processing apparatus to operate in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction means, the instructions The device implements the functions specified in a process or processes of the flowchart and/or a block or blocks of the block diagram.

These computer program instructions may also be loaded onto a computer or other programmable data processing device, causing a series of operating steps to be performed on the computer or other programmable device to produce computer-implemented processing, thereby executing on the computer or other programmable device. Instructions provide steps for implementing the functions specified in a process or processes of a flowchart diagram and/or a block or blocks of a block diagram.

Obviously, those skilled in the art can make various changes and modifications to the present application without departing from the protection scope of the present application. In this way, if these modifications and variations of the present application fall within the scope of the claims of the present application and equivalent technologies, the present application is also intended to include these modifications and variations.

Claims (29)

1. A method of estimating an angle of arrival of a beam, the method comprising:

   constructing a group of non-uniform linear virtual antenna arrays based on at least two groups of uniform linear antenna arrays, wherein the virtual antenna arrays meet far field hypothesis conditions; establishing a receiving signal model of the virtual antenna array according to the relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays and the receiving signal model of each group of antenna arrays;

   and estimating the wave beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by adopting a spatial super-resolution angle estimation algorithm.
2. The method of claim 1, wherein building the received signal model of the virtual antenna array based on the relative position information between each of the at least two sets of uniformly linear antenna arrays and the received signal model of each of the sets of antenna arrays comprises:

   determining the beam arrival angle relation and the phase relation of each group of antenna arrays according to the relative position information of the at least two groups of uniform linear antenna arrays;

   rewriting a received signal model of each antenna array according to the phase relation and the beam arrival angle relation, enabling a dependent variable in the received signal model of each antenna array to be represented by the beam arrival angle of the virtual antenna array, and enabling a received vector of each array element in the received signal model of each antenna array to be represented by taking a received vector of a first array element as a reference, wherein the first array element is any array element in the at least two groups of uniformly linear antenna arrays;

   And determining the receiving signal model of the virtual antenna array based on the rewritten receiving signal models of the antenna arrays of each group.
3. The method of claim 2, wherein the at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

   the relative position information of the at least two groups of uniformly linear antenna arrays includes: the array element interval d in the first antenna array and the second antenna array is half wavelength lambda/2, wherein lambda is wavelength, the number of array elements in the first antenna array is 2N+1, the number of array elements in the second antenna array is 2M+1, and the center point O of the first antenna array ₁ And the center point O of the second antenna array ₂ Distance of K (lambda/2), O ₁ With O ₂ The included angle between the connection line of the first antenna array and the radial direction is phi ₁ ，O ₁ With O ₂ The included angle between the connecting line of the second antenna array and the radial direction is phi ₂ ；

   The received signal model of the first antenna array taking the first array element as the reference point in Q symbol periods is as follows:

   Y ₁ ＝A ₁ S+W ₁ ；

   the second antenna array uses the first array element as the reference point in the first q symbol periods to receive the signal model as follows:

   Y ₂ ＝A ₂ S+W ₂ ；

   wherein Y is ₁ ＝[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ]，Y ₂ ＝[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,]Is a receiving matrix;

   Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _2,2M+1 (q)] ^T For the received vector in the q-th symbol period, T represents a transpose operation;

   is a guide vector; wherein θ is ₁ An angle θ for the beam arrival of the first antenna array ₂ An angle is reached for a beam of the second antenna array;

   S＝[S ₁ ,S ₂ ,…,S _Q ]training sequence vectors formed by Q pilot symbols;

   W ₁ ＝[W ₁₁ W ₁₂ ,…,W _1Q ]，W ₂ ＝[W ₂₁ W ₂₂ ,…,W _2Q ]is a noise matrix;

   W _1q ＝[W ₁₁ (q),W ₁₂ (q),…,W _1,2N+1 (q)] ^T ；

   W _2q ＝[W ₂₁ (q),W ₂₂ (q),…,W _2,2M+1 (q)] ^T ；

   W _1q 、W _2q a noise vector for the q-th symbol period;

   the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is O ₁ 、O ₂ A midpoint of the connection line;

   the beam arrival angle relation of each group of antenna arrays determined according to the relative position information among each group of antenna arrays comprises:

   θ ₁ ＝φ ₁ +θ； (1)

   θ ₂ ＝φ ₂ -θ； (2)

   wherein θ is a beam arrival angle of the virtual antenna array;

   rewriting a received signal model of each group of antenna arrays according to the phase relation and the beam arrival angle relation, including:

   the receiving signals taking the first array element of the first antenna array as a reference point in the q-th symbol period are as follows:

   at the center point O of the first antenna array ₁ The position is a reference point, and according to formula (1), the received signal of the nth array element of the first antenna array in the qth symbol period is rewritten as follows:

   Where n=1, 2, …,2n+1;

   the receiving signals taking the first array element of the second antenna array as a reference point in the q-th symbol period of the m-th array element of the second antenna array are as follows:

   with the center point O of the second antenna array ₂ The position is the reference point, and the received signal of the m-th array element of the second antenna array in the q-th symbol period is rewritten as follows according to the formula (2):

   with the central point O of the first antenna element ₁ The position is a reference point according to the formulas (1) (2) and O ₂ With O ₁ And (2) rewrites the received signal of the mth element of the second antenna array in the qth symbol period to:

   wherein m=1, 2, …,2m+1;

   determining the received signal model of the virtual antenna array based on the rewritten received signal models of the antenna arrays of each group, comprising:

   according to formulas (4) and (7), stacking the received signals of the virtual antenna array into a matrix of (2N+2M+2) multiplied by Q dimension, and obtaining a received signal model of the virtual antenna array as follows:

   Y＝[y(1)，y(2)，…，y(Q)]＝AS+W；

   wherein,
4. the method of claim 1 or 2, wherein the at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

   The relative position information of the at least two groups of uniformly linear antenna arrays includes: the array element interval d in the first antenna array and the second antenna array is half wavelength lambda/2, wherein lambda is wavelength, the number of array elements in the first antenna array is 2N+1, the number of array elements in the second antenna array is 2M+1, and the center point O of the first antenna array ₁ And the center point O of the second antenna array ₂ Distance of K (lambda/2), O ₁ With O ₂ The included angle between the connection line of the first antenna array and the radial direction is phi ₁ ，O ₁ With O ₂ The included angle between the connecting line of the second antenna array and the radial direction is phi ₂ ；

   The received signal model of the first antenna array in the first q symbol periods is:

   Y ₁ ＝A ₁ S+W ₁ ；

   the received signal model of the second antenna array in the first q symbol periods is:

   Y ₂ ＝A ₂ S+W ₂ ；

   wherein Y is ₁ ＝[Y ₁₁ ,Y ₁₂ ,…,Y _1Q ]，Y ₂ ＝[Y ₂₁ ,Y ₂₂ ,…,Y _2Q ,]Is a receiving matrix;

   Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)] ^T ,Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _2,2M+1 (q)] ^T for the received vector in the q-th symbol period, T represents a transpose operation;

   is a guide vector; wherein θ is ₁ An angle θ for the beam arrival of the first antenna array ₂ An angle is reached for a beam of the second antenna array;

   S＝[S ₁ ,S ₂ ,…,S _Q ]training sequence vectors formed by Q pilot symbols;

   W ₁ ＝[W ₁₁ W ₁₂ ,…,W _1Q ]，W ₂ ＝[W ₂₁ W ₂₂ ,…,W _2Q ]is a noise matrix;

   W _1q ＝[W ₁₁ (q),W ₁₂ (q),…,W _1,2N+1 (q)] ^T ；

   W _2q ＝[W ₂₁ (q),W ₂₂ (q),…,W _2,2M+1 (q)] ^T ；

   W _1q 、W _2q a noise vector for the q-th symbol period;

   The array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is O ₁ 、O ₂ A midpoint of the connection line;

   the received signal model of the virtual antenna array is as follows:

   Y＝[y(1)，y(2)，…，y(Q)]＝AS+W；

   wherein,

   each array element in the virtual antenna array uses the center point O of the first antenna array in the q-th symbol period ₁ The received signal for the reference point satisfies the following relationship:

   wherein θ ₁ ＝φ ₁ +θ，θ ₂ ＝φ ₂ - θ; n=1, 2, …,2n+1; m=1, 2, …,2m+1; θ is the beam arrival angle of the virtual antenna array.
5. The method of any of claims 1-4, wherein prior to estimating the beam angle of arrival of the virtual antenna array based on the received signal model of the virtual antenna array, the method further comprises:

   calculating an initial estimated value of a beam arrival angle of each group of antenna arrays based on a received signal model of each group of antenna arrays in the at least two groups of uniform linear antenna arrays;

   and determining the search range of the spatial super-resolution angle estimation algorithm according to the initial estimation value of the beam arrival angle of each group of antenna arrays.
6. The method of claim 5, wherein the search range is:

   Wherein, for an initial estimate of the beam angle of arrival of the first antenna array,and delta is a preset value which is an initial estimated value of the beam arrival angle of the second antenna array.
7. The method of claim 6, wherein Δ is inversely related to signal-to-noise ratio.
8. The method of any of claims 1-7, wherein after estimating the beam angle of arrival of the virtual antenna array based on a received signal model of the virtual antenna array using a spatial super-resolution angle estimation algorithm, the method further comprises:

   and updating the initial final estimated value of the beam arrival angle of each group of antenna arrays according to the beam arrival angle of the virtual antenna arrays to obtain the final estimated value of the beam arrival angle of each group of antenna arrays.
9. An apparatus for estimating an angle of arrival of a beam, comprising:

   a construction module for constructing a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays; establishing a receiving signal model of the virtual antenna array according to the relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays and the receiving signal model of each group of antenna arrays;

   The estimation module is used for estimating the wave beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by adopting a spatial super-resolution angle estimation algorithm.
10. The apparatus of claim 9, wherein the building module, when building the received signal model of the virtual antenna array based on the relative position information between each of the at least two groups of uniformly linear antenna arrays and the received signal models of each of the groups of antenna arrays, is specifically configured to:

    determining the beam arrival angle relation and the phase relation of each group of antenna arrays according to the relative position information of the at least two groups of uniform linear antenna arrays;

    rewriting a received signal model of each antenna array according to the phase relation and the beam arrival angle relation, enabling a dependent variable in the received signal model of each antenna array to be represented by the beam arrival angle of the virtual antenna array, and enabling a received vector of each array element in the received signal model of each antenna array to be represented by taking a received vector of a first array element as a reference, wherein the first array element is any array element in the at least two groups of uniformly linear antenna arrays;

    And determining the receiving signal model of the virtual antenna array based on the rewritten receiving signal models of the antenna arrays of each group.
11. The apparatus of claim 10, wherein the at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

    the relative position information of the at least two groups of uniformly linear antenna arrays includes: the array element interval d in the first antenna array and the second antenna array is half wavelength lambda/2, wherein lambda is wavelength, the number of array elements in the first antenna array is 2N+1, the number of array elements in the second antenna array is 2M+1, and the center point O of the first antenna array ₁ And the center point O of the second antenna array ₂ Distance of K (lambda/2), O ₁ With O ₂ The included angle between the connection line of the first antenna array and the radial direction is phi ₁ ，O ₁ With O ₂ The included angle between the connecting line of the second antenna array and the radial direction is phi ₂ ；

    The received signal model of the first antenna array taking the first array element as the reference point in Q symbol periods is as follows:

    Y ₁ ＝A ₁ S+W ₁ ；

    the second antenna array uses the first array element as the reference point in the first q symbol periods to receive the signal model as follows:

    Y ₂ ＝A ₂ S+W ₂ ；

    wherein Y is ₁ ＝[y ₁₁ ,y ₁₂ ,…,y _1Q ]，Y ₂ ＝[y ₂₁ ,y ₂₂ ,…,y _2Q ,]Is a receiving matrix;

    Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)],Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _2,2M+1 (q)]Is the received vector in the q-th symbol period;

    is a guide vector; wherein θ is ₁ An angle θ for the beam arrival of the first antenna array ₂ An angle is reached for a beam of the second antenna array;

    S＝[S ₁ ,S ₂ ,…,S _Q ]training sequence vectors formed by Q pilot symbols;

    W ₁ ＝[W ₁₁ W ₁₂ ,…,W _1Q ]，W ₂ ＝[W ₂₁ W ₂₂ ,…,W _2Q ]is a noise matrix;

    W _1q ＝[W ₁₁ (q),W ₁₂ (q),…,W _1,2N+1 (q)]；

    W _2q ＝[W ₂₁ (q),W ₂₂ (q),…,W _2,2M+1 (q)]；

    W _1q 、W _2q a noise vector for the q-th symbol period;

    the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is O ₁ 、O ₂ A midpoint of the connection line;

    the construction module determines the beam arrival angle relation of each group of antenna arrays according to the relative position information among the groups of antenna arrays, and comprises the following steps:

    θ ₁ ＝ф ₁ +θ； (1)

    θ ₂ ＝ф ₂ -θ； (2)

    wherein θ is a beam arrival angle of the virtual antenna array;

    the construction module is specifically configured to, when rewriting the received signal model of each group of antenna arrays according to the phase relationship and the beam arrival angle relationship:

    the receiving signals taking the first array element of the first antenna array as a reference point in the q-th symbol period are as follows:

    at the center point O of the first antenna array ₁ The position is a reference point, and according to formula (1), the received signal of the nth array element of the first antenna array in the qth symbol period is rewritten as follows:

    Where n=1, 2, …,2n+1;

    the receiving signals taking the first array element of the second antenna array as a reference point in the q-th symbol period of the m-th array element of the second antenna array are as follows:

    with the center point O of the second antenna array ₂ The position is the reference point, and the received signal of the m-th array element of the second antenna array in the q-th symbol period is rewritten as follows according to the formula (2):

    with the central point O of the first antenna element ₁ The position is a reference point according to the formulas (1) (2) and O ₂ With O ₁ And (2) rewrites the received signal of the mth element of the second antenna array in the qth symbol period to:

    wherein m=1, 2, …,2m+1;

    the construction module is specifically configured to, when determining the received signal model of the virtual antenna array based on the rewritten received signal models of the antenna arrays of each group:

    according to formulas (4) and (7), stacking the received signals of the virtual antenna array into a matrix of (2N+2M+2) multiplied by Q dimension, and obtaining a received signal model of the virtual antenna array as follows:

    Y＝[y(1)，y(2)，…，y(Q)]＝AS+W；

    wherein,
12. the apparatus of claim 9 or 10, wherein the at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

    The relative position information of the at least two groups of uniformly linear antenna arrays includes: the array element interval d in the first antenna array and the second antenna array is half wavelength lambda/2, wherein lambda is wavelength, the number of array elements in the first antenna array is 2N+1, the number of array elements in the second antenna array is 2M+1, and the center point O of the first antenna array ₁ With the second antenna arrayCenter point O ₂ Distance of K (lambda/2), O ₁ With O ₂ The included angle between the connection line of the first antenna array and the radial direction is phi ₁ ，O ₁ With O ₂ The included angle between the connecting line of the second antenna array and the radial direction is phi ₂ ；

    The received signal model of the first antenna array in the first q symbol periods is:

    Y ₁ ＝A ₁ S+W ₁ ；

    the received signal model of the second antenna array in the first q symbol periods is:

    Y ₂ ＝A ₂ S+W ₂ ；

    wherein Y is ₁ ＝[y ₁₁ ,y ₁₂ ,…,y _1Q ]，Y ₂ ＝[y ₂₁ ,y ₂₂ ,…,y _2Q ,]Is a receiving matrix;

    Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)],Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _2,2M+1 (q)]is the received vector in the q-th symbol period;

    is a guide vector; wherein θ is ₁ An angle θ for the beam arrival of the first antenna array ₂ An angle is reached for a beam of the second antenna array;

    S＝[S ₁ ,S ₂ ,…,S _Q ]training sequence vectors formed by Q pilot symbols;

    W ₁ ＝[W ₁₁ W ₁₂ ,…,W _1Q ]，W ₂ ＝[W ₂₁ W ₂₂ ,…,W _2Q ]is a noise matrix;

    W _1q ＝[W ₁₁ (q),W ₁₂ (q),…,W _1,2N+1 (q)]；

    W _2q ＝[W ₂₁ (q),W ₂₂ (q),…,W _2,2M+1 (q)]；

    W _1q 、W _2q a noise vector for the q-th symbol period;

    the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is O ₁ 、O ₂ A midpoint of the connection line;

    the received signal model of the virtual antenna array is as follows:

    Y＝[y(1)，y(2)，…，y(Q)]＝AS+W；

    wherein,

    each array element in the virtual antenna array uses the center point O of the first antenna array in the q-th symbol period ₁ The received signal for the reference point satisfies the following relationship:

    wherein θ ₁ ＝ф ₁ +θ，θ ₂ ＝ф ₂ - θ; n=1, 2, …,2n+1; m=1, 2, …,2m+1; θ is the virtualAngle of beam arrival of the antenna array.
13. The apparatus of any of claims 9-12, wherein the estimation module is further to:

    before estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, calculating an initial estimated value of the beam arrival angle of each group of antenna arrays based on the received signal model of each group of antenna arrays in the at least two groups of uniformly linear antenna arrays;

    and determining the search range of the spatial super-resolution angle estimation algorithm according to the initial estimation value of the beam arrival angle of each group of antenna arrays.
14. The apparatus of claim 13, wherein the search range is:

    wherein, for an initial estimate of the beam angle of arrival of the first antenna array,and delta is a preset value which is an initial estimated value of the beam arrival angle of the second antenna array.
15. The apparatus of claim 14, wherein Δ is inversely related to signal-to-noise ratio.
16. The apparatus of any of claims 9-15, wherein the estimation module is further to:

    and after estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by using a spatial super-resolution angle estimation algorithm, updating the initial final estimated value of the beam arrival angle of each group of antenna arrays according to the beam arrival angle of the virtual antenna array to obtain the final estimated value of the beam arrival angle of each group of antenna arrays.
17. An antenna system, comprising:

    each remote radio unit comprises a group of uniform linear antenna arrays, and the remote radio units are used for receiving wireless signals;

    the baseband processing unit is in communication connection with the at least two remote radio units and is used for: constructing a group of non-uniform linear virtual antenna arrays based on at least two groups of uniform linear antenna arrays, wherein the virtual antenna arrays meet far field hypothesis conditions; establishing a receiving signal model of the virtual antenna array according to the relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays and the receiving signal model of each group of antenna arrays; and estimating the wave beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by adopting a spatial super-resolution angle estimation algorithm.
18. The system of claim 17, wherein the baseband processing unit is configured to, when establishing the received signal model of the virtual antenna array based on the relative position information between each of the at least two groups of uniformly linear antenna arrays and the received signal models of each of the groups of antenna arrays:

    determining the beam arrival angle relation and the phase relation of each group of antenna arrays according to the relative position information of the at least two groups of uniform linear antenna arrays;

    rewriting a received signal model of each antenna array according to the phase relation and the beam arrival angle relation, enabling a dependent variable in the received signal model of each antenna array to be represented by the beam arrival angle of the virtual antenna array, and enabling a received vector of each array element in the received signal model of each antenna array to be represented by taking a received vector of a first array element as a reference, wherein the first array element is any array element in the at least two groups of uniformly linear antenna arrays;

    and determining the receiving signal model of the virtual antenna array based on the rewritten receiving signal models of the antenna arrays of each group.
19. The system of claim 18, wherein the at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

    the relative position information of the at least two groups of uniformly linear antenna arrays includes: the array element interval d in the first antenna array and the second antenna array is half wavelength lambda/2, wherein lambda is wavelength, the number of array elements in the first antenna array is 2N+1, the number of array elements in the second antenna array is 2M+1, and the center point O of the first antenna array ₁ And the center point O of the second antenna array ₂ Distance of K (lambda/2), O ₁ With O ₂ The included angle between the connection line of the first antenna array and the radial direction is phi ₁ ，O ₁ With O ₂ The included angle between the connecting line of the second antenna array and the radial direction is phi ₂ ；

    The received signal model of the first antenna array taking the first array element as the reference point in Q symbol periods is as follows:

    Y ₁ ＝A ₁ S+W ₁ ；

    the second antenna array uses the first array element as the reference point in the first q symbol periods to receive the signal model as follows:

    Y ₂ ＝A ₂ S+W ₂ ；

    wherein Y is ₁ ＝[y ₁₁ ,y ₁₂ ,…,y _1Q ]，Y ₂ ＝[y ₂₁ ,y ₂₂ ,…,y _2Q ,]Is a receiving matrix;

    Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)],Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _2,2M+1 (q)]is the received vector in the q-th symbol period;

    is a guide vector; wherein θ is ₁ An angle θ for the beam arrival of the first antenna array ₂ An angle is reached for a beam of the second antenna array;

    S＝[S ₁ ,S ₂ ,…,S _Q ]training sequence vectors formed by Q pilot symbols;

    W ₁ ＝[W ₁₁ W ₁₂ ,…,W _1Q ]，W ₂ ＝[W ₂₁ W ₂₂ ,…,W _2Q ]is a noise matrix;

    W _1q ＝[W ₁₁ (q),W ₁₂ (q),…,W _1,2N+1 (q)]；

    W _2q ＝[W ₂₁ (q),W ₂₂ (q),…,W _2,2M+1 (q)]；

    W _1q 、W _2q a noise vector for the q-th symbol period;

    the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is O ₁ 、O ₂ A midpoint of the connection line;

    the beam arrival angle relation of each group of antenna arrays determined according to the relative position information among each group of antenna arrays comprises:

    θ ₁ ＝ф ₁ +θ； (1)

    θ ₂ ＝ф ₂ -θ； (2)

    wherein θ is a beam arrival angle of the virtual antenna array;

    the baseband processing unit is specifically configured to, when rewriting the received signal model of each group of antenna arrays according to the phase relationship and the beam arrival angle relationship:

    the receiving signals taking the first array element of the first antenna array as a reference point in the q-th symbol period are as follows:

    at the center point O of the first antenna array ₁ The position is a reference point, and according to formula (1), the received signal of the nth array element of the first antenna array in the qth symbol period is rewritten as follows:

    where n=1, 2, …,2n+1;

    the receiving signals taking the first array element of the second antenna array as a reference point in the q-th symbol period of the m-th array element of the second antenna array are as follows:

    With the center point O of the second antenna array ₂ The position is used as a reference point, and the m-th array element of the second antenna array is received in the q-th symbol period according to the formula (2)The signal is rewritten as:

    with the central point O of the first antenna element ₁ The position is a reference point according to the formulas (1) (2) and O ₂ With O ₁ And (2) rewrites the received signal of the mth element of the second antenna array in the qth symbol period to:

    wherein m=1, 2, …,2m+1;

    the baseband processing unit is specifically configured to, when determining the received signal model of the virtual antenna array based on the rewritten received signal models of the antenna arrays of each group:

    according to formulas (4) and (7), stacking the received signals of the virtual antenna array into a matrix of (2N+2M+2) multiplied by Q dimension, and obtaining a received signal model of the virtual antenna array as follows:

    Y＝[y(1)，y(2)，…，y(Q)]＝AS+W；

    wherein,
20. the system of claim 17 or 18, wherein the at least two sets of uniform linear antenna arrays consist of a first antenna array and a second antenna array;

    the relative position information of the at least two groups of uniformly linear antenna arrays includes: the array element interval d in the first antenna array and the second antenna array is half wavelength lambda/2, wherein lambda is wavelength, the number of array elements in the first antenna array is 2N+1, and the number of array elements in the second antenna array is 2N+1 The number of array elements of the second antenna array is 2M+1, and the center point O of the first antenna array ₁ And the center point O of the second antenna array ₂ Distance of K (lambda/2), O ₁ With O ₂ The included angle between the connection line of the first antenna array and the radial direction is phi ₁ ，O ₁ With O ₂ The included angle between the connecting line of the second antenna array and the radial direction is phi ₂ ；

    The received signal model of the first antenna array in the first q symbol periods is:

    Y ₁ ＝A ₁ S+W ₁ ；

    the received signal model of the second antenna array in the first q symbol periods is:

    Y ₂ ＝A ₂ S+W ₂ ；

    wherein Y is ₁ ＝[y ₁₁ ,y ₁₂ ,…,y _1Q ]，Y ₂ ＝[y ₂₁ ,y ₂₂ ,…,y _2Q ,]Is a receiving matrix;

    Y _1q ＝[y ₁₁ (q),y ₁₂ (q),…,y _1,2N+1 (q)],Y _2q ＝[y ₂₁ (q),y ₂₂ (q),…,y _2,2M+1 (q)]is the received vector in the q-th symbol period;

    is a guide vector; wherein θ is ₁ An angle θ for the beam arrival of the first antenna array ₂ An angle is reached for a beam of the second antenna array;

    S＝[S ₁ ,S ₂ ,…,S _Q ]training sequence vectors formed by Q pilot symbols;

    W ₁ ＝[W ₁₁ W ₁₂ ,…,W _1Q ]，W ₂ ＝[W ₂₁ W ₂₂ ,…,W _2Q ]is a noise matrix;

    W _1q ＝[W ₁₁ (q),W ₁₂ (q),…,W _1,2N+1 (q)]；

    W _2q ＝[W ₂₁ (q),W ₂₂ (q),…,W _2,2M+1 (q)]；

    W _1q 、W _2q a noise vector for the q-th symbol period;

    the array elements of the virtual antenna array are the array elements of the first antenna array and the second antenna array, and the center of the virtual antenna array is O ₁ 、O ₂ A midpoint of the connection line;

    the received signal model of the virtual antenna array is as follows:

    Y＝[y(1)，y(2)，…，y(Q)]＝AS+W；

    wherein,

    each array element in the virtual antenna array uses the center point O of the first antenna array in the q-th symbol period ₁ The received signal for the reference point satisfies the following relationship:

    wherein θ ₁ ＝ф ₁ +θ，θ ₂ ＝ф ₂ - θ; n=1, 2, …,2n+1; m=1, 2, …,2m+1; θ is the beam arrival angle of the virtual antenna array.
21. The system of any of claims 17-20, wherein the baseband processing unit is further configured to:

    before estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, calculating an initial estimated value of the beam arrival angle of each group of antenna arrays based on the received signal model of each group of antenna arrays in the at least two groups of uniformly linear antenna arrays;

    and determining the search range of the spatial super-resolution angle estimation algorithm according to the initial estimation value of the beam arrival angle of each group of antenna arrays.
22. The system of claim 21, wherein the search range is:

    wherein, for an initial estimate of the beam angle of arrival of the first antenna array,and delta is a preset value which is an initial estimated value of the beam arrival angle of the second antenna array.
23. The system of claim 22, wherein Δ is inversely related to signal-to-noise ratio.
24. The system of any of claims 17-23, wherein the baseband processing unit is further configured to:

    And after estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by using a spatial super-resolution angle estimation algorithm, updating the initial final estimated value of the beam arrival angle of each group of antenna arrays according to the beam arrival angle of the virtual antenna array to obtain the final estimated value of the beam arrival angle of each group of antenna arrays.
25. A communication device comprising a processor and a memory; the memory is used for storing computer execution instructions; the processor is configured to execute computer-executable instructions stored in the memory to cause the communication device to perform the method of any one of claims 1 to 8.
26. A communication device comprising a processor and an interface circuit; the interface circuit is used for receiving code instructions and transmitting the code instructions to the processor; the processor executes the code instructions to perform the method of any one of claims 1 to 8.
27. A computer readable storage medium for storing instructions that, when executed, cause the method of any one of claims 1 to 8 to be implemented.
28. A chip, characterized in that the chip is coupled to a memory for reading and executing program instructions stored in the memory, implementing the method according to any of claims 1 to 8.
29. A computer program product comprising instructions stored therein, which when run on a computer, cause the computer to perform the method of any of claims 1 to 8.