CN117129939A

CN117129939A - Arrival angle measuring method, electronic equipment and storage medium

Info

Publication number: CN117129939A
Application number: CN202210556745.0A
Authority: CN
Inventors: 蓝元皓; 龙星宇; 许耀仁
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-05-20
Filing date: 2022-05-20
Publication date: 2023-11-28
Also published as: WO2023221836A1

Abstract

The embodiment of the application provides an arrival angle measuring method, electronic equipment and a storage medium, and relates to the technical field of positioning. The method is applied to a first device that includes a first antenna group and a second antenna group that are different and each include a plurality of antennas. The method comprises the following steps: receiving a wireless signal by using a first antenna group, and determining a first group of arrival angles according to the wireless signal; switching a signal receiving antenna of the first device from a first antenna group to a second antenna group; receiving the wireless signal by using a second antenna group, and determining a second group of arrival angles according to the wireless signal; an angle of arrival of the wireless signal is determined based on the first set of angles of arrival and the second set of angles of arrival. The technical scheme provided by the embodiment of the application can accurately measure the arrival angle of the wireless signal.

Description

Arrival angle measuring method, electronic equipment and storage medium

Technical Field

The present application relates to the field of positioning technologies, and in particular, to a method for measuring an arrival angle, an electronic device, and a storage medium.

Background

In recent years, wireless communication technologies such as wireless fidelity (wireless fidelity, wiFi), bluetooth (BT), and Ultra Wide Band (UWB) have been widely used not only in the field of data transmission, but also in the fields of positioning, ranging, and the like.

In the positioning field, taking WiFi positioning of the second device by the first device as an example, the first device may determine the position of the second device relative to the first device by measuring an angle of arrival (AoA) of a WiFi signal transmitted by the second device. Regarding measurement of the AoA, in a scenario where the first device has an ideal antenna, the phase difference Φ of the WiFi signals received by different antennas of the first device varies linearly with the AoA, so the first device can determine the AoA of the WiFi signal after determining the phase difference Φ of the WiFi signal.

However, in practical applications, due to the antenna pattern and the non-ideal antenna spacing of the first device, the phase difference Φ of the WiFi signals received by different antennas of the first device generally does not linearly change with the AoA, and the WiFi signals of different AoA may correspond to the same phase difference Φ. Thus, the first device cannot accurately determine its AoA from the phase difference Φ of the WiFi signals.

Disclosure of Invention

The application provides an arrival angle measuring method, electronic equipment and a storage medium, which are used for solving the problem of inaccurate arrival angle measurement of wireless signals (such as WiFi signals) in the prior art.

In order to achieve the above purpose, the application adopts the following technical scheme:

In a first aspect, an embodiment of the present application provides a method for measuring an angle of arrival, where the method is applied to a first device, and the first device includes a first antenna group and a second antenna group, where the first antenna group and the second antenna group are different and each include a plurality of antennas.

The method comprises the following steps: receiving a wireless signal by using a first antenna group, and determining a first group of arrival angles according to the wireless signal; switching a signal receiving antenna of the first device from a first antenna group to a second antenna group; receiving the wireless signal by using a second antenna group, and determining a second group of arrival angles according to the wireless signal; an angle of arrival of the wireless signal is determined based on the first set of angles of arrival and the second set of angles of arrival.

It should be noted that the first antenna group and the second antenna group may be connected to the same antenna interface. The first device may further comprise other antennas or antenna groups, in addition to the first antenna group and the second antenna group. The wireless signals include wireless fidelity signals, bluetooth signals, ultra-bandwidth signals and the like.

In this embodiment, the first device determines two sets of angles of arrival (i.e., a first set of angles of arrival and a second set of angles of arrival) from wireless signals received by different antenna sets, respectively. Each of the two sets of angles of arrival includes an angle of arrival that is the same as or similar to the actual angle of arrival of the wireless signal. After the first device performs fusion processing on the two sets of arrival angles, inaccurate arrival angles generated due to antenna non-ideal and other reasons can be considered from the two sets of arrival angles, and finally, a more accurate arrival angle is obtained.

In some embodiments, receiving a wireless signal using a first antenna group and determining a first set of angles of arrival from the wireless signal includes: receiving a first measurement frame of the wireless signal using a first antenna group; determining a first phase difference of a first measurement frame received by different antennas in a first antenna group; and determining the first group of arrival angles according to the first phase difference and the first corresponding relation. The first correspondence is a correspondence between a phase difference and an arrival angle of the wireless signals received by the first antenna group.

In some embodiments, receiving the wireless signal using a second antenna group and determining a second set of angles of arrival from the wireless signal comprises: receiving a second measurement frame of the wireless signal using a second antenna group, wherein the second measurement frame is the same as or different from the first measurement frame; determining a second phase difference of a second measurement frame received by different antennas in a second antenna group; and determining the second set of arrival angles according to the second phase difference and the second corresponding relation. The second corresponding relation is a corresponding relation between a phase difference and an arrival angle of the wireless signals received by the second antenna group.

Note that, the first correspondence relationship and the second correspondence relationship may be a correspondence relationship in a function form, a correspondence relationship in a table form, a mapping relationship, or the like, which is not limited in this embodiment.

In some embodiments, during the first device receives the first measurement frame and the second measurement frame by scanning broadcast channels, the first device scans all broadcast channels sequentially using the second antenna group after scanning all broadcast channels of the first device sequentially using the first antenna group.

In this embodiment, the first device typically only needs to perform antenna switching twice during a channel scan process of one period, for example, switching antennas from the second antenna group to the first antenna group before scanning channels 1-N using the first antenna group. And switching the antennas from the first antenna group to the second antenna group before scanning channels 1 through N using the second antenna group. It can be seen that in this embodiment, the number of times of antenna switching of the first device is smaller, and the power consumption of the first device is lower.

In some embodiments, in the process that the first device receives the first measurement frame and the second measurement frame by scanning broadcast channels, the first device divides the broadcast channels of the first device into a plurality of channel groups, each channel group comprises K broadcast channels, wherein K is greater than or equal to 1 and is an integer; and sequentially scanning the plurality of channel groups by using the first antenna group and the second antenna group, wherein when each channel group is scanned, the K broadcast channels are sequentially scanned by using the first antenna group, and then the K broadcast channels are sequentially scanned by using the second antenna group.

In this embodiment, in the channel scanning process of one period, although the first device generally needs to perform multiple antenna switching, in the same channel scanning period, the scanning time of the first antenna group and the second antenna group on the same channel is relatively similar, and the AoA estimation result is relatively accurate.

In some embodiments, receiving a first measurement frame of a wireless signal using a first antenna group and receiving a second measurement frame of a wireless signal using a second antenna group, comprises: transmitting a first request message to the second device, wherein the first request message is used for requesting the second device to transmit a first measurement frame; a first measurement frame is received. And sending a second request message to the second device, the second request message being for requesting the second device to send a second measurement frame; and receiving a second measurement frame.

In some embodiments, receiving a first measurement frame of a wireless signal using a first antenna group and receiving a second measurement frame of a wireless signal using a second antenna group, comprises: sending a first request message to the second device, wherein the first request message is used for requesting the second device to sequentially send a first measurement frame and a second measurement frame; receiving a first measurement frame; a second measurement frame is received.

The first measurement frame and the second measurement frame include a data frame, a beacon frame, a special frame defined between the first device and the second device, or the like. The data frame may be audio/video data, file data, etc., the beacon frame is usually a preset frame, and the special frame may be a Ping packet, etc.

In the above embodiment, the first device may automatically control the time difference between the first arrival angle measurement and the second arrival angle measurement within a certain time range according to the requirement by actively requesting the measurement frame (including the first measurement frame and the second measurement frame) from the second device to perform the arrival angle measurement, so as to improve the accuracy of the arrival angle measurement and reduce the measurement error caused by the movement of the first device or the second device.

In some embodiments, the first device broadcasts a request message as each broadcast channel is scanned using each antenna group, the request message being either a first request message or a second request message, the antenna groups including a first antenna group and a second antenna group.

In other embodiments, the first device may not request the measurement frame from the second device, but rather passively receive the measurement frame (including the first measurement frame and the second measurement frame) sent by the second device. The method can save the power consumption of the first equipment in the process of measuring the arrival angle.

In some embodiments, determining the angle of arrival of the wireless signal from the first set of angles of arrival and the second set of angles of arrival comprises: determining a first angle from the first set of angles of arrival, and determining a second angle from the second set of angles of arrival, wherein the difference between the first angle and the second angle is within a preset range; an angle of arrival of the wireless signal is determined based on the first angle and the second angle.

In some embodiments, determining the angle of arrival of the wireless signal from the first angle and the second angle comprises: if the first angle and the second angle are the same, either one of the first angle and the second angle is determined as an arrival angle of the wireless signal. If the first angle and the second angle are different, an average value of the first angle and the second angle, or any one of the first angle and the second angle is determined as an arrival angle of the wireless signal.

In a second aspect, an embodiment of the present application provides an electronic device, where the electronic device includes a first antenna group, a second antenna group, a memory, a processor, and a computer program stored in the memory and executable on the processor, where the first antenna group and the second antenna group are different and each include multiple antennas, and the processor implements the method as shown in the first aspect when executing the computer program.

In a third aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as shown in the first aspect described above.

In a fourth aspect, an embodiment of the present application provides a chip, the chip including a processor and a memory, the memory storing a computer program which, when executed by the processor, implements the method shown in the first aspect.

In a fifth aspect, embodiments of the present application also provide a computer program product comprising a computer program which, when run by an electronic device, causes the electronic device to carry out the method as shown in the first aspect above.

It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

Fig. 1 is a schematic diagram of a WiFi positioning scenario provided in an embodiment of the present application;

FIG. 2 is a schematic diagram of an arrival angle according to an embodiment of the present application;

fig. 3 is a schematic diagram of a correspondence relationship between a phase difference and an arrival angle according to an embodiment of the present application;

Fig. 4 is a schematic diagram of a communication system to which the angle-of-arrival measurement method according to the embodiment of the present application is applied;

fig. 5 is a schematic structural diagram of a radio frequency antenna of a first device according to an embodiment of the present application;

FIG. 6 is a flow chart of a method for measuring angle of arrival provided by an embodiment of the present application;

FIG. 7 is a schematic diagram of the determining principle of the arrival angle according to the embodiment of the present application;

fig. 8A is a schematic diagram of a measurement frame acquisition process when a WiFi P2P connection is established according to an embodiment of the application;

fig. 8B is a schematic diagram of a measurement frame acquisition process when a WiFi P2P connection is established according to another embodiment of the application;

fig. 9 is a schematic diagram of a measurement frame acquisition process when a WiFi P2P connection is established according to another embodiment of the application;

fig. 10A is a schematic diagram of an acquisition process of a measurement frame when a WiFi P2P connection is not established according to an embodiment of the application;

fig. 10B is a schematic diagram of a measurement frame acquisition process when a WiFi P2P connection is not established according to another embodiment of the application;

fig. 11 is a schematic diagram of a measurement frame acquisition process when a WiFi P2P connection is not established according to another embodiment of the application;

fig. 12A to 14B are schematic diagrams illustrating a scanning process of a broadcast channel according to various embodiments of the present application;

Fig. 15 is a schematic structural diagram of a chip according to an embodiment of the present application.

Detailed Description

The technical scheme provided by the embodiment of the application is described below with reference to the accompanying drawings.

It should be understood that in the description of embodiments of the present application, "/" means or is meant unless otherwise indicated, for example, A/B may represent A or B; "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone.

In this embodiment, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present embodiment, unless otherwise specified, the meaning of "plurality" is two or more.

In recent years, with rapid development of communication technology, wireless communication technology such as WiFi, BT, UWB is applied not only in the field of data transmission but also in the fields of positioning, ranging, etc., such as indoor positioning, outdoor assisted positioning, etc. Taking WiFi as an example, the electronic equipment can sense the positions of other electronic equipment through WiFi network by carrying out WiFi positioning on other equipment, thereby being beneficial to realizing functions such as equipment searching, equipment management and control. For example, referring to fig. 1, in the case where the mobile phone and the smart watch access the same WiFi, if the user cannot find the smart watch in the home, the smart watch may be WiFi located through the mobile phone, so as to determine the azimuth of the smart watch relative to the mobile phone.

In this embodiment, referring to fig. 2, taking WiFi positioning of a second device (such as a smart watch) by a first device (such as a mobile phone) as an example, the first device may determine an azimuth of the second device relative to the first device by measuring an angle of arrival (AoA) of a WiFi signal transmitted by the second device. In this embodiment, the arrival angle of the WiFi signal refers to an angle between the incoming wave direction of the WiFi signal and a line where at least two antennas are located (for example, a line where the antenna 1 and the antenna 2 of the first device are located). Alternatively, the arrival angle may be an angle between the incoming wave direction of the WiFi signal and other preset straight lines, which is not limited in this embodiment.

Regarding the measurement of the WiFi signal AoA, the second device transmits a measurement frame, which may be a data frame or a beacon frame, through WiFi during the measurement. The first device receives the measurement frame using two antennas and determines the AoA of the WiFi signal based on the phase difference of the measurement frame received by the different antennas. In a scenario where the first device has an ideal antenna, for the first device, the AoA of the WiFi signal it receives satisfies the following formula (1):

in the formula (1), φ _ant1 For the phase of the measurement frame received by the antenna 1 of the first device, phi _ant2 For the phase of the measurement frame received by the antenna 2 of the first device, where phi _ant1 And phi _ant2 Can be measured by the first device. It can be appreciated that the phase difference phi of the measurement frames received by antennas 1 and 2 _ant1 -φ _ant2 I.e. the phase difference phi of the WiFi signal received by the first device. d is the distance between the antennas 1 and 2 of the first device, d is typically a known and fixed value. λ is the wavelength of the WiFi signal and is typically a fixed value. θ _AoA Is a specific value of AoA.

Based on equation (1), it can be seen that the phase difference Φ of the WiFi signals received by different antennas of the first device varies linearly with AoA. Thus, it can be appreciated that in a scenario where the first device has an ideal antenna, one phase difference determination corresponds to one AoA. Thus, the first device may determine the AoA of the WiFi signal transmitted by the second device after determining the phase difference Φ of the WiFi signals.

However, in practical applications, due to the antenna pattern and the non-ideal antenna spacing of the first device, the phase difference Φ of the WiFi signals received by different antennas of the first device generally does not change linearly with the AoA, and multiple aoas may correspond to the same phase difference Φ. In other words, referring to fig. 3, in the AoA estimation process, a situation that a plurality of aoas correspond to the same phase difference may occur, and therefore, it is generally impossible to accurately determine the AoA according to the phase difference Φ of the WiFi signal. In fig. 3, the abscissa indicates the phase difference Φ of the WiFi signals received by different antennas of the first device (the phase difference of the receiving antennas for short), and the ordinate indicates the arrival angle (i.e. AoA) of the WiFi signals.

Therefore, the embodiment of the application provides an arrival angle measuring method, which is used for measuring the arrival angle of wireless signals (such as WiFi signals, BT signals and UWB signals) based on an AoA fusion technology, and the measuring result is accurate.

An exemplary method for measuring an arrival angle of a WiFi signal is provided in the following embodiments of the present application.

Fig. 4 is a schematic diagram of a communication system to which the angle-of-arrival measurement method according to the embodiment of the present application is applied. Referring to fig. 4, the system includes a first device and a second device, which are directly connected through a wireless communication technology such as a wireless local area network (wireless local area networks, WLAN). In one example, the first device and the second device are directly connected through a WiFi peer-to-peer (P2P) technology. Based on the WiFi P2P technology, the first device can directly send WiFi signals to the second device, and the second device can also directly send WiFi signals to the first device. In other words, the first device and the second device do not need to relay the WiFi signal through a relay device such as a router in the interaction process.

In this embodiment, the first device is configured to locate the second device, that is, the first device is a device that receives the WiFi signal, and the second device is a device that sends the WiFi signal. It should be noted that, in the present embodiment, the first device is configured with at least three antennas, such as antenna 0 (i.e., ant 0), antenna 1 (i.e., ant 1), and antenna 2 (i.e., ant 2). The second device is configured with at least one antenna. The present embodiment does not specifically limit the positions of the respective antennas in the first device and the second device.

In this embodiment, the first device and the second device may be mobile phones (mobile phones), tablet computers (Pad), computers with wireless transceiver function, smart televisions, projectors, wearable devices (such as smart watches), vehicle-mounted devices, augmented reality (augmented reality, AR)/Virtual Reality (VR) devices, ultra-mobile personal computers (ultra-mobile personal computer, UMPC), netbooks, personal digital assistants (personal digital assistAnt, PDA), and other terminal devices. In addition, the first device and the second device may also be smart home devices such as a smart refrigerator, a television, an air conditioner, a sweeping robot, and the like. The types of the first device and the second device are not particularly limited in the embodiment of the application.

Fig. 5 is a schematic structural diagram of a radio frequency antenna of a first device according to an embodiment of the present application. Illustratively, referring to fig. 5, the first device includes a communication protocol module, an AoA algorithm module, a signal demodulation module, at least three antennas, and a switch. In one example, the at least three antennas include antenna 0, antenna 1, and antenna 2. The antenna 0 and the antenna 1 are connected with a change-over switch, the change-over switch is connected with a radio frequency antenna interface C0 of the signal demodulation module, and the antenna 2 is connected with the radio frequency antenna interface C1 of the signal demodulation module. The signal demodulation module, the AoA algorithm module, the communication protocol module and the change-over switch are sequentially connected.

The communication protocol module is used for sending a control signaling to the switch according to a preset communication protocol flow so as to control the switch to perform antenna switching; and, informing the AoA algorithm module of the antenna status (i.e. the antenna specifically used for receiving/transmitting signals), see in particular the following description. In the WiFi positioning process, the communication protocol module may be a WLAN protocol module.

At least three antennas, such as antenna 0, antenna 1, and antenna 2, are used to receive and transmit WiFi signals. The present embodiment divides the at least three antennas into different groups, for example, an antenna group composed of the antenna 0 and the antenna 2 is referred to as a first antenna group, and an antenna group composed of the antenna 1 and the antenna 2 is referred to as a second antenna group.

And the switch is used for switching the antenna according to the control signaling sent by the communication protocol module. Taking the connection structure shown in fig. 5 as an example, the switch can perform antenna switching between the antenna 0 and the antenna 1. It will be appreciated that after the switch switches the antenna to antenna 0, the first device receives the WiFi signal of the second device using antenna 0 and antenna 2 (i.e., the first antenna group). And after the switch switches the antenna to antenna 1, the first device receives the WiFi signal of the second device using antenna 1 and antenna 2 (i.e., the second antenna group). That is, the switch may switch between the first antenna group and the second antenna group according to control signaling of the communication protocol module.

And the signal demodulation module is used for demodulating the WiFi signals received by the antenna, determining waveform parameters (such as phase and the like) of the received WiFi signals, and sending the waveform parameters to the AoA algorithm module. Demodulating a WiFi signal received through a C0 interface to determine a first waveform parameter; and demodulating the WiFi signal received through the C1 interface to determine the second waveform parameter. It should be understood that, since the positions and the signal receiving times of the first antenna group and the second antenna group are different, the waveform parameters corresponding to the first antenna group and the waveform parameters corresponding to the second antenna group are generally different.

And the AoA algorithm module is used for sending a start/stop instruction to the communication protocol module according to the notification of the first equipment upper layer application (such as the equipment positioning application) so as to control the start/stop of the AoA measurement flow. And the AoA is used for determining the WiFi signal according to the waveform parameters. First, the AoA algorithm module determines a first AoA according to waveform parameters corresponding to a first antenna group. And then, the AoA algorithm module determines a second AoA according to the waveform parameters corresponding to the second antenna group. One or more of the first AoA and the second AoA may be provided. Finally, the AoA algorithm module determines the AoA of the WiFi signal of the second device according to the same or similar AoA in the first AoA and the second AoA.

Based on the system and the electronic device provided by the embodiments of the present application, an exemplary description is given below of the method for measuring an angle of arrival provided by the embodiments of the present application. The first device may execute the angle-of-arrival measurement method provided in this embodiment after starting the device positioning function according to the user instruction/device operating system instruction. For example, taking the first device as a mobile phone and the second device as an intelligent earphone that establishes a WiFi P2P connection with the mobile phone, after the user instructs the mobile phone to search for the intelligent earphone, the mobile phone can start to measure the AoA of the intelligent earphone.

Fig. 6 is a flowchart of a method for measuring an angle of arrival according to an embodiment of the present application. The method can perform two AoA measurements on the WiFi signal of the second device, and fuse the results of the two AoA measurements to finally determine the arrival angle of the WiFi signal of the second device. The following describes an exemplary method for measuring AoA according to the present embodiment in the order of (a) first AoA measurement (S601 to S603), (b) second AoA measurement (S604 to S607), and (c) merging AoA measurement results (S608).

First AoA measurement

S601, the first device receives a first measurement frame using the first antenna group, the first measurement frame being transmitted by the second device via a WiFi signal.

During the first AoA measurement, the second device transmits a first measurement frame via a WiFi signal, and the first device receives the first measurement frame using the first antenna group. The first measurement Frame may be a Beacon Frame (Beacon) specified by the WLAN protocol, a Data Frame (Data Frame) on a communication channel of the first device and the second device, or a special Frame defined between the first device and the second device, which is not limited in this embodiment.

In S601, as shown in fig. 5, taking an example in which the first antenna group includes the antenna 0 and the antenna 2, the first measurement frame received by the first antenna group includes the first measurement frame received by the antenna 0 (abbreviated as measurement frame 1), and the first measurement frame received by the antenna 2 (abbreviated as measurement frame 2). It should be noted that, the content carried by measurement frame 1 and measurement frame 2 is the same (actually the same measurement frame), but the waveform parameters (e.g., phases) thereof are generally different.

S602, the first device determines, according to the first measurement frame, a first phase difference of WiFi signals received by the first antenna group.

For example, after the first device receives the measurement frame 1 and the measurement frame 2 through the first antenna group, the signal demodulation module is used to determine the phase of the measurement frame 1 (abbreviated as phase 1) and the phase of the measurement frame 2 (abbreviated as phase 2), respectively, where the difference between the phase 1 and the phase 2 is the phase difference (abbreviated as first phase difference) of the WiFi signals received by the first antenna group.

And S603, the first device determines a first group of AoAs of the WiFi signal according to the first phase difference and a preset first corresponding relation.

In this embodiment, the first correspondence is specifically a correspondence between the first phase difference and the AoA, which is preset in an AoA algorithm module of the first device. The first correspondence is measured by a developer of the first device under a measurement environment such as a laboratory based on factors such as an antenna pattern and an antenna interval of the first antenna group.

In one example, the first correspondence may be as shown in (a) of fig. 7. After determining the first phase difference, the first device searches the first correspondence to determine one or more possible aoas, i.e. a first group of aoas. Taking the example that the first phase difference is 4.5, the first device may determine that the first group AoA includes 0 degrees, 100 degrees, and 170 degrees by looking up the first correspondence as shown in (a) of fig. 7.

(second) second AoA measurement

S604, the first device switches the signal transceiver antenna from the first antenna group to the second antenna group.

S605, the first device receives a second measurement frame using the second antenna group, the second measurement frame being transmitted by the second device via a WiFi signal.

In the second AoA measurement process, the second device sends a second measurement frame through the WiFi signal, and the first device receives the second measurement frame using the second antenna group. The second measurement frame may be a beacon frame specified by a protocol, a data frame on a communication channel of the first device and the second device, or a special frame defined between the first device and the second device, which is not limited in this embodiment. The second measurement frame may be the same as or different from the first measurement frame in content, and the present embodiment is not limited thereto.

In S605, as shown in fig. 5, taking an example in which the second antenna group includes the antenna 1 and the antenna 2, the second measurement frame received by the second antenna group includes the second measurement frame received by the antenna 1 (abbreviated as measurement frame 3), and the second measurement frame received by the antenna 2 (abbreviated as measurement frame 4). It should be noted that, the content carried by measurement frame 3 and measurement frame 4 is the same (actually the same measurement frame), but the waveform parameters (e.g., phases) thereof are generally different.

S606, the first device determines, according to the second measurement frame, a second phase difference of the WiFi signal received by the second antenna.

For example, after the first device receives the measurement frame 3 and the measurement frame 4 through the second antenna group, the signal demodulation module is used to determine the phase of the measurement frame 3 (abbreviated as phase 3) and the phase of the measurement frame 4 (abbreviated as phase 4), respectively, where the difference between the phase 3 and the phase 4 is the phase difference (abbreviated as second phase difference) of the WiFi signals received by the second antenna group.

S607, the first device determines a second group of AoAs of the WiFi signal according to the first phase difference and a preset second corresponding relation.

In this embodiment, the second correspondence is specifically a correspondence between the second phase difference and the AoA, which is preset in the AoA algorithm module of the first device. The second correspondence is measured by a developer of the first device under a measurement environment such as a laboratory based on factors such as an antenna pattern and an antenna spacing of the second antenna group.

In one example, the second correspondence may be as shown in (b) of fig. 7. After determining the second phase difference, the first device searches the second corresponding relation to determine possible aoas, i.e. a second group of aoas. Taking the example that the second phase difference is 5.9, the first device may determine by looking up a second correspondence as shown in (b) of fig. 7, and the second set of aoas includes 100 degrees and 275 degrees.

(III) AoA measurement fusion

S608, the first device determines the AoA measured by the first device according to the first set of aoas and the second set of aoas.

In some embodiments, the first device determines the same aoas in the first and second sets of aoas measured by the first device. Referring to (a) to (b) in fig. 7, taking an example that the first group of aoas includes 0 degrees, 100 degrees and 170 degrees and the second group of aoas includes 100 degrees and 275 degrees, the first device determines the same value of 100 degrees in the first group of aoas the aoas measured by the first device.

In another example, the first device determines the AoA measured by the first device from two aoas in the first and second groups of aoas that are similar. In this embodiment, the similar aoas refer to two aoas having a difference value within a predetermined range (e.g., 0-3 degrees).

Taking the first set of aoas including 0 degrees, 100 degrees, and 170 degrees, and the second set of aoas including 99 degrees and 275 degrees as an example, the first device sets two aoas that are similar to the first set of aoas and the second set of aoas to be 100 degrees and 99 degrees, respectively. Then the first device may determine either one of these two values (i.e. 100 degrees or 99 degrees), or the average of these two aoas (i.e. 99.5), as the AoA measured by the first device.

In summary, in this embodiment, the first device determines two possible aoas respectively using different antenna groups and preset correspondence, where each of the two possible aoas includes an AoA that is the same as or similar to the actual AoA. The first device may determine the AoA of the first device according to the same or similar aoas in the two sets of aoas by performing fusion processing on the two sets of aoas. The method can consider inaccurate AoA caused by non-ideal antennas, and the AoA measurement result is accurate.

The following describes in detail the procedure of receiving measurement frames by the antenna group involved in the AoA measurement procedure.

The manner in which measurement frames are transmitted and received between the first device and the second device is generally different depending on the connection relationship between the first device and the second device. The following specifically describes whether a WiFi P2P connection is established between the first device and the second device, respectively.

A WiFi P2P connection has been established between the first device and the second device.

In the case where a WiFi P2P connection has been established between the first device and the second device, the first device may actively request measurement frames from the second device over the WiFi link (i.e., mode 1 below), or may passively receive measurement frames sent by the second device over the WiFi link (i.e., mode 2 below). The measurement frame may be a data frame, a beacon frame, or a special frame preset between the first device and the second device. In one example, the measurement frame may be a Ping packet or the like.

Mode 1, the first device actively requests to receive measurement frames over the WiFi link.

In some embodiments, the second device sends one measurement frame to the first device every time the first device requests it. For example, referring to fig. 8A, in the process of receiving the first measurement frame, the first device switches to the first antenna group to transmit and receive WiFi signals, and sends a first request message to the second device through the first antenna group. In response to the first request message, the second device sends a first measurement frame to the first device over WiFi. And in the process of receiving the second measurement frame, the first equipment is switched to the second antenna group to receive and transmit WiFi signals, and a second request message is sent to the second equipment through the second antenna group. In response to the second request message, the second device sends a second measurement frame to the first device over WiFi.

In other embodiments, the second device periodically transmits a measurement frame to the first device every time the first device requests it. For example, referring to fig. 8B, in the process of receiving the first measurement frame, the first device switches to the first antenna group to transmit and receive WiFi signals, and transmits a first request message to the second device through the first antenna group. In response to the first request message, the second device sends a first measurement frame to the first device over WiFi. And in the process of receiving the second measurement frame, the first equipment is switched to the second antenna group to receive and transmit WiFi signals, and the second equipment continues to send the second measurement frame to the first equipment through WiFi according to the first request message.

In the above embodiment, the first request message and the second request message may be ICMP Echo Request, and the first response message and the second response message may be ICMP Echo Response.

Since in the AoA measurement method provided by the present application, the first AoA measurement and the second AoA measurement are not synchronized, the position of the first device or the second device may be moved between the two measurements, resulting in inaccurate AoA measurement result. Based on this, in mode 1, the first device actively requests the measurement frame from the second device to perform the AoA measurement, and the time difference between the first AoA measurement and the second AoA measurement can be automatically controlled within a certain time range according to the requirement, so as to improve the accuracy of the AoA measurement and reduce the AoA measurement error caused by the movement of the first device or the second device.

Mode 2, the first device passively receives measurement frames over the WiFi link.

In the case where a connection has been established between the first device and the second device, the second device may continue to send data frames to the first device, which may be used by the first device as measurement frames in the AoA measurement procedure. For example, when the first device is a computer, the second device is a drone, and the computer and the drone have established a P2P connection through a WiFi network, if the drone collects and sends a video data frame to the computer through WiFi in real time, the computer may determine the AoA of the WiFi signal sent by the drone using the video data frame as a measurement frame.

In one example, referring to fig. 9, a first device switches to a first antenna group to receive a first measurement frame transmitted by a second device, and transmits a first response message to the second device after receiving the first measurement frame, the first response message being used to notify the second device: the first device has received the first measurement frame. Subsequently, the first device switches to the second antenna group to receive a second measurement frame sent by the second device, and sends a first response message to the second device after receiving the second measurement frame, where the second response message is used to notify the second device: the first device has received the second measurement frame.

It should be noted that, according to the difference of the communication protocols between the first device and the second device, the first device may or may not send a response message to the second device after receiving the measurement frame. For example, when a transmission control protocol (transmission control protocol, TCP) communication is adopted between the first device and the second device, the first device needs to send a response message to the second device after receiving the measurement frame. When the first device and the second device communicate using user datagram protocol (user datagram protocol, UDP), the first device does not need to send a response message to the second device after receiving the measurement frame.

In mode 2, the first device does not need to make a request to measure a frame, which helps to save power consumption of the first device and the second device, and does not affect transmission of other data between the first device and the second device. For example, in the example of the above-described computer locating the drone, the other data may be frames of video data transmitted by the drone to the computer.

And (II) no WiFi P2P connection is established between the first device and the second device.

In the case where a WiFi P2P connection is not established between the first device and the second device, the first device and the second device may communicate with each other through WiFi broadcasting to receive the measurement frame. For example, the first device may actively request the measurement frame from the surrounding devices through WiFi broadcasting (i.e., mode a below), or may passively receive the measurement frame transmitted by the second device through WiFi broadcasting (i.e., mode B below). In this embodiment, the measurement frame may be a beacon frame or a special frame preset between the first device and the second device. This will be specifically described below.

Mode a, the first device actively requests a measurement frame over WiFi broadcast.

In some embodiments, each time a first device broadcasts a request message, an electronic device (e.g., a second device) that receives the request message broadcasts a measurement frame, which the first device can obtain by scanning the broadcast channel.

For example, referring to fig. 10A, in acquiring a first measurement frame, a first device first switches antennas to a first antenna group and then broadcasts a first request message to surrounding electronic devices through the first antenna group, the first request message requesting the electronic devices to broadcast the measurement frame. The second device, after receiving the first request message, broadcasts a first measurement frame to surrounding electronic devices over WiFi. The first device receives the first measurement frame by scanning a broadcast channel. The first device, in the process of receiving the second measurement frame, first switches the antennas to the second antenna group, and then broadcasts a second request message to surrounding electronic devices through the second antenna group, wherein the second request message is used for requesting the electronic devices to broadcast the measurement frame. The second device, after receiving the second request message, broadcasts a second measurement frame to surrounding electronic devices over WiFi. The first device receives the second measurement frame by scanning a broadcast channel. Note that the first measurement frame and the second measurement frame may be the same or different, and this embodiment is not limited thereto.

In other embodiments, each time the first device broadcasts a request message, the electronic device (e.g., the second device) that receives the request message periodically broadcasts a measurement frame to surrounding electronic devices, which the first device may obtain by scanning the broadcast channel.

For example, referring to fig. 10B, in acquiring the first measurement frame, the first device first switches the antennas to the first antenna group and then broadcasts a first request message through the first antenna group, the first request message requesting the electronic device to periodically broadcast the measurement frame. The second device starts periodically broadcasting a measurement frame after receiving the first request message. The first device may receive the measurement frame (which may be referred to as a first measurement frame) using the first antenna group to scan the broadcast channel. In the process of acquiring the first measurement frame, the first device first switches the antennas to the second antenna group, and scans the broadcast channel by using the second antenna group to receive the measurement frame (which may be referred to as a second measurement frame). Note that the first measurement frame and the second measurement frame may be the same or different, and this embodiment is not limited thereto.

Since in the AoA measurement method provided by the present application, the first AoA measurement and the second AoA measurement are not synchronized, the position of the first device or the second device may be moved between the two measurements, resulting in inaccurate AoA measurement result. Based on this, in the mode a, the first device may automatically control the time difference between the first AoA measurement and the second AoA measurement within a certain time range according to the requirement by actively requesting the measurement frame from the second device to perform the AoA measurement, so as to improve accuracy of the AoA measurement and reduce the AoA measurement error caused by movement of the first device or the second device.

Mode B, the first device passively receives the measurement frame through WiFi broadcast.

In the case where the first device accesses the same WiFi network as the second device and the second device periodically broadcasts the measurement frame over the WiFi network, the first device may receive the measurement frame by scanning the broadcast channel. For example, when the first device is a mobile phone and the second device is a smart watch, if the smart watch broadcasts a measurement frame every predetermined time interval, the mobile phone may receive the measurement frame by scanning a broadcast channel, thereby positioning the smart watch.

Referring to fig. 11, in the case where the second device periodically broadcasts a measurement frame through WiFi, the first device switches an antenna to a first antenna group and receives the measurement frame (which may be referred to as a first measurement frame) using the first antenna group in acquiring the first measurement frame. In acquiring the second measurement frame, the first device switches the antennas to the second antenna group and receives the measurement frame (which may be referred to as a second measurement frame) using the second antenna group.

It should be noted that, according to the difference of the communication protocols between the first device and the second device, the first device may or may not send a response message to the second device after receiving the measurement frame. With reference to the foregoing descriptions, the present embodiment is not described herein.

In mode B, the first device does not need to make a request to measure a frame, which helps to save power consumption of the first device and the second device, and does not affect transmission of other data between the first device and the second device.

Optionally, the first device and the second device may select the receiving manner of the measurement frame according to a specific application scenario, where the first device and the second device have established a WiFi P2P connection or have not established a WiFi P2P connection. For example, when the first device needs to locate the second device for a long period and continuously, the first device may choose to passively receive measurement frames to conserve power consumption of the first device. The first device may choose to actively request a measurement frame when the first device needs to quickly or accurately locate the second device.

Optionally, the first device may select to use the channel scanning mode according to a preset setting or a setting of a user, and may also select the channel scanning mode according to a motion condition of the first device. For example, the first device passively receives a measurement frame after the user selects to perform a low power scan. When the motion speed of the first device is less than or equal to the speed threshold, the first device passively receives the measurement frame to save device power consumption. When the movement speed of the first device is greater than the speed threshold, the first device actively requests the measurement frame to reduce the time difference between the first antenna group and the second antenna group receiving the measurement frame, thereby improving the accuracy of AoA measurement.

In addition, it should be noted that, when the first device acquires the measurement frame through WiFi broadcasting, if there are multiple second devices (for example, device a, device B, and device C) around to support the AoA measurement method provided in the embodiment of the present application, based on the above mode a or mode B, the first device may receive the measurement frames sent by the multiple second devices respectively, and determine the AoA of the WiFi signals of the multiple second devices according to the measurement frames. It should be appreciated that the determination method of the AoA of the WiFi signal of each second device is the same, and specific reference is made to the foregoing description.

In case the first device and the device to be located (i.e. the second device) do not establish a WiFi P2P connection with each other, the device to be located may broadcast the measurement frame over WiFi. However, since the first device does not know which devices to be located around and does not know the channel numbers of the measurement frames broadcast by these devices to be located, the first device typically needs to scan all broadcast channels one by one to receive the measurement frames.

Based on the foregoing, it is known that during the AoA measurement procedure, the first device needs to receive measurement frames using the first antenna group and the second antenna group, respectively. Therefore, in the case where the first device and the second device do not establish a WiFi P2P connection with each other, the first device needs to scan not only broadcast signals one by one using the first antenna group but also broadcast channels one by one using the second antenna group.

Taking the example that the broadcast channel of the first device includes channels 1 to N, when the first device scans the broadcast channels one by one, the channel scanning may be performed in any one of the following modes 1 to 2.

In mode 1, after the first device scans all broadcast channels using the first antenna group, the first device switches to the second antenna group to scan all broadcast channels.

For example, referring to fig. 12A-12B, a first device may first scan channels 1-N one by one using a first antenna group and then scan channels 1-N one by one using a second antenna group to receive a measurement frame (e.g., a beacon frame) of a second device. In this embodiment, after the first device scans all broadcast channels using the first antenna group and the second antenna group, respectively, the first device is considered to complete one cycle of channel scanning.

The scan result of the channel depends on the number of second devices surrounding the first device and the channel used by each second device when broadcasting the beacon frame. It should be noted that the broadcast channels used by different second devices may be the same or different. Taking the example that each second device is a device a, a device B and a device C, the broadcast channels of the device a and the device B are channel 1, and the broadcast channel of the device C is channel 2. Based on this, when the second device to be located around the first device includes device a, device B, and device C, the first device can receive the beacon frame of device a and the beacon frame of device B by scanning channel 1 through the first antenna group/the second antenna group. In addition, the first device can receive the beacon frame of device C by scanning channel 2 through the first antenna group/the second antenna group. That is, the first device may determine aoas of WiFi signals of device a, device B, and device C through the beacon frame scanned by the period.

It should be noted that, when the first device actively requests the measurement frame from the second device through WiFi broadcasting, referring to fig. 12A, the first device may typically broadcast a request message once when scanning each channel to request the second device to transmit a beacon frame. Alternatively, when the first device passively receives the beacon frame broadcast by the second device through WiFi, the first device only needs to scan channels to receive the beacon frame, without broadcasting a request message, as shown in fig. 12B.

To sum up, in the mode 1, the first device generally needs to perform antenna switching twice during the channel scanning process in one period, for example, before the first antenna group is used to scan the channels 1 to N, the antenna is switched from the second antenna group to the first antenna group. And switching the antennas from the first antenna group to the second antenna group before scanning channels 1 through N using the second antenna group. In other words, in the channel scanning method provided in the method 1, the number of times of antenna switching of the first device is small, and the power consumption of the first device is low.

In mode 2, the first device switches to the second antenna group to scan all K channels after scanning all K channels using the first antenna group when scanning every K channels. Where k=1, 2,3 … …, etc., N is greater than K. In one example, N is an integer multiple of K.

For example, when k=1, referring to fig. 13A to 13B, the first device scans one channel using the first antenna group and the second antenna group, respectively, and then scans the next channel using the first antenna group and the second antenna group, respectively, in order of channel 1 to channel N, until channel N is scanned.

For example, when k=2, referring to fig. 14A to 14B, the first device scans two channels (e.g., channel 1 and channel 2) using the first antenna group and the second antenna group, respectively, and then scans the next channel (i.e., channel 3 and channel 4) using the first antenna group and the second antenna group, respectively, in order of channel 1 to channel N, until channel N is scanned.

It should be noted that, in the mode 2, both the scanning result of the channel and the sending mode of the request message may refer to the related description in the mode 1, and this embodiment is not repeated here.

In summary, in the mode 2, in the channel scanning process of one period, although the first device generally needs to perform multiple antenna switching, in the same channel scanning period, the scanning time of the first antenna group and the second antenna group on the same channel is relatively similar, and the AoA estimation result of the second device is relatively accurate.

In addition, the first device may select to use the channel scanning mode according to a preset setting or a user setting, or may select the channel scanning mode according to a motion condition of the first device. For example, after the user selects to perform the low power scan, the first device selects to perform the channel scan using mode 1; after the user selects to perform high-precision scanning, the first device performs channel scanning in manner 2. When the motion speed of the first device is less than or equal to the speed threshold, the first device uses mode 1 to perform channel scanning to save device power consumption. When the movement speed of the first device is greater than the speed threshold, the first device uses mode 2 to perform channel scanning to improve the accuracy of the scanning.

Alternatively, after the first device selects to perform channel scanning in mode 2, the first device may specifically determine the K value according to the speed of the first device. For example, when the speed of the first device is greater, the first device may select a smaller value of K; alternatively, the first device may select a larger value of K when the speed of the first device is smaller. By the method, the first device can reduce the power consumption of the first device while ensuring the accuracy of the AoA measurement result as much as possible.

By the method provided by the embodiment, the first device can also adopt a triangulation locating technology or a WiFi fingerprint technology for indoor location. Taking the WiFi fingerprint technology as an example, under the condition that a plurality of second devices are arranged in a room, and the positions of the second devices are known and are usually fixed, the first device can detect WiFi characteristic parameters such as AoA of WiFi signals of each second device and strength of the WiFi signals at different positions in the room in the process of moving in the room, so as to form a WiFi signal fingerprint (abbreviated as WiFi fingerprint) specific to the room. It is understood that the WiFi fingerprint includes a correspondence between a location of the electronic device and WiFi feature parameters. After the WiFi fingerprint is generated, the first device can know the specific position of the first device in the room by comparing the WiFi fingerprint after determining the characteristic parameters of the WiFi signal.

It should be understood that the method for detecting the arrival angle provided by the embodiment of the application can be applied not only to the WiFi field, but also to the wireless communication field such as Bluetooth (BT), and the embodiment is not limited thereto.

In one example, when the first device measures the AoA of the bluetooth signal of the second device, reference may also be made to the measurement procedure of the AoA of the WiFi signal shown in fig. 6. It should be noted that, in the process of measuring the AoA of the bluetooth signal, the signal received by each antenna group of the first device is the bluetooth signal, and the measured AoA is the AoA of the bluetooth signal.

In the process of measuring the AoA of the bluetooth signal, in the case that the first device and the second device have established the bluetooth connection, the first device and the second device may also refer to fig. 8A to 8B, or the process shown in fig. 9 may control the first device to receive the first measurement frame and the second measurement frame sent by the second device. It should be noted that, in the process of measuring the bluetooth signal AoA, the first request message and the second request message sent by the second device may be BT Inquiry Packet, and the received first measurement frame and the second measurement frame may be carried in the response message BT Inquiry Response.

In the process of measuring the AoA of the bluetooth signal, in the case that the first device and the second device do not establish the bluetooth connection, the first device and the second device may also refer to fig. 10A to 10B, or the process shown in fig. 11 may control the first device to receive the first measurement frame and the second measurement frame sent by the second device. The present embodiment is not described herein.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic, and should not limit the implementation process of the embodiment of the present application.

The embodiment of the application also provides an electronic device, which comprises at least three antennas and is configured to execute the AoA measurement method executed by the first device in the above embodiments.

The embodiment of the present application further provides a chip, as shown in fig. 15, where the chip includes a processor and a memory, and the memory stores a computer program, where the computer program, when executed by the processor, implements the AoA measurement method performed by the first device in the foregoing embodiments.

The embodiment of the present application also provides a computer readable storage medium storing a computer program, where the computer program when executed by a processor implements the AoA measurement method performed by the first device of each of the above embodiments.

The embodiment of the application also provides a computer program product, which comprises a computer program, and when the computer program is executed by the electronic device, the electronic device is enabled to realize the AoA measurement method executed by the first device in the above embodiments.

It should be appreciated that the processors referred to in embodiments of the present application may be central processing units (central processing unit, CPU), but may also be other general purpose processors, digital signal processors (digital signal processor, DSP), application specific integrated circuits (application specific integrated circuit, ASIC), off-the-shelf programmable gate arrays (field programmable gate array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

It should also be understood that the memory referred to in embodiments of the present application may be volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The nonvolatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. The volatile memory may be random access memory (random access memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous DRAM (SLDRAM), and direct memory bus RAM (DR RAM).

In the embodiment provided by the application, each frame or module is only one logic function division, and other division manners may be actually realized, for example, a plurality of frames or modules may be combined or integrated into another system, or some features may be omitted or not performed.

In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.

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

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. An angle of arrival measurement method, applied to a first device, the first device comprising a first antenna group and a second antenna group, the first antenna group and the second antenna group being different and each comprising a plurality of antennas; the method comprises the following steps:

receiving wireless signals by using a first antenna group, and determining a first group of arrival angles according to the wireless signals;

switching a signal receiving antenna of the first device from the first antenna group to the second antenna group;

receiving the wireless signals by using a second antenna group, and determining a second group of arrival angles according to the wireless signals;

And determining the arrival angle of the wireless signal according to the first set of arrival angles and the second set of arrival angles.

2. The method of claim 1, wherein receiving wireless signals using the first antenna group and determining a first set of angles of arrival from the wireless signals comprises:

receiving a first measurement frame of the wireless signal using the first antenna group;

determining a first phase difference of the first measurement frame received by different antennas in the first antenna group;

determining the first set of arrival angles according to the first phase difference and a first corresponding relation;

the first correspondence is a correspondence between a phase difference and an arrival angle of the wireless signals received by the first antenna group.

3. The method of claim 2, wherein said receiving the wireless signal using the second antenna group and determining a second set of angles of arrival from the wireless signal comprises:

receiving a second measurement frame of the wireless signal using the second antenna group, wherein the second measurement frame and the first measurement frame are the same or different;

determining a second phase difference of the second measurement frame received by a different antenna in the second antenna group;

Determining the second set of arrival angles according to the second phase difference and a second corresponding relation;

the second corresponding relation is a corresponding relation between a phase difference and an arrival angle of the wireless signals received by the second antenna.

4. The method of claim 3, wherein during the first device receives the first measurement frame and the second measurement frame by scanning a broadcast channel,

and after the first device sequentially scans all broadcast channels of the first device by using the first antenna group, sequentially scanning all broadcast channels by using the second antenna group.

5. The method of claim 3, wherein during the first device receives the first measurement frame and the second measurement frame by scanning a broadcast channel,

the first equipment divides broadcast channels of the first equipment into a plurality of channel groups, wherein each channel group comprises K broadcast channels, and K is more than or equal to 1 and is an integer;

and sequentially scanning the plurality of channel groups by using the first antenna group and the second antenna group, wherein when each channel group is scanned, the K broadcast channels are sequentially scanned by using the first antenna group, and then the K broadcast channels are sequentially scanned by using the second antenna group.

6. The method of any of claims 3-5, wherein the receiving a first measurement frame of the wireless signal using the first antenna group and the receiving a second measurement frame of the wireless signal using the second antenna group comprises:

transmitting a first request message to a second device, wherein the first request message is used for requesting the second device to transmit the first measurement frame; receiving the first measurement frame; the method comprises the steps of,

transmitting a second request message to the second device, where the second request message is used to request the second device to transmit the second measurement frame; the second measurement frame is received.

7. The method of any of claims 3-5, wherein the receiving a first measurement frame of the wireless signal using the first antenna group and the receiving a second measurement frame of the wireless signal using the second antenna group comprises:

a first request message is sent to a second device, wherein the first request message is used for requesting the second device to sequentially send the first measurement frame and the second measurement frame;

receiving the first measurement frame;

the second measurement frame is received.

8. The method according to claim 4 or 5, wherein,

the first device broadcasts a request message when scanning each broadcast channel by using each antenna group, wherein the request message is a first request message or a second request message, and the antenna groups comprise a first antenna group and a second antenna group.

9. The method according to any of claims 3-8, wherein the first measurement frame and the second measurement frame comprise data frames or beacon frames.

10. The method according to any one of claims 1-8, wherein said determining the angle of arrival of the wireless signal from the first set of angles of arrival and the second set of angles of arrival comprises:

determining a first angle from the first set of angles of arrival, and determining a second angle from the second set of angles of arrival, wherein the difference between the first angle and the second angle is within a preset range;

and determining the arrival angle of the wireless signal according to the first angle and the second angle.

11. The method of claim 10, wherein said determining an angle of arrival of the wireless signal from the first angle and the second angle comprises:

If the first angle and the second angle are the same, determining any one of the first angle and the second angle as an arrival angle of the wireless signal;

if the first angle and the second angle are different, determining an average value of the first angle and the second angle or any one of the first angle and the second angle as an arrival angle of the wireless signal.

12. The method of any one of claims 1-11, wherein the wireless signals include wireless fidelity WiFi signals, bluetooth signals, and ultra-bandwidth signals.

13. An electronic device comprising a first antenna group, a second antenna group, a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the first antenna group and the second antenna group are not identical and each comprise a plurality of antennas, the processor implementing the method of any of claims 1-12 when executing the computer program.

14. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the method according to any one of claims 1-12.