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CN115278522B - UWB signal incident angle processing and positioning method, system, electronic device, and medium - Google Patents

UWB signal incident angle processing and positioning method, system, electronic device, and medium Download PDF

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Publication number
CN115278522B
CN115278522B CN202210827305.4A CN202210827305A CN115278522B CN 115278522 B CN115278522 B CN 115278522B CN 202210827305 A CN202210827305 A CN 202210827305A CN 115278522 B CN115278522 B CN 115278522B
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target antenna
uwb signal
antenna
incident angle
channel information
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CN115278522A (en
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林水洋
宋颖
俞丽娜
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Gekong Shanghai Intelligent Technology Co ltd
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Gekong Shanghai Intelligent Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Radio Transmission System (AREA)

Abstract

本申请提供一种UWB信号入射角处理及定位方法、系统、电子设备、介质，应用于信息处理技术领域，其中UWB信号入射角处理方法包括：通过开关在预设时间内将目标天线切换为工作状态以使目标天线用于接收UWB信号；根据所述UWB信号提取处于工作状态的所述目标天线对应的信道信息；根据所述信道信息确定所述UWB信号入射到处于工作状态的所述目标天线的时间差，并根据所述时间差确定入射角。通过增设天线切换开关，并基于天线切换前后UWB信号中多径的信道信息完成入射角计算，不仅处理精度满足应用需要，而且系统结构简单，成本低，功耗低，可以灵活适应各种定位场景。

The present application provides a UWB signal incident angle processing and positioning method, system, electronic device, and medium, which are applied to the field of information processing technology, wherein the UWB signal incident angle processing method includes: switching the target antenna to a working state within a preset time through a switch so that the target antenna is used to receive the UWB signal; extracting the channel information corresponding to the target antenna in the working state according to the UWB signal; determining the time difference of the UWB signal incident on the target antenna in the working state according to the channel information, and determining the incident angle according to the time difference. By adding an antenna switching switch and completing the incident angle calculation based on the multipath channel information in the UWB signal before and after the antenna switching, not only the processing accuracy meets the application needs, but also the system structure is simple, low cost, low power consumption, and can flexibly adapt to various positioning scenarios.

Description

UWB signal incident angle processing and positioning method, system, electronic equipment and medium
Technical Field
The application relates to the technical field of information processing, in particular to a UWB signal incident angle processing and positioning method, a system, electronic equipment and a medium.
Background
In recent years, pulse ultra wideband (Impulse Radio Ultra Wide Band, IR-UWB, also known as pulse radio) technology has been used for object (e.g., human, animal) positioning, has been accepted by industry, government, etc., and with the reduction of manufacturing costs, equipment size, and energy consumption, IR-UWB has been widely used in positioning scenes, with its application range including various fields of container positioning, inventory management, mining safety, and healthcare. Since the IR-UWB signal has a fine time resolution characteristic, very accurate source localization can be achieved in this way.
Among the existing positioning technologies, there are mainly distance-based TOA (time of Arrival), TDOA (TIME DIFFERENCE of Arrival time difference), angle-based AOA (Angle of Arrival), phase-difference-based PDOA (PHASE DIFFERENCE of Arrival phase difference), and so on, and especially, the AOA technology requires few base stations.
However, in the existing scheme, when calculating the incident angle (i.e., the arrival angle), on one hand, multiple antennae and corresponding multiple sets of receiving equipment are needed, even if in some application schemes, the same baseband processing unit can be shared in a set of receiving equipment, but each antenna still needs to have a corresponding receiver path (also called a radio frequency front end, a radio frequency path, etc.), only the baseband processing unit calculates the arrival angle of the signals received by the antennae according to the indexes such as the arrival time differences or the angle differences of the signals received by different antennae and the receiver paths thereof, so that the scheme is more complex when AOA positioning is performed, the processing logic of the baseband processing unit is complex, the cost, the power consumption, etc., on the other hand, the performance requirement on the antenna system is quite high, the antenna system is very complex, the cost and the power consumption are high, and the multipath effect seriously affects the direction judgment in the indoor environment, so that the positioning precision is not high.
Therefore, there is a need for a new solution in AOA applications, which is simple in structure and low in cost and power consumption, and which can accurately process the angle of arrival (i.e. the angle of incidence).
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a UWB signal incident angle processing and positioning method, system, electronic device, and medium, which can simplify the structure, reduce the cost and power consumption, and have high positioning accuracy.
The embodiment of the specification provides the following technical scheme:
the embodiment of the specification provides a UWB signal incidence angle processing method, which comprises the following steps:
Switching the target antenna into a working state in a preset time through a switch so that the target antenna is used for receiving UWB signals;
Extracting channel information corresponding to the target antenna in a working state according to the UWB signal;
and determining the time difference of the UWB signal incident to the target antenna in a working state according to the transmission delay, and determining the incident angle according to the time difference.
The embodiment of the specification also provides a UWB signal incident angle processing system, which comprises a target antenna, a switch and a receiver, wherein the receiver comprises a radio frequency unit and a baseband processing unit, and the radio frequency unit is configured with a plurality of target antennas through the switch;
the baseband processing unit is configured to perform the following operations:
switching the target antenna into a working state within a preset time through the switch so that the target antenna is used for receiving UWB signals;
extracting channel information corresponding to the target antenna in a working state according to the demodulated UWB signal;
and determining the time difference of the UWB signal incident to the target antenna in a working state according to the transmission delay, and determining the incident angle according to the time difference.
The embodiment of the specification also provides a UWB signal positioning method, which comprises the following steps:
acquiring at least one incident angle, wherein the incident angle is an incident angle determined according to a UWB signal transmitted by at least one positioning device according to the UWB signal incident angle processing method according to any one of the embodiments of the present specification;
and positioning the position of the target based on the first incident angle.
The embodiment of the specification also provides a UWB signal positioning system, which comprises a receiving processing unit and at least one positioning device, wherein the positioning device is used for transmitting UWB signals, the receiving processing unit is used for acquiring an incident angle corresponding to the positioning device and positioning a target based on the incident angle, and the incident angle is determined based on the UWB signal incident angle processing method according to any one embodiment of the specification.
Compared with the prior art, the beneficial effects that above-mentioned at least one technical scheme that this description embodiment adopted can reach include at least:
Compared with the traditional AOA calculation scheme of double antennas and double receiving equipment, the application only needs a set of receiving devices to match with a plurality of antennae to perform AOA calculation, namely, an antenna change-over switch is additionally arranged between the antennae and the receiving front end in the receiving devices, the receiving antennae are timely changed over in the processing, channel information corresponding to each antenna is obtained according to the channel receiving condition before and after the antenna is changed over, and finally the AOA positioning calculation is completed based on the channel information.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a structure for angle of incidence calculation and positioning applications based on multiple receivers;
FIG. 2 is a schematic diagram of a receiver configured with multiple antennas for angle of incidence calculation and positioning applications;
FIG. 3 is a schematic view of the angle of incidence of UWB signals when they are incident in parallel to an antenna array in the present application;
FIG. 4 is a schematic diagram of the architecture of a UWB signal incident angle processing scheme according to the present application;
FIG. 5 is a flow chart of a UWB signal incidence angle processing method of the present application;
FIG. 6 is a schematic diagram of the structure of a UWB signal format according to the application;
FIG. 7 is a diagram of antenna switching and channel information extraction based on SYNC field in UWB signal according to the application;
FIG. 8 is a schematic diagram of antenna switching and channel information extraction based on SYNC field and other fields in UWB signal according to the application;
Fig. 9 is a schematic diagram of the structure of STS field in UWB signal according to the present application;
Fig. 10 is a schematic diagram of antenna switching and channel information extraction based on STS field in UWB signal according to the present application;
FIG. 11 is a schematic illustration of the RMARKER tag in the UWB signal of the present application;
FIG. 12 is a schematic diagram of a UWB signal incidence angle processing system according to the present application;
FIG. 13 is a flow chart of a UWB signal positioning method according to the present application;
FIG. 14 is a schematic diagram of a UWB signal positioning method based on a single AOA base station according to the present application;
FIG. 15 is a schematic diagram of a UWB signal positioning method based on dual positioning devices according to the present application;
fig. 16 is a schematic diagram of a UWB signal positioning system according to the present application.
Detailed Description
Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Other advantages and effects of the present application will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present application with reference to specific examples. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It is noted that various aspects of the embodiments are described below within the scope of the following claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the present disclosure, one skilled in the art will appreciate that one aspect described herein may be implemented independently of any other aspect, and that two or more of these aspects may be combined in various ways. For example, apparatus may be implemented and/or methods practiced using any number and aspects set forth herein. In addition, such apparatus may be implemented and/or such methods practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
It should also be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
In addition, in the following description, specific details are provided in order to provide a thorough understanding of the examples. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details.
At present, the AOA positioning generally calculates an arrival angle based on a phase difference mode, and the influence of angle errors on positioning accuracy is far greater than that of range errors, so that the AOA positioning is not generally used for UWB positioning alone, and primary coarse positioning is generally carried out as an auxiliary means.
The existing AOA positioning scheme mainly comprises the following scheme:
First, in conventional AOA positioning systems, multiple sets of antennas and multiple sets of receiver devices are generally used, as shown in fig. 1, each set of receivers is configured with one set of antennas as a test Station (Station) to obtain an angle of arrival, for example, at least two sets of receivers and two sets of antennas are required in two-dimensional measurement, for example, at least three sets of receivers and three sets of antennas are required in three-dimensional measurement. Therefore, the system has complex structure, more positioning logic calculation, high implementation cost and high system power consumption, and the positioning precision is easily influenced by the processing performance of the receiver and the deployment precision among antennas.
In the AOA positioning system, a set of receiver device is matched with multiple pairs of antennas, and a receiving channel (i.e. a radio frequency signal channel) corresponding to each antenna is arranged inside the receiver device, and the same baseband processing unit is shared in baseband processing. As shown in fig. 2, the baseband processing unit of the receiver device may extract channel parameters of a first receiving channel (such as a first rf front end illustrated in the figure) and a second receiving channel (such as a second rf front end illustrated in the figure) respectively, and then perform angle of incidence calculation, where, except for the baseband processing unit, different antennas still need to be configured in the receiver, corresponding to the receiving channels, for example, a first antenna corresponds to the first receiving channel, and a second antenna corresponds to the second receiving channel. Therefore, each antenna needs a corresponding receiving channel, and a radio frequency front end, a demodulation unit and the like are still needed in each receiving channel, so that the equipment structure is still complex, the power consumption is high, and the positioning accuracy is easily affected by the antenna and baseband processing.
Therefore, the incident angle calculation scheme for positioning based on AOA has complex structure, complex calculation logic, high implementation cost, high power consumption and positioning accuracy to be provided
In view of this, the inventor performs investigation and analysis on a common AOA positioning algorithm and a receiver, and performs intensive research and improved exploration on an incident angle calculation scheme, as shown in fig. 3, for an equally-spaced linear array antenna, considering that the distance between a signal source and the array antenna is far greater than the interval between array elements of the array antenna, at this time, each beam of a signal emitted by the signal source incident on each antenna array element may be considered as parallel incidence, i.e., for a certain multipath signal, the incident angle reaching each antenna array element is θ i degrees.
Assuming that the signal transmitted by the signal source is s (t), the antenna array of the receiver is linearly arranged by a plurality of antenna array elements at equal intervals, for example, m antenna elements are used. The received signal at the mth antenna element can be expressed as
Where L p is the number of multipaths, a i is the complex gain coefficient of the ith multipath, τ i,m is the propagation delay (or time of arrival TOA) of the ith multipath over the m antenna elements, and n m (t) is the AWGN Noise (ADDITIVE WHITE Gaussian Noise ) over the m antenna elements.
When the distance between the signal source and the antenna array is far enough (i.e. far greater than the interval d between the antenna array elements), the transmission delay τ i,m can satisfy the following interrelation that τ i,m＝τi,0+mdsinθi/c, where θ i is the incident arrival angle (i.e. incident angle) when the ith multipath is incident to the antenna array, c is the light velocity, m is the number of array elements, and d is the interval between the adjacent array elements.
According to the trigonometric function, the relationship between the incident angle of arrival θ i and the arrival time of the antenna can be expressed as:
In view of the fact that parameters such as the light speed c, the number m of array elements and the spacing d of the array elements are all known parameters, calculation of the incident angle can be converted into calculation of time differences of different multipaths of signals reaching different antennas.
Based on this, the embodiment of the present disclosure proposes a processing scheme for acquiring a signal incident angle, as shown in fig. 4, an antenna switch is added between a receiving channel (such as a radio frequency channel unit illustrated in the drawing) and multiple antennas, and the antennas are connected to the receiving channel to perform switching control through the switch, so that different antennas operate in a time-sharing manner, so that corresponding channel information can be obtained before and after switching, so that channel information of signals received by the antennas in a working state can be processed based on the same receiving channel and a baseband processing unit, and finally corresponding incident angles are obtained based on time differences of UWB signals reaching different antennas in the channel information.
Since the distance from the signal source to the antennas is much larger than the distance between the antennas, the following relationship is satisfied between the incident angle and the time difference between different multipaths arriving at different antennas: Where θ is the angle of incidence, Δτ is the time difference between the arrival of the multipath at the different antennas, c is the speed of light, and D is the distance between the antennas.
The time for the multipath to reach each antenna may be as described above with respect to the transmission delay τ i,m, so that the time difference Δτ may be the difference between the corresponding transmission delays of the multipath to reach the two antennas, and the corresponding transmission delay of each antenna may be obtained based on the channel information when the UWB signal is received by the antenna.
Therefore, by adopting the antenna switching scheme and estimating based on the channel information, a set of receiver equipment is shared between multiple pairs of antennas, such as using only two pairs of antennas and a set of receiving devices, angle of incidence calculation, positioning and the like in AOA positioning are realized. Compared with the prior art, the device has the advantages of simple structure, greatly reduced cost, remarkably reduced power consumption, simple calculation logic, less influence of multipath on positioning accuracy, and improved accuracy.
In this specification, the same receiver device may be equipped with multiple antennas, such as a first antenna through a K antenna, where K is an integer greater than 1, through which multiple antennas and cooperating receivers perform high-precision UWB signal positioning applications. Although the following description will be made by taking two pairs of antennas configured by the same receiver device as an example, it should be understood by those skilled in the art that the number of antennas configured by the same receiver device may be equal to or greater than two, and the data processing manner may be similar to that of the two pairs of antennas.
The following describes the technical scheme provided by each embodiment of the present application with reference to the accompanying drawings.
As shown in fig. 5, an embodiment of the present disclosure provides a UWB signal incident angle processing method, which may include:
Step S202, the target antenna is switched to be in an operating state in a preset time through a switch so that the target antenna can be used for receiving UWB signals.
In practice, a plurality of target antennas can share one set of receiver equipment, and then the target antennas can be switched to the working state within a specified preset time through the antenna switch, so that the antennas in the working state can receive UWB signals conveniently, and channel information can be extracted from the UWB signals in the later period.
The preset time may be a predetermined time (or time) for switching the antennas, for example, the first antenna is put into operation, and after the UWB signal is received by the first antenna, the characteristic time in the UWB signal may be used as the switching time of the second antenna.
And step S204, extracting channel information corresponding to the target antenna in a working state according to the UWB signal.
In practice, UWB signals are a type of single-period pulse with extremely short duration and extremely small duty cycle, so that multipath signals are separable in time, and in processing UWB signals, not only can each multipath signal be extracted from UWB signals, but also the transmission time of each multipath signal (i.e. the total time from signal transmission to signal demodulation) can be obtained, so that the corresponding time difference after each multipath signal is incident to a target antenna in an operating state and received can be obtained.
In implementation, the channel information corresponding to the target antenna in the working state is extracted according to the UWB signal, and the channel information corresponding to the antenna may be reflected by extracting transmission delays corresponding to different multipaths in the UWB signal. Thus, the channel estimation method may be used to extract the transmission delay, such as channel estimation based on a time sequence, such as channel estimation based on a reference signal, and so on.
Although the channel information corresponding to each multipath can be determined from the UWB signal, the forefront path may be understood as the direct path, and the channel information corresponding to the direct path may most reflect the channel characteristics, so that the channel information may be extracted according to the direct path.
In implementation, when the UWB signal is received, a direct path signal may be determined from the received UWB signal, so that channel information corresponding to the target antenna in a working state is extracted according to the direct path signal.
By extracting the channel information according to the direct path, the accuracy of channel information extraction can be guaranteed to meet the requirement of application precision, data processing is greatly simplified, hardware structure and performance requirements required during data processing are facilitated to be simplified, cost and power consumption are reduced, and flexibility and environment adaptability of a UWB positioning scheme are improved.
Step S206, determining the time difference of the UWB signal incident to the target antenna in the working state according to the transmission delay, and determining the incident angle according to the time difference.
When the transmission delay is taken as a time difference, the incident angle and the transmission delay satisfy the following relation (tau i,m-τi,1)c＝(m-1)dsinθi), wherein tau i,m is the transmission delay of the ith multipath on m antenna array elements, theta i is the incident angle of the ith multipath of the UWB signal when the ith multipath is incident on the target antenna in an operating state, c is the light speed, m is the number of antenna array elements in the target antenna in the operating state, and d is the interval between adjacent antenna array elements in the target antenna in the operating state.
After the transmission delay of each multipath is obtained in the UWB signal processing, the corresponding incident angle of each multipath when the multipath is incident on the target antenna may be obtained based on the transmission delay. In the calculation, since the distance d between the antenna elements is far smaller than the distance L between the signal source transmitting the UWB signal and the antenna, a certain multipath signal can be regarded as each antenna element of the target antenna, which is all parallel to each other, and then the incident angles of the same multipath signal are the same, so that the incident angle θ can be calculated based on the geometric relationship (see the schematic diagram of fig. 3) between the antenna elements and the trigonometric function, where the incident angle and the transmission delay when the ith multipath is received by the antenna satisfy the following relationship (τ i,m-τi,1)c＝(m-1)dsinθi).
Through steps S202 to S206, after the antenna switching manner is adopted and the working antennas are switched at a proper time, the AOA (angle of arrival), i.e. angle of incidence) calculation can be performed by configuring multiple antennas based on the same receiving device, and after the channel information corresponding to each multipath is extracted based on the UWB signal, the angle of incidence when each multipath is incident to the antennas can be precisely calculated based on the time difference and the geometric parameters (e.g. the spacing between array elements) of the antenna array. Therefore, compared with the existing scheme for positioning based on AOA, the application not only can simplify the system constitution of the receiver equipment, greatly reduce the cost and power consumption of the receiver equipment, but also ensures that the incidence angle of each multipath has good precision, can avoid the influence of the multipath on the precision of AOA positioning, improves the precision of AOA positioning and the usability in various positioning scenes, and is beneficial to positioning application based on AOA in various application scenes with low cost and low power consumption.
In some embodiments, the UWB signal may be a signal in the format of a PPDU (Presentation Protocol Data Unit, representing a protocol data unit) specified in the 802.15.4 standard.
As shown in fig. 6, the UWB signal may be any of these four PPDU formats. The data fields in the first format are a SYNC field, an SFD field, a PHR field and a PHY Payload field (also simply referred to as Payload field), the data fields in the second format are a SYNC field, an SFD field, an STS field, a PHR field and a PHY Payload field, the data fields in the third format are a SYNC field, an SFD field, a PHR field, a PHY Payload field and an STS field, and the data fields in the fourth format are a SYNC field, an SFD field and an STS field.
It should be noted that, the data fields and their specific data contents in the various formats can be referred to the 802.15.4 standard, and will not be described herein.
Therefore, when the channel information corresponding to the target antenna in the working state is extracted according to the UWB signal, the channel information can be extracted according to the corresponding data format received by the antenna in practical application and according to the scheme of extracting the channel information from the UWB signal.
In some embodiments, in view of the SYNC field included in each PPDU structure format, channel information may be extracted based on the SYNC field. Therefore, antenna switching and channel information extraction can be performed according to the condition that the antenna receives the SYNC field.
As shown in fig. 7, when switching the operating state of the target antenna and extracting the channel information based on the SYNC field, after completing the channel estimation of the first target antenna by using the symbols of the first length (for example, the first N symbols), the second target antenna is switched to the operating state in time, and at this time, the second target antenna may receive the symbols of the second length (for example, M symbols), so that the second target antenna may perform the channel estimation from the initial symbol of the symbol sequence of the second length. It should be noted that, after the second target antenna receives the second symbol sequence, other antennas may be switched to the working state in time, and the second target antenna is not expanded.
In practice, switching the target antenna to an operating state by the switch within a preset time to enable the target antenna to be used for receiving the UWB signal may include, after switching the first target antenna to the operating state, switching the second target antenna to the operating state by the switch when receiving the first symbol sequence of the first length in the SYNC field by the first target antenna, so that the second target antenna is used for receiving the second symbol sequence of the second length in the SYNC field;
And extracting the channel information corresponding to the target antenna in the working state according to the UWB signal can comprise performing correlation operation on the first symbol sequence by utilizing a first local sequence to obtain a first correlation coefficient, wherein the first correlation coefficient is used as the first channel information corresponding to the first target antenna when receiving the UWB signal.
In implementation, the correlation operation is performed through the preset local sequence and the symbol sequence received by the antenna, so that the correlation between the two sequences can be obtained after the correlation operation.
It should be noted that the foregoing first length, second length, local sequence, etc. may be predetermined according to application requirements, for example, a channel precision requirement (e.g., accumulated to a certain number of symbols). The antenna can be switched in time by the parameters, and the channel information can be obtained from the received symbol sequence.
By receiving the first symbol sequence in the SYNC field at the first antenna, the second antenna is immediately switched to the working state, so that not only can the channel information of the first antenna be extracted based on the first symbol sequence, but also the channel information of the second antenna can be extracted based on the second symbol sequence, and the channel information can be extracted based on the SYNC field in the UWB signal.
In some embodiments, the first correlation coefficient may be obtained by performing a cyclic correlation operation with the symbol length as a period length, where the relationship between the first correlation coefficient and the first local sequence and the first symbol sequence is as follows:
Wherein x i (n) is a correlation coefficient, s 0 i (n) is an i-th symbol sequence, s 1 i (n) is a first local sequence for performing a correlation operation on each i-th symbol sequence, where n=0, 1.
The method has the advantages that the symbol length is used as the period length to carry out the cyclic correlation coefficient extraction operation, the operation is simple, the performance cost is low, the equipment hardware cost is low, the power consumption is low, the flexibility of the UWB positioning scheme in different scenes is further improved, and the adaptability is higher.
In some embodiments, after extracting the correlation coefficient based on the local sequence and the first symbol sequence, the correlation coefficient may be further subjected to data smoothing.
In implementation, the first correlation coefficient may be obtained by smoothing data averaged by correlation coefficients of N symbol sequences as the first channel information, where the averaging operation is as follows:
The first channel information is denoted by h 1 (N), N is an integer greater than 1, and x i (N) is a correlation coefficient. In addition, the value of N may be specifically set according to application requirements, and is not limited herein.
In some embodiments, the channel information of other antennas may also refer to the corresponding processing of the first target antenna, which is not described herein.
By adopting the same or similar processing schemes, the whole design can be simplified, the processing efficiency can be improved, the hardware cost and the power consumption can be reduced, and the flexibility of the UWB positioning scheme and the adaptability in different scenes can be further improved.
In some embodiments, the same signal (or the same multipath) may be considered to be incident on multiple target antennas in parallel, i.e., the angles of incidence of the signals on the multiple target antennas may be substantially the same, given that the distance between the same signal source and the same receiver device (or multiple target antennas) is typically much greater than the distance between the multiple target antennas. Accordingly, the incident angle can be commonly determined based on the channel information corresponding to the plurality of target antennas.
In one example, after performing correlation operation with the second symbol sequence by using a second local sequence to obtain a second correlation number, where the second correlation number is used as second channel information corresponding to the second target antenna when receiving the UWB signal, an incident angle of the UWB signal incident on the first target antenna and the second target antenna may be determined together according to the first channel information corresponding to the first target antenna and the second channel information corresponding to the second target antenna.
In practice, the relationship between the angle of incidence and the channel information is as follows:
Wherein θ is an incident angle of the UWB signal incident on the first and second target antennas, c is a speed of light, D is a distance between the first and second target antennas, and Δτ is a time difference of determining the UWB signal incident on the first and second target antennas according to the first and second channel information. Note that Δτ is the time difference between the same signal (or the same multipath) incident on the first target antenna and the second target antenna.
Therefore, since each multipath has a corresponding transmission delay, the incident angle corresponding to the same multipath can be accurately obtained based on the channel information of the two target antennas.
Considering that the direct paths can reflect the incidence condition of the signals, the two sub-target antennas can receive the respective corresponding direct paths for extracting channel information, and perform incident angle processing based on the extracted channel information.
Assume that channel information corresponding to each of the first target antenna and the second target antenna is respectivelyAndWherein Lp1 is a first length, lp2 is a second length, h 1,i(t-τ′1,k) is channel information corresponding to a kth symbol when an ith multipath is incident on a first target antenna, and h 2,i(t-τ′2,k) is channel information corresponding to a kth symbol when an ith multipath is incident on a second target antenna.
Therefore, when the direct path is taken as the extracted channel information, i.e., the forefront path is taken as the direct path, the channel information corresponding to the first target antenna and the second target antenna is denoted as h 1,0(t-τ1,0) and h 2,0(t-τ2,0), respectively. The time difference dτ between the direct paths to the two antennas can be calculated from the channel information.
In practice, the time difference dτ (also denoted as Δτ, not differentiated) may be calculated in two ways:
(1) direct calculation dτ=τ' 2,0-τ′1,0;
(2) Calculated as angle dτ= (angle (h 2,0)-angle(h1,0))/(2πfc).
It should be noted that, the corresponding calculating mode of dτ may be selected according to the application requirement (such as accuracy, processing performance, etc.), which is not limited herein.
After the multipath arrival time difference dτ is obtained, the method can be as described aboveThe entry and exit angle θ is calculated.
In some embodiments, as shown in fig. 8, when the length of the SYNC field is insufficient to enable the second target antenna to receive the second symbol sequence with the second length in the SYNC field, the data of other fields (such as SFD, payload, etc.) in the UWB signal may be used to extract the channel information after being co-pieced with the SYNC field.
In one example, when the length of the SYNC field is insufficient to enable the second target antenna to receive the second symbol sequence of the second length in the SYNC field, and the UWB signal further includes an SFD field, the second target antenna may be configured to receive the SFD field as at least a portion of the sequence data in the second symbol sequence of the second length.
In one example, when the length of the SYNC field is insufficient to enable the second target antenna to receive the second symbol sequence with the second length in the SYNC field, and the UWB signal further includes a Payload field, the second target antenna is configured to receive the Payload field as the second symbol sequence with the second length.
In some embodiments, antenna switching and channel information extraction may be performed based on these data fields, given that other field contents, such as SFD, payload, STS, etc., are also included in the PPDU format of the UWB signal.
It should be noted that, based on the field SFD, payload, STS, the channel information is extracted, and reference may be made to the related schematic description of the SYNC field, which is not further developed here.
In some embodiments, the STS field configured by the UWB signal in the PPDU format has its own format, i.e., one to four gaps may be typically configured in the STS field, such as a single STS field configured with two gaps and a double STS field configured with three gaps as shown in fig. 9. Therefore, antenna switching and channel information extraction can be performed based on the own characteristics of the STS field format.
As shown in fig. 10, when the STS field is configured in the PPDU format of the UWB signal, switching the target antenna to an operating state for a preset time by a switch so that the target antenna is used to receive the UWB signal may include:
During a first Gap, switching a first target antenna into an operating state through the switch, so that the first target antenna receives a first STS sequence of the STS field during an STS active block (such as STS ACTIVE block in the figure) which is immediately behind the first Gap;
and switching a second target antenna into an operating state through the switch during a second Gap, so that the second target antenna receives a second STS sequence of the STS field during an STS active block immediately following the second Gap.
It should be noted that, during each Gap, the corresponding receiving antenna may be switched to an operating state, and thus, the antenna in the operating state may receive the STS sequence immediately following the Gap.
In some embodiments, whereas the STS field configured by the UWB signal in PPDU format has SRMARKER identifiers (which may be noted as additional RMarker) in addition to the Gap characteristics, the STS field is correspondingly configured with a total of 4 SRMARKER identifiers SRMARKER through SRMARKER4 in fig. 11, these SRMARKER flags being used to define the beginning and end of a single STS field. Thus, antenna switching may be performed based on these SRMARKER identifications.
The UWB signal includes an appendage RMarker and an STS field, wherein the appendage RMarker tag is used to define the beginning and end of a single STS field, where switching the target antenna to an active state by a switch for a preset time to cause the target antenna to receive the UWB signal may include switching the first target antenna to an active state by the switch during Gap immediately following the first appendage RMarker tag to cause the first target antenna to receive the first UWB signal when the first appendage RMarker tag is detected, and switching the second target antenna to an active state by the switch during Gap immediately following the next appendage RMarker tag to cause the second target antenna to receive the second UWB signal when the next appendage RMarker tag is detected.
Based on the same inventive concept, the embodiments of the present disclosure provide a UWB signal incident angle processing system to obtain an incident angle with higher accuracy based on the aforementioned UWB signal incident angle processing method.
As shown in fig. 12, a UWB signal incidence angle processing system may include a target antenna, a switch, and a receiver, wherein the receiver includes a radio frequency unit and a baseband processing unit, the radio frequency unit being configured with a plurality of the target antennas through the switch;
wherein the target antenna comprises at least a first antenna and a second antenna so that the receiver can receive UWB signals based on the plurality of antennas;
The radio frequency unit may include a radio frequency front end unit for processing radio frequency signals, such as an amplifier, a filter, etc.;
the baseband processing unit is configured to perform the following operations:
switching the target antenna into a working state within a preset time through the switch so that the target antenna is used for receiving UWB signals;
extracting channel information corresponding to the target antenna in a working state according to the demodulated UWB signal;
And determining the time difference of the UWB signal incident to the target antenna in the working state according to the channel information, and determining the incident angle according to the time difference.
Optionally, when the UWB signal includes a SYNC field, the baseband processing unit is further configured to:
After a first target antenna is switched to a working state, when a first symbol sequence with a first length in the SYNC field is received through the first target antenna, a second target antenna is switched to the working state through the switch so that the second target antenna is used for receiving a second symbol sequence with a second length in the SYNC field;
And performing correlation operation on the first local sequence and the first symbol sequence to obtain a first correlation coefficient, wherein the first correlation coefficient is used as first channel information corresponding to the first target antenna when receiving the UWB signal.
Optionally, the baseband processing unit is further configured to:
Performing correlation operation on the second local sequence and the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as second channel information corresponding to the second target antenna when receiving the UWB signal;
Determining an incident angle of the UWB signal incident to the first target antenna and the second target antenna according to the first channel information and the second channel information, wherein the relationship between the incident angle and the channel information is as follows:
Wherein θ is an incident angle of the UWB signal incident on the first and second target antennas, c is a speed of light, D is a distance between the first and second target antennas, and Δτ is a time difference of determining the UWB signal incident on the first and second target antennas according to the first and second channel information.
Optionally, performing a cyclic correlation operation with the symbol length as a period length to obtain a first correlation coefficient, where a relationship between the first correlation coefficient and the first local sequence and the first symbol sequence is as follows:
Wherein x i (n) is a correlation coefficient, s 0 i (n) is an i-th symbol sequence, s 1 i (n) is a first local sequence for performing a correlation operation on each i-th symbol sequence, where n=0, 1.
Optionally, the data smoothing using the correlation coefficient averaged over the N symbol sequences obtains a first correlation coefficient as the first channel information:
The first channel information is denoted by h 1 (N), where N is an integer greater than 1.
Optionally, when the UWB signal further includes an SFD field, the baseband processing unit is further configured to, when the length of the SYNC field is insufficient to enable the second target antenna to receive a second symbol sequence of a second length in the SYNC field, the second target antenna is configured to receive the SFD field as at least a portion of sequence data in the second symbol sequence of the second length.
Optionally, when the UWB signal further includes a Payload field, the baseband processing unit is further configured to, when the length of the SYNC field is insufficient to enable the second target antenna to receive the second symbol sequence of the second length in the SYNC field, receive the Payload field as at least a portion of the sequence data in the second symbol sequence of the second length.
Optionally, when the UWB signal includes an STS field, the baseband processing unit is further configured to:
During a first Gap, switching a first target antenna into an operating state through the switch, so that the first target antenna receives a first STS sequence of the STS field during a STS active block immediately following the first Gap;
and switching a second target antenna into an operating state through the switch during a second Gap, so that the second target antenna receives a second STS sequence of the STS field during an STS active block immediately following the second Gap.
Optionally, when the UWB signal includes an additional RMarker and STS fields, wherein an additional RMarker tag is used to define the beginning and end of a single STS field, the baseband processing unit is further configured to:
The first target antenna is switched into an operating state by a switch during a Gap immediately following the first additional RMarker marker when the first additional RMarker marker is detected, such that the first target antenna is used to receive the first UWB signal, and the second target antenna is switched into an operating state by a switch during a Gap immediately following the next additional RMarker marker when the next additional RMarker marker is detected, such that the second target antenna is used to receive the second UWB signal.
Based on the same inventive concept, the embodiment of the present disclosure provides an electronic device for UWB signal incident angle processing corresponding to the UWB signal incident angle processing method of any one of the previous embodiments, the electronic device including at least one processor, and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the UWB signal incident angle processing method according to any one of the embodiments of the present disclosure.
Based on the same inventive concept, the present embodiments provide a computer storage medium for UWB signal incident angle processing, the computer storage medium storing computer-executable instructions that, when executed by a processor, perform the steps of UWB signal incident angle processing as provided in any of the embodiments of the present description.
It should be noted that the computer storage media may include, but is not limited to, portable disks, hard disks, random access memories, read-only memories, erasable programmable read-only memories, optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.
In a possible embodiment, the application may also provide that the data processing is implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps of the method as described in any of the preceding embodiments, when said program product is run on said terminal device.
Wherein the program code for carrying out the application may be written in any combination of one or more programming languages, which program code may execute entirely on the user device, partly on the user device, as a stand-alone software package, partly on the user device and partly on the remote device or entirely on the remote device.
Based on the same inventive concept, the embodiments of the present disclosure provide a UWB signal positioning method, which can obtain an incident angle with higher accuracy based on the foregoing UWB signal incident angle processing method and perform accurate positioning after receiving a UWB signal sent by a positioning device through the same receiver device.
As shown in fig. 13, a UWB signal positioning method includes:
step S402, obtaining at least one incident angle, wherein the incident angle is an incident angle determined based on the UWB signal transmitted by at least one positioning device by the UWB signal incident angle processing method according to any of the previous embodiments;
and step S406, positioning the position of the target based on the incidence angle.
It should be noted that, the positioning may determine a specific processing manner, such as orientation, ranging, determining coordinate information, and the like, according to application needs, which is not limited herein. Accordingly, in positioning application, the corresponding positioning calculation can be performed by combining the incident angle after ranging based on the UWB signal fully according to the positioning calculation requirement.
In one example, a positioning application may be based on a single AOA base station. As shown in fig. 14, for a certain target location in the target plane, a receiver (such as a receiver in the form of a tag) may be placed at the target location, and then the UWB signal transmitted by a single AOA base station is utilized, so that the incident angle of the UWB signal transmitted by the AOA base station may be obtained based on the UWB signal incident angle processing method according to any one of the embodiments provided herein. Based on the positioning mode of an AOA base station, not only can directional measurement be performed through an incident angle, but also distance measurement can be realized based on UWB signals, so that the positioning measurement of a target position (such as the position of a receiver) is realized according to parameters such as a pitch angle, an azimuth angle, a height (such as the height of a target plane and the height of a reference plane, and the difference of the two heights) and the like by combining the distance and the angle. It should be noted that, based on the positioning method provided in the present specification, not only the signal direction (i.e. orientation) can be measured, but also the ranging with high precision (such as centimeter level) can be obtained, the positioning is more accurate, and the positioning precision is not affected by the height between the target plane and the reference plane.
In one example, a positioning application may be performed based on at least two AOA base stations. As shown in fig. 15, by determining the incident angles θ1 and θ2 corresponding to the first positioning device and the second positioning device, and according to the known distance S between the two positioning devices, the target position where the receiver is located, such as the distance r1 from the first positioning device, the distance r2 from the second positioning device, and the like, can be determined, and specific coordinate information and the like can be determined based on these parameters.
It should be noted that, although two positioning devices are schematically illustrated for positioning, it should be understood by those skilled in the art that the number of positioning devices may be configured according to the application scenario, for example, only one positioning device may be configured for a one-dimensional positioning scenario, or more than two positioning devices may be configured for a two-dimensional positioning scenario, or more than three positioning devices may be configured for a three-dimensional positioning scenario, or the like.
Based on the same inventive concept, the embodiments of the present disclosure provide a UWB signal positioning system that can perform accurate positioning based on the aforementioned UWB signal positioning method.
As shown in fig. 16, a UWB signal positioning system may include a reception processing unit 101 and at least one positioning device (denoted as first positioning device 103). The first positioning device 103 transmits a UWB signal, and the receiving and processing unit 101 is configured to obtain an incident angle corresponding to the positioning device, and perform positioning processing on the target according to the incident angle, where the incident angle is an incident angle corresponding to the positioning device determined based on the method for processing an incident angle of the UWB signal in any one of the foregoing embodiments.
It should be noted that the receiving processing unit 101 may be an internal unit of the receiver located at the target location, or may be an external unit of the receiver, for example, a back-end computer, a server, or the like. Therefore, the form of the reception processing unit is not particularly limited. In addition, the positioning device may be an AOA base station, which is not limited herein.
Based on the same inventive concept, the embodiment of the present specification provides an electronic device for UWB signal positioning, comprising at least one processor, and a memory communicatively connected with the at least one processor, wherein the memory stores instructions executable by the at least one processor, the instructions being executable by the at least one processor to enable the at least one processor to perform the UWB signal positioning method according to any one of the embodiments of the present specification.
The description of the electronic device may refer specifically to the description modes of the foregoing embodiments, and will not be explained here.
Based on the same inventive concept, the present embodiments provide a computer storage medium for UWB signal positioning, the computer storage medium storing computer executable instructions that, when executed by a processor, perform any of the UWB signal positioning methods provided by the embodiments of the present description.
The description of the computer storage medium refers specifically to the description of the foregoing embodiments, and will not be explained here.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment focuses on differences from other embodiments. In particular, for the product embodiments described later, since they correspond to the methods, the description is relatively simple, and reference is made to the description of parts of the system embodiments.
The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any changes or substitutions easily contemplated by those skilled in the art within the scope of the present application should be included in the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims (18)

1.一种UWB信号入射角处理方法，其特征在于，包括：1. A method for processing the incident angle of a UWB signal, comprising: 通过开关在预设时间内将目标天线切换为工作状态以使目标天线用于接收UWB信号；Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive UWB signals; 根据所述UWB信号提取处于工作状态的所述目标天线对应的信道信息；Extracting channel information corresponding to the target antenna in working state according to the UWB signal; 根据所述信道信息确定所述UWB信号入射到处于工作状态的所述目标天线的时间差，并根据所述时间差确定入射角；Determine a time difference of the UWB signal incident on the target antenna in the working state according to the channel information, and determine an incident angle according to the time difference; 其中，多径的入射角θi与多径在目标天线的到达时间之间关系满足：(τi,m-τi,1)c=(m-1)dsinθi，其中θi是第i条UWB信号的多径入射到天线阵列时的入射到达角度，τi,m-τi,1为第i条多径在目标天线的传输时延估计，τi,m是第i条多径在第m个天线单元上的传输时延，τi,1是第i条多径在第1个天线单元上的传输时延，c为光速，m为目标天线的阵元个数，d为目标天线中相邻阵元之间的间距；Among them, the relationship between the incident angle θ i of the multipath and the arrival time of the multipath at the target antenna satisfies: (τ i,m -τ i,1 )c=(m-1)dsinθ i , where θ i is the incident arrival angle of the multipath of the i-th UWB signal when it is incident on the antenna array, τ i,m -τ i,1 is the transmission delay estimate of the i-th multipath at the target antenna, τ i,m is the transmission delay of the i-th multipath on the m-th antenna unit, τ i,1 is the transmission delay of the i-th multipath on the 1st antenna unit, c is the speed of light, m is the number of array elements of the target antenna, and d is the spacing between adjacent array elements in the target antenna; 所述UWB信号包含有SYNC字段；The UWB signal includes a SYNC field; 通过开关在预设时间内将目标天线切换为工作状态以使目标天线用于接收UWB信号包括：在将第一目标天线切换为工作状态后，当通过所述第一目标天线接收到所述SYNC字段中第一长度的第一符号序列时，通过所述开关将第二目标天线切换为工作状态以使所述第二目标天线用于接收所述SYNC字段中第二长度的第二符号序列；Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive the UWB signal includes: after switching the first target antenna to a working state, when a first symbol sequence of a first length in the SYNC field is received by means of the first target antenna, switching the second target antenna to a working state by means of the switch so that the second target antenna is used to receive a second symbol sequence of a second length in the SYNC field; 根据所述UWB信号提取处于工作状态的所述目标天线对应的信道信息包括：利用第一本地序列与所述第一符号序列进行相关运算得到第一相关系数，其中所述第一相关系数用于作为所述第一目标天线接收所述UWB信号时对应的第一信道信息。Extracting channel information corresponding to the target antenna in working state according to the UWB signal includes: using a first local sequence to perform a correlation operation with the first symbol sequence to obtain a first correlation coefficient, wherein the first correlation coefficient is used as the first channel information corresponding to when the first target antenna receives the UWB signal. 2.根据权利要求1所述的方法，其特征在于，所述方法还包括：2. The method according to claim 1, characterized in that the method further comprises: 利用第二本地序列与所述第二符号序列进行相关运算得到第二相关系数，其中所述第二相关系数用于作为所述第二目标天线接收所述UWB信号时对应的第二信道信息；Performing a correlation operation on the second local sequence and the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as second channel information corresponding to when the second target antenna receives the UWB signal; 根据所述第一信道信息和所述第二信道信息确定所述UWB信号入射到所述第一目标天线和所述第二目标天线的入射角，入射角与信道信息之间的关系如下：The incident angle of the UWB signal incident on the first target antenna and the second target antenna is determined according to the first channel information and the second channel information, and the relationship between the incident angle and the channel information is as follows: 其中，θ为所述UWB信号入射到所述第一目标天线和所述第二目标天线的入射角，c为光速，D为所述第一目标天线和所述第二目标天线之间的距离，△τ为根据所述第一信道信息和所述第二信道信息确定所述UWB信号入射到所述第一目标天线和所述第二目标天线的时间差。Wherein, θ is the incident angle of the UWB signal incident on the first target antenna and the second target antenna, c is the speed of light, D is the distance between the first target antenna and the second target antenna, and Δτ is the time difference between the UWB signal incident on the first target antenna and the second target antenna determined based on the first channel information and the second channel information. 3.根据权利要求1所述的方法，其特征在于，以符号长度为周期长度进行循环相关运算得到第一相关系数，其中第一相关系数与第一本地序列和第一符号序列之间的关系如下：3. The method according to claim 1, characterized in that a first correlation coefficient is obtained by performing a cyclic correlation operation with a symbol length as a period length, wherein the relationship between the first correlation coefficient and the first local sequence and the first symbol sequence is as follows: 其中，xi(n)为相关系数，为第i个符号序列，为用于对第i个符号序列进行相关运算的第一本地序列，其中n=0，1，.....，L-1，L为符号长度。Among them, x i (n) is the correlation coefficient, is the i-th symbol sequence, is the first local sequence used to perform a correlation operation on the i-th symbol sequence, where n=0, 1, ..., L-1, and L is the symbol length. 4.根据权利要求3所述的方法，其特征在于，采用N个符号序列的相关系数作平均的数据平滑得到第一相关系数以作为第一信道信息：4. The method according to claim 3, characterized in that the first correlation coefficient is obtained as the first channel information by using the correlation coefficients of N symbol sequences to average data smoothing: 其中，第一信道信息记为h1(n)，N为大于1的整数。The first channel information is recorded as h 1 (n), and N is an integer greater than 1. 5.根据权利要求1所述的方法，其特征在于，所述UWB信号还包含有SFD字段，当所述SYNC字段的长度不足以使得所述第二目标天线接收到所述SYNC字段中第二长度的第二符号序列时，所述第二目标天线用于接收所述SFD字段以作为第二长度的第二符号序列中至少一部分序列数据。5. The method according to claim 1 is characterized in that the UWB signal also includes an SFD field, and when the length of the SYNC field is insufficient for the second target antenna to receive the second symbol sequence of the second length in the SYNC field, the second target antenna is used to receive the SFD field as at least a part of the sequence data in the second symbol sequence of the second length. 6.根据权利要求1所述的方法，其特征在于，所述UWB信号还包含有Payload字段，当所述SYNC字段的长度不足以使得所述第二目标天线接收到所述SYNC字段中第二长度的第二符号序列时，所述第二目标天线用于接收所述Payload字段以作为第二长度的第二符号序列中至少一部分序列数据。6. The method according to claim 1 is characterized in that the UWB signal also includes a Payload field, and when the length of the SYNC field is insufficient for the second target antenna to receive the second symbol sequence of the second length in the SYNC field, the second target antenna is used to receive the Payload field as at least a portion of sequence data in the second symbol sequence of the second length. 7.根据权利要求1所述的方法，其特征在于，所述UWB信号包含有STS字段；7. The method according to claim 1, characterized in that the UWB signal includes an STS field; 通过开关在预设时间内将目标天线切换为工作状态以使目标天线用于接收UWB信号包括：Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive the UWB signal includes: 在第一个Gap期间，通过所述开关将第一目标天线切换为工作状态，以使第一目标天线在紧随所述第一个Gap后的STS活动块期间接收所述STS字段的第一STS序列；During the first Gap, the first target antenna is switched to a working state by the switch, so that the first target antenna receives the first STS sequence of the STS field during the STS activity block immediately following the first Gap; 以及，在第二个Gap期间，通过所述开关将第二目标天线切换为工作状态，以使所述第二目标天线在紧随所述第二个Gap后的STS活动块期间接收所述STS字段的第二STS序列。And, during the second Gap period, the second target antenna is switched to an operating state through the switch, so that the second target antenna receives the second STS sequence of the STS field during the STS activity block immediately following the second Gap. 8.根据权利要求1所述的方法，其特征在于，所述UWB信号包含有附加RMarker和STS字段，其中附加RMarker标记用于定义单个STS字段的开始和结束；8. The method according to claim 1, characterized in that the UWB signal comprises an additional RMarker and an STS field, wherein the additional RMarker mark is used to define the start and end of a single STS field; 通过开关在预设时间内将目标天线切换为工作状态以使目标天线用于接收UWB信号包括：Switching the target antenna to a working state within a preset time by means of a switch so that the target antenna is used to receive the UWB signal includes: 在检测到第一个附加RMarker标记时，在紧随第一个附加RMarker标记的Gap期间通过开关将第一目标天线切换为工作状态以使第一目标天线用于接收第一UWB信号，以及在检测到下一个附加RMarker标记时，在紧随所述下一个附加RMarker标记的Gap期间通过开关将第二目标天线切换为工作状态以使第二目标天线用于接收第二UWB信号。When the first additional RMarker mark is detected, the first target antenna is switched to the working state through the switch during the gap immediately following the first additional RMarker mark so that the first target antenna is used to receive the first UWB signal, and when the next additional RMarker mark is detected, the second target antenna is switched to the working state through the switch during the gap immediately following the next additional RMarker mark so that the second target antenna is used to receive the second UWB signal. 9.一种UWB信号入射角处理系统，其特征在于，包括目标天线、开关和接收机，其中所述接收机包括射频单元和基带处理单元，所述射频单元通过所述开关配置有多个所述目标天线；9. A UWB signal incident angle processing system, characterized in that it comprises a target antenna, a switch and a receiver, wherein the receiver comprises a radio frequency unit and a baseband processing unit, and the radio frequency unit is configured with a plurality of the target antennas through the switch; 所述基带处理单元被配置为执行以下操作：The baseband processing unit is configured to perform the following operations: 通过所述开关在预设时间内将目标天线切换为工作状态以使目标天线用于接收UWB信号；Switching the target antenna to a working state within a preset time by means of the switch so that the target antenna is used to receive UWB signals; 根据解调出的所述UWB信号提取处于工作状态的所述目标天线对应的信道信息；Extracting channel information corresponding to the target antenna in working state according to the demodulated UWB signal; 根据所述信道信息确定所述UWB信号入射到处于工作状态的所述目标天线的时间差，并根据所述时间差确定的入射角；Determine, according to the channel information, a time difference of the UWB signal incident on the target antenna in a working state, and determine an incident angle according to the time difference; 其中，多径的入射角θi与多径在目标天线的到达时间之间关系满足：(τi,m-τi,1)c=(m-1)dsinθi，其中θi是第i条UWB信号的多径入射到天线阵列时的入射到达角度，τi,m-τi,1为第i条多径在目标天线的传输时延估计，τi,m是第i条多径在第m个天线单元上的传输时延，τi,1是第i条多径在第1个天线单元上的传输时延，c为光速，m为目标天线的阵元个数，d为目标天线中相邻阵元之间的间距；Among them, the relationship between the incident angle θ i of the multipath and the arrival time of the multipath at the target antenna satisfies: (τ i,m -τ i,1 )c=(m-1)dsinθ i , where θ i is the incident arrival angle of the multipath of the i-th UWB signal when it is incident on the antenna array, τ i,m -τ i,1 is the transmission delay estimate of the i-th multipath at the target antenna, τ i,m is the transmission delay of the i-th multipath on the m-th antenna unit, τ i,1 is the transmission delay of the i-th multipath on the 1st antenna unit, c is the speed of light, m is the number of array elements of the target antenna, and d is the spacing between adjacent array elements in the target antenna; 当所述UWB信号包含有SYNC字段时，所述基带处理单元还用于：When the UWB signal includes a SYNC field, the baseband processing unit is further configured to: 在将第一目标天线切换为工作状态后，当通过所述第一目标天线接收到所述SYNC字段中第一长度的第一符号序列时，通过所述开关将第二目标天线切换为工作状态以使所述第二目标天线用于接收所述SYNC字段中第二长度的第二符号序列；After the first target antenna is switched to a working state, when a first symbol sequence of a first length in the SYNC field is received through the first target antenna, the second target antenna is switched to a working state through the switch so that the second target antenna is used to receive a second symbol sequence of a second length in the SYNC field; 利用第一本地序列与所述第一符号序列进行相关运算得到第一相关系数，其中所述第一相关系数用于作为所述第一目标天线接收所述UWB信号时对应的第一信道信息。A first correlation coefficient is obtained by performing a correlation operation on the first local sequence and the first symbol sequence, wherein the first correlation coefficient is used as first channel information corresponding to when the first target antenna receives the UWB signal. 10.根据权利要求9所述的系统，其特征在于，所述基带处理单元还用于：10. The system according to claim 9, wherein the baseband processing unit is further used for: 利用第二本地序列与所述第二符号序列进行相关运算得到第二相关系数，其中所述第二相关系数用于作为所述第二目标天线接收所述UWB信号时对应的第二信道信息；Performing a correlation operation on the second local sequence and the second symbol sequence to obtain a second correlation coefficient, wherein the second correlation coefficient is used as second channel information corresponding to when the second target antenna receives the UWB signal; 根据所述第一信道信息和所述第二信道信息确定所述UWB信号入射到所述第一目标天线和所述第二目标天线的入射角，入射角与信道信息之间的关系如下：The incident angle of the UWB signal incident on the first target antenna and the second target antenna is determined according to the first channel information and the second channel information, and the relationship between the incident angle and the channel information is as follows: 其中，θ为所述UWB信号入射到所述第一目标天线和所述第二目标天线的入射角，c为光速，D为所述第一目标天线和所述第二目标天线之间的距离，△τ为根据所述第一信道信息和所述第二信道信息确定所述UWB信号入射到所述第一目标天线和所述第二目标天线的时间差。Wherein, θ is the incident angle of the UWB signal incident on the first target antenna and the second target antenna, c is the speed of light, D is the distance between the first target antenna and the second target antenna, and Δτ is the time difference between the UWB signal incident on the first target antenna and the second target antenna determined based on the first channel information and the second channel information. 11.根据权利要求9所述的系统，其特征在于，当所述UWB信号还包含有SFD字段时，所述基带处理单元还用于：当所述SYNC字段的长度不足以使得所述第二目标天线接收到所述SYNC字段中第二长度的第二符号序列时，所述第二目标天线用于接收所述SFD字段以作为第二长度的第二符号序列中至少一部分序列数据。11. The system according to claim 9 is characterized in that when the UWB signal also includes an SFD field, the baseband processing unit is also used for: when the length of the SYNC field is insufficient for the second target antenna to receive the second symbol sequence of the second length in the SYNC field, the second target antenna is used to receive the SFD field as at least a part of the sequence data in the second symbol sequence of the second length. 12.根据权利要求9所述的系统，其特征在于，当所述UWB信号还包含有Payload字段时，所述基带处理单元还用于：当所述SYNC字段的长度不足以使得所述第二目标天线接收到所述SYNC字段中第二长度的第二符号序列时，所述第二目标天线用于接收所述Payload字段以作为第二长度的第二符号序列中至少一部分序列数据。12. The system according to claim 9 is characterized in that when the UWB signal also includes a Payload field, the baseband processing unit is also used for: when the length of the SYNC field is insufficient for the second target antenna to receive the second symbol sequence of the second length in the SYNC field, the second target antenna is used to receive the Payload field as at least a portion of sequence data in the second symbol sequence of the second length. 13.根据权利要求9所述的系统，其特征在于，当所述UWB信号包含有STS字段时，所述基带处理单元还用于：13. The system according to claim 9, wherein when the UWB signal includes an STS field, the baseband processing unit is further configured to: 在第一个Gap期间，通过所述开关将第一目标天线切换为工作状态，以使第一目标天线在紧随所述第一个Gap后的STS活动块期间接收所述STS字段的第一STS序列；During the first Gap, the first target antenna is switched to a working state by the switch, so that the first target antenna receives the first STS sequence of the STS field during the STS activity block immediately following the first Gap; 以及，在第二个Gap期间，通过所述开关将第二目标天线切换为工作状态，以使所述第二目标天线在紧随所述第二个Gap后的STS活动块期间接收所述STS字段的第二STS序列。And, during the second Gap period, the second target antenna is switched to an operating state through the switch, so that the second target antenna receives the second STS sequence of the STS field during the STS activity block immediately following the second Gap. 14.根据权利要求9所述的系统，其特征在于，当所述UWB信号包含有附加RMarker和STS字段时，其中附加RMarker标记用于定义单个STS字段的开始和结束，所述基带处理单元还用于：14. The system according to claim 9, wherein when the UWB signal includes an additional RMarker and an STS field, wherein the additional RMarker is used to define the start and end of a single STS field, the baseband processing unit is further used to: 在检测到第一个附加RMarker标记时，在紧随第一个附加RMarker标记的Gap期间通过开关将第一目标天线切换为工作状态以使第一目标天线用于接收第一UWB信号，以及在检测到下一个附加RMarker标记时，在紧随所述下一个附加RMarker标记的Gap期间通过开关将第二目标天线切换为工作状态以使第二目标天线用于接收第二UWB信号。When the first additional RMarker mark is detected, the first target antenna is switched to the working state through the switch during the gap immediately following the first additional RMarker mark so that the first target antenna is used to receive the first UWB signal, and when the next additional RMarker mark is detected, the second target antenna is switched to the working state through the switch during the gap immediately following the next additional RMarker mark so that the second target antenna is used to receive the second UWB signal. 15.一种UWB信号定位方法，其特征在于，包括：15. A UWB signal positioning method, comprising: 获取至少一个入射角，其中入射角为基于如权利要求1至8中任意一项所述的UWB信号入射角处理方法根据至少一个定位设备发射的UWB信号确定出的入射角；Acquire at least one incident angle, wherein the incident angle is an incident angle determined based on the UWB signal incident angle processing method according to any one of claims 1 to 8 according to the UWB signal transmitted by at least one positioning device; 基于所述入射角对目标所在位置进行定位。The position of the target is located based on the incident angle. 16.一种UWB信号定位系统，其特征在于，包括接收处理单元和至少一个定位设备；其中，所述定位设备用于发射UWB信号；所述接收处理单元用于获取所述定位设备对应的入射角，以及基于所述入射角对目标进行定位处理，所述入射角为基于如权利要求1至8中任意一项所述的UWB信号入射角处理方法确定出的入射角。16. A UWB signal positioning system, characterized in that it includes a receiving and processing unit and at least one positioning device; wherein the positioning device is used to transmit UWB signals; the receiving and processing unit is used to obtain the incident angle corresponding to the positioning device, and to position the target based on the incident angle, wherein the incident angle is an incident angle determined based on the UWB signal incident angle processing method according to any one of claims 1 to 8. 17.一种电子设备，其特征在于，包括：17. An electronic device, comprising: 至少一个处理器；以及，与所述至少一个处理器通信连接的存储器；其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行：权利要求1-8中任一项所述的UWB信号入射角处理方法，或权利要求15所述的UWB信号定位方法。At least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute: the UWB signal incident angle processing method described in any one of claims 1 to 8, or the UWB signal positioning method described in claim 15. 18.一种计算机存储介质，其特征在于，所述计算机存储介质存储有计算机可执行指令，所述计算机可执行指令被处理器执行时执行权利要求1-8中任一项所述的UWB信号入射角处理方法，或权利要求15所述的UWB信号定位方法。18. A computer storage medium, characterized in that the computer storage medium stores computer executable instructions, and when the computer executable instructions are executed by a processor, the UWB signal incident angle processing method according to any one of claims 1 to 8, or the UWB signal positioning method according to claim 15 is executed.
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