1. A method of direction finding, comprising:

receiving incoming wave signals by using a pre-constructed direction-finding system to obtain response signals of the coupling amplification circuits corresponding to a plurality of direction-finding baselines in the direction-finding system to the incoming wave signals;

calculating the phase difference measurement value of each direction-finding base line according to the response signal corresponding to each direction-finding base line;

and obtaining an arrival angle estimation value of the incoming wave signal according to the phase difference measurement value of each direction-finding base line and the phase difference theoretical value of each direction-finding base line.

2. The method of claim 1, wherein the direction-finding system is constructed by:

constructing a uniform circular array with multiple array elements, arranging a central array element at the center of the uniform circular array, and uniformly arranging a plurality of circumferential array elements on the circumference;

coupling amplifying circuits are respectively arranged on a plurality of direction-finding baselines formed by a central array element and a plurality of circumferential array elements, two input ends of each coupling amplifying circuit are respectively connected with incoming wave signals received by the direction-finding baselines, output ends of each coupling amplifying circuit are respectively connected with a selection switch, and the selection switches sequentially gate the plurality of coupling amplifying circuits according to set time intervals to obtain response signals of the plurality of coupling amplifying circuits to the incoming wave signals.

3. The method of claim 2, wherein the step of setting the time interval comprises:

and setting the set time interval according to the duration of the incoming wave signal and the direction finding precision of the direction finding system.

4. The method of claim 2, wherein the coupling amplification circuit is configured by:

a first resistor, a first inductor, a first capacitor, a second inductor and a second resistor are connected in series between a first input end and a second input end of the coupling amplifying circuit;

and a third resistor and a third capacitor are connected at the connecting point between the first capacitor and the second capacitor.

5. The method of claim 4, wherein coupling a first resistor, a first inductor, a first capacitor, a second inductor, and a second resistor in series between a first input terminal and a second input terminal of an amplifier circuit comprises:

the first resistor and the second resistor are arranged to be resistors with the same resistance value, the first inductor and the second inductor are arranged to be inductors with the same inductance value, and the first capacitor and the second capacitor are arranged to be capacitors with the same capacitance value.

6. The method of claim 1, wherein obtaining response signals of the coupled amplifying circuits corresponding to the plurality of direction-finding baselines in the direction-finding system to the incoming wave signal comprises:

according to the circuit structure of the coupling amplification circuit, an input and output differential equation set related to voltage signals is constructed, wherein the voltage signals are two groups of voltage signals of the coupling amplification circuit corresponding to each direction-finding base line and responding to incoming wave signals;

and carrying out Fourier transform on two ends of each equation in the input and output differential equation set to obtain two groups of voltage response signals related to phases.

7. The method of claim 6, wherein calculating the phase difference measurement for each directional baseline based on the response signal for each directional baseline comprises:

respectively calculating the imaginary part and the real part of the ratio of the two groups of voltage response signals according to the two groups of voltage response signals of each direction-finding base line;

and calculating a four-quadrant arc tangent function of the ratio of the imaginary part to the real part to obtain the phase difference measured value of each direction-finding base line.

8. The method of claim 1, wherein obtaining the estimated arrival angle of the incoming wave signal according to the measured phase difference value of each direction-finding baseline and the theoretical phase difference value of each direction-finding baseline comprises:

and calculating the arrival angle estimation value of the incoming wave signal by adopting a least square method criterion for the difference value of the phase difference measurement value of each direction-finding base line and the phase difference theoretical value of each base line.

9. A direction-finding device, comprising:

the phase amplification unit is used for receiving incoming wave signals by utilizing a pre-constructed direction-finding system and obtaining response signals of the coupling amplification circuits corresponding to a plurality of direction-finding baselines in the direction-finding system to the incoming wave signals;

the phase difference calculation unit is used for calculating the phase difference measured value of each direction-finding base line according to the response signal corresponding to each direction-finding base line;

and the arrival angle calculation unit is used for obtaining an arrival angle estimation value of the incoming wave signal according to the phase difference measurement value of each direction-finding base line and the phase difference theoretical value of each direction-finding base line.

10. A direction-finding device, comprising:

a memory storing computer-executable instructions;

a processor that, when executed, causes the processor to perform the direction finding method of any one of claims 1-8.

Background

High precision and miniaturization are the permanent issues of direction-finding equipment, are often contradictory and are difficult to be considered at the same time. For example: for a phase interferometer direction-finding system, on the premise of giving a phase difference measurement error, in order to reduce the direction-finding error, the general method is to increase the length of a base line.

Considering that in various direction-finding methods commonly used at present, the signals received by each antenna element are generally independent, and if a coupling circuit is added between the elements, there is a possibility that both high accuracy and miniaturization are achieved? In the biological field, it has been clarified that a living being realizes high-precision positioning of a sound source based on an ultra-short baseline and has been extensively studied, the Ormifia Brown fly. Therefore, studying their auditory system and emulating similar circuitry in a direction-finding system appears to be a viable approach to achieving high accuracy and miniaturization.

At present, based on the working principle of the auditory system of the oromyza fusca, a two-unit ultrashort baseline phase interferometer direction-finding system similar to the auditory system of the oromyza fusca has been proposed in the related art, however, in practical application, the two-unit phase interferometer direction-finding system has some significant defects: firstly, the method comprises the following steps: the direction finding range is limited; secondly, the direction-finding precision is extremely deteriorated at the edge of the coverage area, and an accurate direction-finding result is difficult to give to incoming waves in the area; thirdly, the length of the base line of the unambiguous direction finding is limited to a half-wavelength range, thereby limiting the direction finding accuracy of each incoming wave direction.

Disclosure of Invention

The present application aims to solve at least one of the above technical drawbacks, and particularly provides the following technical solution to achieve both miniaturization and high-precision direction finding of a direction finding system while making full use of the advantages of a multi-array element phase interferometer direction finding system.

The embodiment of the application adopts the following technical scheme:

in one aspect of the present application, a direction finding method is provided, including: receiving incoming wave signals by using a pre-constructed direction-finding system to obtain response signals of the coupling amplification circuits corresponding to a plurality of direction-finding baselines in the direction-finding system to the incoming wave signals; calculating the phase difference measurement value of each direction-finding base line according to the response signal corresponding to each direction-finding base line; and obtaining an arrival angle estimation value of the incoming wave signal according to the phase difference measurement value of each direction-finding base line and the phase difference theoretical value of each direction-finding base line.

In another aspect of the present application, there is also provided a direction-finding device, including: the phase amplification unit is used for receiving incoming wave signals by utilizing a pre-constructed direction-finding system and obtaining response signals of the coupling amplification circuits corresponding to a plurality of direction-finding baselines in the direction-finding system to the incoming wave signals; the phase difference calculation unit is used for calculating the phase difference measured value of each direction-finding base line according to the response signal corresponding to each direction-finding base line; and the arrival angle calculation unit is used for obtaining an arrival angle estimation value of the incoming wave signal according to the phase difference measurement value of each direction-finding base line and the phase difference theoretical value of each direction-finding base line.

In yet another aspect of the present application, there is also provided a direction-finding device, including: a memory storing computer-executable instructions; a processor which, when executed, causes the processor to perform the above direction-finding method.

In yet another aspect of the present application, there is also provided a computer-readable storage medium storing one or more programs which, when executed by a direction-finding apparatus including a plurality of application programs, cause the direction-finding apparatus to perform the above direction-finding method.

The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:

according to the method and the device, a direction-finding system comprising a plurality of direction-finding baselines is constructed to receive incoming wave signals, the plurality of direction-finding baselines can carry out omnidirectional direction finding on far-field signals and are not limited by a direction-finding direction, the received incoming wave signals are subjected to phase difference amplification through a coupling amplification circuit of the plurality of direction-finding baselines, and then response signals after the phase difference amplification are obtained, so that the length of the direction-finding baselines is not required to be increased, the arrival angle of the incoming wave signals with high precision can be calculated based on the response signals, the miniaturization and high precision of the device are facilitated, the arrival angle is calculated by adopting the response signals of the plurality of direction-finding baselines, the direction-finding precision of direction-finding edges is greatly improved, ambiguity resolution processing is not required, and the direction-finding precision of the incoming wave directions is not limited.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a flow chart of a direction finding method according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of a multi-array interferometer direction-finding system according to an embodiment of the present application;

FIG. 3 is a schematic diagram of a coupling amplifier circuit according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a coordinate system shown in an embodiment of the present application;

FIG. 5 is a schematic diagram illustrating phase difference amplification factors of direction-finding baselines at arrival angles according to an embodiment of the present application;

FIG. 6 is a comparison graph of the directional error of each angle of arrival shown in the embodiments of the present application;

FIG. 7 is a schematic diagram illustrating a reduction factor of a direction-finding error of each angle of arrival according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a direction-finding device according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of another direction-finding device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Fig. 1 is a flowchart of a direction finding method according to an embodiment of the present disclosure, and as shown in fig. 1, the method according to the present disclosure includes steps S110 to S130:

step S110, receiving an incoming wave signal by using a pre-constructed direction-finding system, and obtaining response signals of the coupling amplifying circuits corresponding to the plurality of direction-finding baselines in the direction-finding system to the incoming wave signal.

The plurality of direction-finding baselines are generally more than 5 direction-finding baselines, for example, the direction-finding system is a five-baseline direction-finding system, a seven-baseline direction-finding system, or the like.

The direction-finding system of the embodiment is a multi-array element phase interferometer direction-finding system, a plurality of direction-finding baselines are formed between every two array element structures in the phase interferometer direction-finding system, each direction-finding baseline is correspondingly provided with a coupling amplifying circuit, and response signals to incoming wave signals are obtained by using the coupling amplifying circuits.

And step S120, calculating the phase difference measured value of each direction-finding base line according to the response signal corresponding to each direction-finding base line.

After the response signals of each direction-finding baseline are obtained, Fourier transform can be carried out on the response signals to obtain the response signals in the frequency domain, and the phase difference measured values of each direction-finding baseline can be obtained by calculating the argument of the response signals in the frequency domain.

And step S130, obtaining an arrival angle estimated value of the incoming wave signal according to the phase difference measured value of each direction-finding base line and the phase difference theoretical value of each direction-finding base line.

The phase difference theoretical value of each direction-finding base line is calculated by using the existing method, such as a flow pattern matrix method based on a direction-finding system in a textbook, and the difference between the phase difference measured value and the phase difference theoretical value is minimized due to the fact that direction-finding errors are mixed in the phase difference measured value, and the arrival angle of the wave signal can be estimated.

As shown in fig. 1, in this embodiment, a direction-finding system including a plurality of direction-finding baselines is constructed to receive an incoming wave signal, the plurality of direction-finding baselines can perform omnidirectional direction finding on a far-field signal without being limited by a direction-finding azimuth, the received incoming wave signal is subjected to phase difference amplification by using the coupling amplification circuits of the plurality of direction-finding baselines, and then a response signal after the phase difference amplification is obtained, so that the arrival angle of the incoming wave signal with high precision can be calculated based on the response signal without increasing the length of the direction-finding baselines, which is helpful for realizing miniaturization and high precision of the device, and the arrival angle is calculated by using the response signals of the plurality of direction-finding baselines, so that not only is the direction-finding precision of a direction-finding edge greatly improved, but also the direction-finding precision of the incoming wave direction is not limited.

For the convenience of describing the calculation process of the arrival angle of the incoming wave signal, the present application first describes a multi-element phase interferometer direction-finding system through the following embodiments.

In the embodiment, a uniform circular array with multiple array elements is constructed, a central array element is arranged at the center of the uniform circular array, a plurality of circumferential array elements are uniformly arranged on the circumference, coupling amplification circuits are respectively arranged on a plurality of direction-finding baselines formed by the central array element and the plurality of circumferential array elements, two input ends of each coupling amplification circuit are respectively connected with incoming wave signals received by the direction-finding baselines where the coupling amplification circuit is located, output ends of each coupling amplification circuit are respectively connected with a selection switch, and the selection switches sequentially gate the coupling amplification circuits according to a set time interval to obtain response signals of the coupling amplification circuits to the incoming wave signals.

It should be noted that the direction-finding system of this embodiment may also adopt other array types, for example, a phase interferometer direction-finding system is constructed by using a uniform linear array of multiple array elements, and this embodiment is not specifically limited to the array result adopted by the direction-finding system.

As shown in fig. 2, a central array element a0 is provided at the center of the uniform circular array, and N circumferential array elements, here denoted in sequence as a1, … …, AN, are arranged uniformly on a circle with a radius r. A coupling square amplifying circuit, which is marked as a coupling amplifying circuit i, is arranged between each array element Ai (i is 1, … …, N) and the central array element a0 on the circumference. The coupling amplifying circuit i is provided with two paths of inputs and two paths of outputs, the two paths of inputs are respectively connected with incoming wave signals of the central array element A0 and the circumferential array elements Ai, the two paths of outputs are respectively sent to the selection switch, and the selection switch sequentially gates response signals output by the coupling amplifying circuit between the array elements A0 Ai. And a subsequent circuit of the selection switch filters, amplifies and samples the two gated response signals, and finally performs phase difference extraction and direction finding processing on the two sampled signals. Since the selection, filtering, amplifying, sampling and other processing circuits have no difference from the circuits of the conventional interferometer direction-finding system, only the coupling amplifying circuit is specifically described here.

A first resistor R1, a first inductor L1, a first capacitor C1, a second capacitor C2, a second inductor L2 and a second resistor R2 are connected in series between a first input end and a second input end of the coupling amplifying circuit, a third resistor R3 and a third capacitor C3 are connected in series at a connection point between a first capacitor C1 and a second capacitor C2 in sequence, the first resistor R1 and the second resistor R2 are set to be resistors R with the same resistance value, the first inductor L1 and the second inductor L2 are set to be inductors L with the same inductance value, and the first capacitor C1 and the second capacitor C2 are set to be capacitors C with the same capacitance value.

As shown in FIG. 3, taking the coupling amplifier circuit corresponding to the ith direction-finding baseline as an example, the first input end v_o(t) and a second input terminal v_i(t) a resistor R, an inductor L, a capacitor C, an inductor L and a resistor R are sequentially connected in series, a third resistor R3 and a third capacitor C3 are connected at the connecting point of the two capacitors C, and a third capacitor C3 and a first input end v are connected with each other_o(t) and a second input terminal v_i(t) are also respectively grounded. Here a first input v_o(t) receiving an incoming signal from a central array element A0, a second input terminal v_i(t) receiving an incoming signal from a circumferential array element Ai, current i in FIG. 3_oAnd current i_iRespectively, the output currents of the coupled amplifying circuits.

After the direction-finding system is constructed, the direction-finding system can be used for receiving incoming wave signals, the selection switch gates response signals of the coupling amplifying circuits corresponding to the direction-finding baselines according to the set time interval delta t, wherein the set time interval Δ t can be set according to the duration of the incoming wave signal and the direction-finding accuracy of the direction-finding system, the greater the value of the set time interval Δ t, the higher the direction-finding accuracy, but if the set time interval Δ t is too large, in the duration of the incoming wave signal, the response signals of all the coupled amplifying circuits to the incoming wave signal may not be obtained, that is, the time interval Δ t is set so that the selection switch at least completes one round of gating in the duration of the incoming wave signal to obtain the response signal of each coupled amplifying circuit to the incoming wave signal, and on the basis of the response signals, the appropriate set time interval Δ t is set based on the direction-finding accuracy.

When measuring the phase difference of incoming wave signals, constructing an input-output differential equation related to voltage signals according to the circuit structure of the coupling amplification circuit, wherein the voltage signals are two groups of voltage signals of the coupling amplification circuit corresponding to each direction-finding base line responding to the incoming wave signals; fourier transform is carried out on two ends of each equation in the input and output differential equation set to obtain two groups of voltage response signals related to phases, wherein the two groups of voltage response signals are response signals of the coupling amplifying circuit to incoming wave signals.

Taking the coupling amplifying circuit corresponding to the ith direction-finding baseline shown in fig. 3 as an example, the input-output differential equation corresponding to the coupling amplifying circuit can be constructed as follows:

in formula (1), u_o(t) and u_i(t) are the voltages at the two ends of the first capacitor and the second capacitor in fig. 3, respectively, and also are the first output end and the second output end of the coupling amplifying circuit, where the first output end is generally the base end connected to the selection switch, and the second output end is generally the gate end connected to the selection switch; in the formula (1), also Andare each v_i(t) a second order differential and a first order differential over time t,andare each v_o(t) two and one differential over time t.

Fourier transform of the above equation (1) yields:

in formula (2), U_i(omega) and U_o(ω) represents u, respectively_i(t) and u_o(t) Fourier transform, V_i(omega) and V_o(ω) eachDenotes v_i(t) and v_o(t), ω is the frequency,

adding the above-mentioned N₁(ω)、N₂(ω) and P (ω) are substituted into the above formula (2) to obtain:

in order to simplify the representation of the response signal, the following conversion process is performed on the above equation (3).

For the uniform circular array of N +1 array elements shown in fig. 1, without loss of generality, a coordinate system of a direction-finding system shown in fig. 4 is established, assuming that the connection line of the array elements A0a1 is the y-axis, determining the x-axis by a right-hand spiral rule, and simultaneously clockwise rotating the y-axis to the included angle of an incoming wave vector is the arrival angle α.

With the central array element A0 as the reference array element, V can be assumed without loss of generality_o(ω) 1, so thatWherein the content of the first and second substances,and c is the speed of light. At this time, willAnd V_oFormula (3) may be substituted with (ω) ═ 1 to obtain:

u in the above formula (4)_i(omega) and U_oAnd (omega) is the response signal output by the coupling amplification circuit of the ith direction-finding base line.

Here, the response signals output by each of the coupled amplifying circuits are two sets, U_i(omega) corresponding to the arrival wave signal path of the circumferential array element AiResponse signal, U, obtained after over-coupling the amplifying circuit_oAnd (omega) corresponds to a response signal obtained after the central array element A0 passes through the coupling amplification circuit for the incoming wave signal.

After the response signals corresponding to each direction-finding base line are obtained, the imaginary part and the real part of the ratio of the two groups of voltage response signals can be respectively calculated according to the two groups of voltage response signals of each direction-finding base line; and calculating a four-quadrant arc tangent function of the ratio of the imaginary part to the real part to obtain the phase difference measured value of each direction-finding base line. Specifically, the phase difference measurement value of each direction finding base line can be calculated by the following formula (5)

In equation (5), the operator arg (X) refers to the argument of complex number X, the operator imag (X) refers to the imaginary part of complex number X, the operator real (X) refers to the real part of complex number X, and the operator atan2(Y) refers to the quadrant arctangent function of real number Y.

In this embodiment, the difference between the phase difference measurement value of each direction-finding baseline and the phase difference theoretical value of each baseline is calculated by using the least square method, that is, the arrival angle estimation value can be calculated according to equation (6)

In the formula (6), the vectorVector f (α) ═ f₁(α),...,f_N(α)]^T，f_N(α) is based on the direction-finding system flow when the angle of arrival is αThe phase difference of the direction-finding base line A0Ai obtained by type matrix calculation after coupling and amplification, the variable ξ is the incoming wave direction variable, and the operator | | | A | | | refers to the two norms of the vector A.

After the steps, the arrival angle estimated value of the incoming wave direction can be obtained.

To illustrate the accuracy of the arrival angle in the incoming wave direction obtained by the direction finding method of this embodiment, a specific application scenario is taken as an example, in which a uniform circular array with six array elements (five array elements are circumferentially arranged) is used to receive a far-field signal with a frequency of 30MHz, and the received far-field signal is amplified by a coupling and amplifying circuit, where the parameters R of the coupling and amplifying circuit are 0.5 Ω and R is 0.5 Ω₃＝20Ω、L＝5×10^-11H、C＝1×10^-5C、 C₃＝2×10^-5C. The radius of the uniform circular array is 0.5 m, and fig. 5 shows the phase difference amplification times of the five direction-finding baselines for each wave arrival angle (i.e. the arrival angle of the incoming wave signal) through the coupling amplification circuit, so that each base line can averagely amplify the phase difference by about 50 times.

Assuming phase difference direction errorIn the meantime, fig. 6 shows the statistical value of the direction-finding error of each angle of arrival (2000 samples per angle of arrival), and in order to intuitively explain the characteristics of the present embodiment that the direction-finding error is small and the direction-finding precision is high, fig. 6 also shows the statistical value of the direction-finding error of each angle of arrival based on the traditional phase difference without coupling amplification, and it can be known by comparison that the direction-finding method of the present embodiment can significantly reduce the direction-finding error. In addition, with reference to the direction finding error reduction multiples of each angle of arrival of the direction finding method in this embodiment shown in fig. 7, it can be known that the direction finding error reduction multiples and the angle of arrival have a significant relationship, the reduction multiples of the direction finding method in this embodiment are all more than 4.3 times, and the maximum reduction multiple can reach 54.8 times, which also proves the effectiveness of the direction finding method in this embodiment.

In summary, the direction finding direction of the present embodiment can obtain a high-precision direction finding result without increasing the length of the direction finding base line, and the miniaturization and high precision of the device are realized. Corresponding to the direction finding method in the embodiment, the embodiment also provides a direction finding device.

Fig. 8 is a block diagram of a direction-finding device according to an embodiment of the present application, and as shown in fig. 8, a direction-finding device 800 according to the present embodiment includes:

the phase amplification unit 810 is configured to receive an incoming wave signal by using a pre-constructed direction-finding system, and obtain response signals of the coupling amplification circuits corresponding to the plurality of direction-finding baselines in the direction-finding system to the incoming wave signal;

a phase difference calculating unit 820, configured to calculate a phase difference measurement value of each direction finding baseline according to the response signal corresponding to each direction finding baseline;

the arrival angle calculating unit 830 obtains an arrival angle estimation value of the incoming wave signal according to the phase difference measurement value of each direction finding baseline and the phase difference theoretical value of each direction finding baseline.

In some embodiments, the direction-finding device 800 further includes a model building unit, where the model building unit is configured to build a uniform circular array of multiple array elements, a central array element is disposed in the center of the uniform circular array, and multiple circumferential array elements are uniformly disposed on the circumference; coupling amplifying circuits are respectively arranged on a plurality of direction-finding baselines formed by a central array element and a plurality of circumferential array elements, two input ends of each coupling amplifying circuit are respectively connected with incoming wave signals received by the direction-finding baselines, output ends of each coupling amplifying circuit are respectively connected with a selection switch, and the selection switches sequentially gate the plurality of coupling amplifying circuits according to set time intervals to obtain response signals of the plurality of coupling amplifying circuits to the incoming wave signals.

The model building unit sets the set time interval according to the duration of the incoming wave signal and the direction finding precision of the direction finding system.

The model building unit is also used for connecting a first resistor, a first inductor, a first capacitor, a second inductor and a second resistor in series between a first input end and a second input end of the coupling amplifying circuit; a third resistor and a third capacitor are connected at the connecting point between the first capacitor and the second capacitor; the first resistor and the second resistor are resistors with the same resistance value, the first inductor and the second inductor are inductors with the same inductance value, and the first capacitor and the second capacitor are capacitors with the same capacitance value.

The method is used for obtaining model parameter values involved in optimization objectives in a mathematical model, and the model parameter values comprise: a steering vector value corresponding to the transmitting angle, a coupling vector value of a channel between the receiving array element and the transmitting array element, and an expected maximum gain value; and acquiring a receiving array element power threshold value related to the constraint condition in the mathematical model.

In some embodiments, the phase difference calculating unit 820 is configured to construct an input-output differential equation set related to voltage signals of two sets of voltage signals of the response of the coupling amplifying circuit corresponding to each direction-finding baseline to the incoming wave signal according to the circuit structure of the coupling amplifying circuit; and carrying out Fourier transform on two ends of each equation in the input and output differential equation set to obtain two groups of voltage response signals related to phases.

In some embodiments, the phase amplifying unit 810 includes a response signal calculating module, configured to construct, according to the circuit structure of the coupled amplifying circuit, an input-output differential equation set related to voltage signals, where the voltage signals are two sets of voltage signals of the coupled amplifying circuit corresponding to each direction-finding baseline, in response to the incoming wave signal; and carrying out Fourier transform on two ends of each equation in the input and output differential equation set to obtain two groups of voltage response signals related to phases.

In some embodiments, the phase difference calculating unit 820 is configured to calculate an imaginary part and a real part of a ratio of two voltage response signals according to the two voltage response signals of each direction-finding baseline; and calculating a four-quadrant arc tangent function of the ratio of the imaginary part to the real part to obtain the phase difference measured value of each direction-finding base line.

And an arrival angle calculating unit 830, configured to calculate an arrival angle estimated value of the incoming wave signal by using a least square criterion for a difference between the phase difference measured value of each direction-finding baseline and the phase difference theoretical value of each baseline.

It can be understood that, the direction finding device can implement the steps of the direction finding method provided in the foregoing embodiments, and the explanations regarding the direction finding method are applicable to the direction finding device, and are not described herein again.

FIG. 9 is a schematic structural diagram of a direction-finding device in an embodiment of the present application. Referring to fig. 9, at a hardware level, the direction-finding device includes a processor, an internal bus, and a memory, and optionally further includes a network interface. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the direction-finding device also includes hardware required by other services, such as an antenna array, and the antenna array is used for receiving incoming wave signals.

The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 9, but this does not indicate only one bus or one type of bus.

And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.

The processor reads the corresponding computer program from the nonvolatile memory into the memory and then runs the computer program to form the direction-finding device on the logic level. And the processor executes the program stored in the memory to realize the direction finding method.

The direction-finding method disclosed in the embodiment of fig. 1 of the present application may be applied to or implemented by a processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is positioned in the memory, and the processor reads the information in the memory and completes the steps of the direction-finding method by combining the hardware.

Embodiments of the present application also provide a computer-readable storage medium storing one or more programs, where the one or more programs include instructions, which when executed by a direction-finding apparatus including a plurality of application programs, can implement the direction-finding method shown in fig. 1.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.