WO2022183382A1 - Method and apparatus for estimating angle of arrival of beam, and antenna system - Google Patents

Abstract

The present application discloses a method and apparatus for estimating the angle of arrival of a beam, and an antenna system. The method comprises: constructing a non-uniform linear virtual antenna array on the basis of at least two uniform linear antenna arrays; establishing, on the basis of relative position information between the antenna arrays and of receiving signal models of the antenna arrays in the at least two uniform linear antenna arrays, a receiving signal model of the virtual antenna array; and employing a spatial super-resolution angle estimation algorithm to estimate the angle of arrival of a beam of the virtual antenna array on the basis of the receiving signal model of the virtual antenna array. The method allows, without any actual modification to the physical structure of antenna arrays but simply by jointly processing receiving signals of the at least two uniform linear antenna arrays, the acquisition of angle estimation performance approximating that of an ideal array identical in aperture to the virtual antenna array, and allows, without increasing the physical complexity of the antenna system, the implementation of an increase in the angle estimation performance of the antenna system.

Description

A method, device and antenna system for estimating beam angle of arrival technical field

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

Background technique

In the radio positioning or orientation technology of the antenna system, estimating the angle of arrival of the beam (angle estimation for short) is a basic technology, that is, the signal received by the antenna array is processed to estimate the source direction of the signal. The angle estimation performance of the antenna system is limited by the aperture of the antenna array. At present, if the angle estimation accuracy is to be improved, the physical complexity of the antenna system needs to be increased, such as designing more array elements or antenna arrays with larger apertures.

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

SUMMARY OF THE INVENTION

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

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

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

In a possible design, the BBU establishing the received signal model of the virtual antenna array may include: determining the beam arrival angle relationship and phase relationship of each group of antenna arrays according to the relative position information of at least two groups of uniform linear antenna arrays; according to the phase relationship Rewrite the received signal model of each group of antenna arrays with the beam arrival angle relationship, so that the dependent variable in the received signal model of each group of antenna arrays is represented by the beam arrival angle of the virtual antenna array, and make the received signal model of each group of antenna arrays in the model. The receiving vector of each array element is represented by the receiving vector of the first array element, wherein the first array element is any array element in at least two groups of uniform linear antenna arrays; The signal model determines the received signal model of the virtual antenna array.

In the embodiment of the present application, when rewriting the received signal model of each group of antenna arrays, the dependent variable in the received signal model of each group of antenna arrays is represented by the beam arrival angle of the virtual antenna array, and the received signal model of each group of antenna arrays is made The receiving vector of each array element is represented by the receiving vector of the first array element as a reference, and then the received signal model of the virtual antenna array can be stacked based on the received signal model of each group of antenna arrays after rewriting. Simple implementation and high reliability.

The following is an example of at least two groups of uniform linear antenna arrays consisting of a first antenna array and a second antenna array:

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

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

Y ₁ =A ₁ S+W ₁ ;

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

Y ₂ =A ₂ S+W ₂ ;

Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

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

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

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

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

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

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

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

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

θ ₁ =φ ₁ +θ; (1)

θ ₂ =φ ₂ -θ; (2)

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

Rewrite the received signal model of each group of antenna arrays according to the phase relationship and beam arrival angle relationship, including:

The received signal of the nth element of the first antenna array with the first element of the first antenna array as the reference point in the qth symbol period is:

Taking the position of the center point O1 of the _first antenna array as the reference point, according to formula (1), the received signal of the nth element of the first antenna array in the qth symbol period is rewritten as:

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

The received signal of the mth element of the second antenna array with the first element of the second antenna array as the reference point in the qth symbol period is:

Taking the position of the center point _O2 of the second antenna array as the reference point, according to formula (2), the received signal of the mth element of the second antenna array in the qth symbol period is rewritten as:

Taking the position of the center point O1 of the _first antenna array element as the reference point, according to formula ( ₁ ) (2) and the distance K(λ/2) between _O2 and O1, the mth array element of the second antenna array is The received signal in the qth symbol period is rewritten as:

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

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

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

Y=[y(1), y(2), ..., y(Q)]=AS+W;

in,

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

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

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

Y ₁ =A ₁ S+W ₁ ;

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

Y ₂ =A ₂ S+W ₂ ;

Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

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

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

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

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

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

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

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

The received signal model of the virtual antenna array is:

Y=[y(1), y(2), ..., y(Q)]=AS+W;

in,

In the qth symbol period, the received signal of each array element in the virtual antenna array with the center point O1 of the _first antenna array as the reference point satisfies the following relationship:

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

In the above two designs, two groups of uniform linear antenna arrays are used to construct a virtual antenna array, which is simple to implement and has high reliability.

In a possible design, before estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, the BBU may also calculate each group based on the received signal model of each antenna array in the at least two uniform linear antenna arrays. The initial estimated value of the beam arrival angle of the antenna array; then the search range of the spatial super-resolution angle estimation algorithm is determined according to the initial estimated value of the beam arrival angle of each group of antenna arrays.

For example, the search scope can be:

in,

is the initial estimate of the beam arrival angle of the first antenna array,

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

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

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

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

In a possible design, after using the spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array, the BBU can also update each group of antennas according to the beam arrival angle of the virtual antenna array. The initial estimated value of the beam arrival angle of the array is obtained, and the final estimated value of the beam arrival angle of each group of antenna arrays is obtained.

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

In a second aspect, a device for estimating the angle of arrival of a beam is provided, and the device is, for example, a BBU, or a chip in the BBU. The apparatus includes modules/units for performing the method described in the first aspect or any possible design of the first aspect above.

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

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

In a fourth aspect, a communication device is provided, comprising a processor and a memory; the memory is used for storing computer-executed instructions; the processor is used for executing the computer-executed instructions stored in the memory, so that the communication device executes the above-mentioned first aspect or any of the first aspects. A possible design method described in.

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

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

According to a seventh aspect, a chip is provided, which is coupled to a memory for reading and executing program instructions stored in the memory, so as to implement the method described in the first aspect or any possible design of the first aspect.

An eighth aspect provides a computer program product comprising instructions, the computer program product having instructions stored in the computer program product, when executed on a computer, causes the computer to execute the above-mentioned first aspect or any one of the possible designs of the first aspect. Methods.

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

Description of drawings

FIG. 1 is a schematic diagram of an antenna system according to an embodiment of the present application;

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

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

4A is a schematic diagram of MSE statistical results of angle estimation errors;

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

FIG. 5 further provides a schematic structural diagram of an apparatus for estimating a beam angle of arrival according to an embodiment of the present application;

FIG. 6 is a schematic structural diagram of a communication apparatus further provided by an embodiment of the present application.

Detailed ways

The technical solutions of the embodiments of the present application may be applied to various communication systems, for example, a fifth generation (5th generation, 5G) communication system, a sixth generation (6th generation, 6G) communication system, or other future evolution systems, or other various A wireless communication system adopting a wireless access technology, etc., as long as there is a demand for estimating the angle of arrival (Angle Of Arrival, AOA) of a beam in the communication system, the technical solutions of the embodiments of the present application can be adopted.

A communication system (eg, a 5G communication system) can provide high-speed wireless communication services using the millimeter wave frequency band. The millimeter wave frequency band has strong directional performance and can provide better positioning performance than the microwave frequency band. At the same time, the millimeter-wave frequency band is rich in bandwidth resources, which is conducive to sufficient space diversity gain to improve the performance of the communication system. However, the millimeter wave communication frequency band is high and the fading is serious, resulting in limited transmission distance and reduced corresponding coverage. In addition, millimeter waves have weak penetration and are easily blocked. In order to overcome the problems of communication quality degradation and coverage reduction caused by occlusion, radio frequency remote technology can be used to improve the coverage and communication rate performance. However, especially in the case of remote radio frequency, if it is necessary to improve the angle estimation accuracy by designing more array elements or antenna arrays with larger diameters, it will be more complicated to implement. The present application can be applied to a communication system using a millimeter wave frequency band, but it should be understood that the present application is not limited thereto.

Referring to FIG. 1 , an antenna system is provided for an embodiment of the application. The antenna system includes at least two remote radio units (Remote Radio Unit, RRU) and one baseband processing unit (Base Band Unite, BBU). It should be understood that in FIG. 1 only two RRUs, ie, RRU1 and RRU2, are taken as an example, and the actual number of RRUs may not be limited to this.

The BBU is usually placed in the equipment room, and the RRU is placed at the remote end (near the antenna). The BBU and the RRU are connected by optical fibers and transmit signals. Among them, the BBU is mainly responsible for the processing of all L1 (Layer1, Layer 1), L2 (Layer2, Layer 2), and L3 (Layer3, Layer 3), including high-level data transmission, scheduling, and baseband signal processing. Frequency conversion, power amplifier, filtering, conversion of medium and radio frequency signals.

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

It should be understood that each set of antenna arrays on the antenna system satisfies the far-field assumption. The so-called far-field assumption means that the distance from the mobile station to the antenna array is much larger than the aperture of the antenna array. For an antenna array that satisfies the far-field assumption, the amplitudes of the incoming waves arriving at each element of the antenna array can be considered equal, and there is only a difference in phase. Wherein, the mobile station refers to any device that can wirelessly communicate with the antenna system, such as a mobile phone, a computer with a mobile terminal device, a portable, pocket-sized, hand-held, computer-built mobile device, etc., wearable devices, Vehicle terminal equipment, etc., are not limited in this application.

It should be understood that only the antenna array on the RRU is shown in FIG. 1 , and other elements of the RRU, such as frequency converters, power amplifiers, filters, etc., are not shown.

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

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

It should be understood that the at least two groups of uniform linear antenna arrays refer to that each group of antenna arrays in the at least two groups of antenna arrays is uniform and linear, and the at least two groups of antenna arrays may be linear or nonlinear as a whole.

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

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

1), the array element interval d in the first antenna array is half wavelength λ/2, and the array element interval d in the second antenna array is half wavelength λ/2, wherein λ is a wavelength;

2), the number of array elements of the first antenna array is 2N+1, and the number of array elements of the second antenna array is 2M+1; wherein M and N are positive integers, and M and N are the same or different, and this application does not limit;

3), the distance between the center point O _{1 of the first antenna array and the center point O 2 of} the second antenna array is K(λ/2);

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

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

It should be understood that, in addition to the assumption that the virtual antenna array should meet the far-field assumption, the uplink of the antenna system constituting the virtual antenna array also meets any one or more of the following assumptions: 1) The channel has sparse and multi-channel characteristics, and The direct-radiation power is much larger than the non-direct-radiation power. In this way, when allocating power according to the water injection theorem, only the angle of the direct-radiation can be estimated and shaped only in the direction of the direct-radiation, and the non-direct-radiation can be ignored without almost losing the channel capacity; 2), The channel is a slow fading channel, and the channel remains unchanged within a frame time, because beamforming cannot be performed before the angle estimation, and the received signal-to-noise ratio is low. By accumulating the energy of multiple symbols to improve the processing signal-to-noise ratio, a reliable estimation can be achieved. angle; 3), the pilot symbol sequences transmitted by each mobile station are orthogonal to each other, so that the inter-user interference can be suppressed, and the BBU receiving model can be equivalent to a single-user single-path model; 4), the RRU received by each array element After the signal is down-converted, it can be directly transmitted to the BBU; 5), the RRUs connected to the same BBU through optical fibers are strictly synchronized, so that the signals of each RRU can be processed jointly after they reach the BBU; 6), on each array element on the RRU The additive noise is independent of the received signal, so algorithms such as MUSIC/ESPRIT can use the orthogonality of the signal space and the noise space to form a spatial super-resolution algorithm.

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

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

Exemplarily, still take the two groups of uniform linear antenna arrays shown in FIG. 3 to construct a group of non-uniform linear virtual antenna arrays as an example:

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

Y ₁ =A ₁ S+W ₁ ;

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

Y ₂ =A ₂ S+W ₂ ;

Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

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

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

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

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

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

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

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

θ ₁ =φ ₁ +θ; (1)

θ ₂ =φ ₂ -θ; (2)

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

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

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

The received signal of the nth element of the first antenna array with the first element of the first antenna array as the reference point in the qth symbol period is:

Taking the position of the center point O1 of the _first antenna array as the reference point, according to formula (1), the received signal of the nth element of the first antenna array in the qth symbol period is rewritten as:

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

The received signal of the mth element of the second antenna array with the first element of the second antenna array as the reference point in the qth symbol period is:

Taking the position of the center point _O2 of the second antenna array as the reference point, according to formula (2), the received signal of the mth element of the second antenna array in the qth symbol period is rewritten as:

Taking the position of the center point O1 of the _first antenna array element as the reference point, according to formula ( ₁ ) (2) and the distance K(λ/2) between _O2 and O1, the mth array element of the second antenna array is The received signal in the qth symbol period is rewritten as:

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

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

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

Y=[y(1), y(2), ..., y(Q)]=AS+W (8)

in,

It should be understood that the actual physical structure of the virtual antenna array is the physical structure of the first antenna array and the second antenna array, so it is actually nonlinear. and the second antenna array as a whole to form a linear antenna array.

It should be emphasized that the above calculation process is only an example and not a limitation. In practical applications, other calculation methods are also possible. As long as it is based on the received signal model of each antenna array in the at least two antenna arrays, it is calculated by the at least two antenna arrays. The method of receiving signal model of the whole composed of multiple antenna arrays (ie, virtual antenna array) falls within the protection scope of the present application.

In addition, the actual antenna arrays for constructing the virtual antenna array are not limited to two groups, and there may be more, but it should be noted that when a group of virtual antenna arrays is constructed from three or more groups of antenna arrays, these three groups or The center points of all arrays in more than three groups of antenna arrays need to be on the same straight line. For the idea of constructing virtual antenna arrays with three or more groups of antenna arrays, refer to the method for constructing virtual antenna arrays with two groups of antenna arrays. They are all represented by the beam arrival angle of the virtual antenna array, and the receiving vector of each array element in the receiving signal model of each antenna array in the three groups of antenna arrays is represented by the receiving vector of the same array element, and then stacked. The received signal model of the virtual antenna array is obtained, and the process will not be repeated here.

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

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

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

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

The simulation parameters are set as: the number of array elements of the uniform linear array 1 with half-wavelength interval is 9, that is, N=4; the number of array elements of the uniform linear array 2 with half-wavelength interval is 11, that is, M=5; the center of the two arrays is connected by a line The distance is 20 times the half wavelength, that is, K=20; the number of snapshots (number of pilot symbols) Q=200;

θ = 10°, θ ₁ =35°, θ ₂ =50°; the signal-to-noise ratio varies from -10dB to 10dB. The angle estimation algorithm uses the ESPRIT algorithm. The angle estimation performance metrics choose the variance of the angle estimation error (MSE), and the mean absolute error (MAE).

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

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

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

For example, let

is the initial estimate of the beam arrival angle of the first antenna array,

is the initial estimated value of the beam arrival angle of the second antenna array, then the search range of the spatial super-resolution angle estimation algorithm used by the BBU to estimate the beam arrival angle of the virtual antenna array can be:

Among them, Δ is a preset value. Optionally, the Δ is inversely correlated with the signal-to-noise ratio, that is, the higher the signal-to-noise ratio, the smaller the Δ, and the lower the signal-to-noise ratio, the higher the Δ.

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

Further optionally, after estimating the beam angle of arrival of the virtual antenna array based on the received signal model of the virtual antenna array, the BBU can also update the initial estimated value of the beam angle of arrival of each group of antenna arrays according to the beam angle of arrival of the virtual antenna array, A final estimate of the beam arrival angle of each group of antenna arrays is obtained.

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

As φ ₁ + θ, determine the final estimate of the beam angle of arrival of the second antenna array

is φ ₂ -θ.

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

Based on the same technical concept, an embodiment of the present application also provides a device for estimating the angle of arrival of a beam. The device is, for example, a BBU, or a chip in the BBU, and the device includes a module/unit for performing the method steps shown in FIG. 1 . .

Exemplarily, referring to Figure 5, the device includes:

The building module 501 is configured to construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays; The received signal model of the array is established, and the received signal model of the virtual antenna array is established;

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

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

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

Rewrite the received signal model of each group of antenna arrays according to the phase relationship and the beam arrival angle relationship, so that the dependent variable in the received signal model of each group of antenna arrays is represented by the beam arrival angle of the virtual antenna array, and make the received signal of each group of antenna arrays. The receiving vector of each array element in the signal model is represented by the receiving vector of the first array element, wherein the first array element is any array element in at least two groups of uniform linear antenna arrays;

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

Optionally, at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

Y ₁ =A ₁ S+W ₁ ;

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

Y ₂ =A ₂ S+W ₂ ;

Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

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

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

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

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

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

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

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

θ ₁ =φ ₁ +θ; (1)

θ ₂ =φ ₂ -θ; (2)

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

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

The received signal of the nth element of the first antenna array with the first element of the first antenna array as the reference point in the qth symbol period is:

Taking the position of the center point O1 of the _first antenna array as the reference point, according to formula (1), the received signal of the nth element of the first antenna array in the qth symbol period is rewritten as:

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

The received signal of the mth element of the second antenna array with the first element of the second antenna array as the reference point in the qth symbol period is:

Taking the position of the center point _O2 of the second antenna array as the reference point, according to formula (2), the received signal of the mth element of the second antenna array in the qth symbol period is rewritten as:

Taking the position of the center point O1 of the _first antenna array element as the reference point, according to formula ( ₁ ) (2) and the distance K(λ/2) between _O2 and O1, the mth array element of the second antenna array is The received signal in the qth symbol period is rewritten as:

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

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

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

Y=[y(1), y(2), ..., y(Q)]=AS+W;

in,

Optionally, at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

Y ₁ =A ₁ S+W ₁ ;

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

Y ₂ =A ₂ S+W ₂ ;

Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

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

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

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

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

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

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

The received signal model of the virtual antenna array is:

Y=[y(1), y(2), ..., y(Q)]=AS+W;

in,

In the qth symbol period, the received signal of each array element in the virtual antenna array with the center point O1 of the _first antenna array as the reference point satisfies the following relationship:

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

Optionally, the estimation module 502 is further configured to:

Before estimating the beam angle of arrival of the virtual antenna array based on the received signal model of the virtual antenna array, an initial estimated value of the beam arrival angle of each group of antenna arrays is calculated based on the received signal model of each group of antenna arrays in the at least two uniform linear antenna arrays ;

The search range of the spatial super-resolution angle estimation algorithm is determined according to the initial estimated value of the beam arrival angle of each group of antenna arrays.

Optionally, the search scope can be:

in,

is the initial estimate of the beam arrival angle of the first antenna array,

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

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

Optionally, the estimation module 502 is further configured to:

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

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

The processor 601 and the memory 602 may be coupled through an interface circuit, or may be integrated together, which is not limited here.

The specific connection medium between the processor 601 and the memory 602 is not limited in this embodiment of the present application. In the embodiment of the present application, the processor 601 and the memory 602 are connected through a bus in FIG. 6 , and the bus is represented by a thick line in FIG. 6 . The connection mode between other components is only for schematic illustration, and is not cited. limited. The bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is shown in Figure 6, but it does not mean that there is only one bus or one type of bus.

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

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

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

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

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

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

Based on the same technical concept, embodiments of the present application further provide a computer-readable storage medium, where the readable storage medium is used to store instructions, and when the instructions are executed, the method shown in FIG. 2 is implemented.

Based on the same technical concept, an embodiment of the present application further provides a chip, where the chip is coupled with a memory, and is used for reading and executing program instructions stored in the memory, so as to implement the method shown in FIG. 2 .

Based on the same technical concept, an embodiment of the present application also provides a computer program product containing instructions. The computer program product stores instructions that, when run on a computer, cause the computer to execute the method shown in FIG. 2 .

As will be appreciated by those skilled in the art, the embodiments of the present application may be provided as a method, a system, or a 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, etc.) having computer-usable program code embodied therein.

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

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

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

Claims (29)

1. A method for estimating the angle of arrival of a beam, wherein the method comprises:

   Construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays, the virtual antenna arrays satisfy the far-field assumption; relative position information and the received signal model of each group of antenna arrays, to establish the received signal model of the virtual antenna array;

   Using a spatial super-resolution angle estimation algorithm, the beam arrival angle of the virtual antenna array is estimated based on the received signal model of the virtual antenna array.
2. The method according to claim 1, characterized in that, according to the relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays, and the received signal model of each group of antenna arrays, establishing the The received signal model of the virtual antenna array, including:

   According to the relative position information of the at least two groups of uniform linear antenna arrays, determine the beam arrival angle relationship and the phase relationship of each group of antenna arrays;

   Rewrite the received signal model of each group of antenna arrays according to the phase relationship and the beam angle of arrival relationship, so that the dependent variable in the received signal model of each group of antenna arrays is determined by the beam arrival angle of the virtual antenna array and the receiving vector of each array element in the received signal model of each group of antenna arrays is represented by the receiving vector of the first array element, wherein the first array element is the at least two groups of uniform linear any element in the antenna array of ;

   The received signal model of the virtual antenna array is determined based on the rewritten received signal models of each group of antenna arrays.
3. The method of claim 2, wherein the at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

   Y ₁ =A ₁ S+W ₁ ;

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

   Y ₂ =A ₂ S+W ₂ ;

   Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

   

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

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

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

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

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

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

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

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

   θ ₁ =φ ₁ +θ; (1)

   θ ₂ =φ ₂ -θ; (2)

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

   Rewrite the received signal model of each group of antenna arrays according to the phase relationship and the beam arrival angle relationship, including:

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

   

   Taking the position of the center point O1 of the _first antenna array as the reference point, according to formula (1), the received signal of the nth element of the first antenna array in the qth symbol period is rewritten as:

   

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

   The received signal of the mth element of the second antenna array in the qth symbol period with the first element of the second antenna array as a reference point is:

   

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

   

   Taking the position of the center point O1 of the _first antenna array element as the reference point, according to formula ( ₁ ) (2) and the distance K(λ/2) between _O2 and O1, the mth of the second antenna array is The received signal of the array element in the qth symbol period is rewritten as:

   

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

   Determining the received signal model of the virtual antenna array based on the rewritten received signal models of each group of antenna arrays includes:

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

   Y=[y(1), y(2), ..., y(Q)]=AS+W;

   in,

   
4. The method according to claim 1 or 2, wherein the at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

   Y ₁ =A ₁ S+W ₁ ;

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

   Y ₂ =A ₂ S+W ₂ ;

   Wherein, Y ₁ =[Y ₁₁ ,Y ₁₂ ,...,Y _1Q ], Y ₂ =[Y ₂₁ ,Y ₂₂ ,...,Y _2Q ,], is the receiving matrix;

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

   

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

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

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

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

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

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

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

   The received signal model of the virtual antenna array is:

   Y=[y(1), y(2), ..., y(Q)]=AS+W;

   in,

   

   In the qth symbol period, the received signal of each array element in the virtual antenna array with the center point O1 of the _first antenna array as the reference point satisfies the following relationship:

   

   

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

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

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

   

   in,

   

   is the initial estimated value of the beam arrival angle of the first antenna array,

   

   is the initial estimated value of the beam arrival angle of the second antenna array, and Δ is a preset value.
7. 7. The method of claim 6, wherein Δ is inversely related to the signal-to-noise ratio.
8. The method according to any one of claims 1-7, wherein after using a spatial super-resolution angle estimation algorithm to estimate the beam angle of arrival of the virtual antenna array based on the received signal model of the virtual antenna array, The method also includes:

   The initial estimated value of the beam arrival angle of each group of antenna arrays is updated according to the beam arrival angle of the virtual antenna array, and the final estimated value of the beam arrival angle of each group of antenna arrays is obtained.
9. A device for estimating the angle of arrival of a beam, comprising:

   A building module for constructing a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays; The received signal model of each group of antenna arrays, and the received signal model of the virtual antenna array is established;

   The estimation module is configured to use a spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array.
10. The apparatus according to claim 9, wherein the building module is based on relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays, and reception of each group of antenna arrays The signal model, when establishing the received signal model of the virtual antenna array, is specifically used for:

    According to the relative position information of the at least two groups of uniform linear antenna arrays, determine the beam arrival angle relationship and the phase relationship of each group of antenna arrays;

    Rewrite the received signal model of each group of antenna arrays according to the phase relationship and the beam angle of arrival relationship, so that the dependent variable in the received signal model of each group of antenna arrays is determined by the beam arrival angle of the virtual antenna array and the receiving vector of each array element in the received signal model of each group of antenna arrays is represented by the receiving vector of the first array element, wherein the first array element is the at least two groups of uniform linear any element in the antenna array of ;

    The received signal model of the virtual antenna array is determined based on the rewritten received signal models of each group of antenna arrays.
11. The apparatus of claim 10, wherein the at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

    Y ₁ =A ₁ S+W ₁ ;

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

    Y ₂ =A ₂ S+W ₂ ;

    Wherein, Y ₁ =[y ₁₁ , y ₁₂ ,...,y _1Q ], Y ₂ =[y ₂₁ ,y ₂₂ ,...,y _2Q ,], is the receiving matrix;

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

    

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

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

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

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

    W _2q = [W ₂₁ (q), W ₂₂ (q), . . . , W 2 , _2M+1 (q)];

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

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

    The beam arrival angle relationship of each group of antenna arrays determined by the building module according to the relative position information between the various groups of antenna arrays, including:

    θ ₁ =ф ₁ +θ; (1)

    θ ₂ =ф ₂ -θ; (2)

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

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

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

    

    Taking the position of the center point O1 of the _first antenna array as the reference point, according to formula (1), the received signal of the nth element of the first antenna array in the qth symbol period is rewritten as:

    

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

    The received signal of the mth element of the second antenna array in the qth symbol period with the first element of the second antenna array as a reference point is:

    

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

    

    Taking the position of the center point O1 of the _first antenna array element as the reference point, according to formula ( ₁ ) (2) and the distance K(λ/2) between _O2 and O1, the mth of the second antenna array is The received signal of the array element in the qth symbol period is rewritten as:

    

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

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

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

    Y=[y(1), y(2), ..., y(Q)]=AS+W;

    in,

    
12. The device according to claim 9 or 10, wherein the at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

    Y ₁ =A ₁ S+W ₁ ;

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

    Y ₂ =A ₂ S+W ₂ ;

    Wherein, Y ₁ =[y ₁₁ , y ₁₂ ,...,y _1Q ], Y ₂ =[y ₂₁ ,y ₂₂ ,...,y _2Q ,], is the receiving matrix;

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

    

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

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

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

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

    W _2q = [W ₂₁ (q), W ₂₂ (q), . . . , W 2 , _2M+1 (q)];

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

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

    The received signal model of the virtual antenna array is:

    Y=[y(1), y(2), ..., y(Q)]=AS+W;

    in,

    

    In the qth symbol period, the received signal of each array element in the virtual antenna array with the center point O1 of the _first antenna array as the reference point satisfies the following relationship:

    

    

    Wherein, θ ₁ =ф ₁ +θ, θ ₂ =ф ₂ -θ; n=1, 2,..., 2N+1; m=1, 2,..., 2M+1; θ is the value of the virtual antenna array beam angle of arrival.
13. The apparatus according to any one of claims 9-12, wherein the estimation module is further configured to:

    before estimating the beam angle of arrival of the virtual antenna array based on the received signal model of the virtual antenna array, calculating each group of antenna arrays based on the received signal model of each group of the at least two uniform linear antenna arrays The initial estimate of the beam angle of arrival of ;

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

    

    in,

    

    is the initial estimated value of the beam arrival angle of the first antenna array,

    

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

    After estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by using a spatial super-resolution angle estimation algorithm, update the beam arrival angle of each group of antenna arrays according to the beam arrival angle of the virtual antenna array. The initial estimated value of the beam angle of arrival is used to obtain the final estimated value of the beam angle of arrival of each group of antenna arrays.
17. An antenna system, characterized in that it includes:

    At least two remote radio units, each of which includes a set of uniform linear antenna arrays, and the remote radio units are used to receive wireless signals;

    A baseband processing unit, connected in communication with the at least two remote radio units, the baseband processing unit is configured to: construct a set of non-uniform linear virtual antenna arrays based on at least two sets of uniform linear antenna arrays, the virtual antenna arrays Satisfying the far-field assumptions; establishing the received signal model of the virtual antenna array according to the relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays and the received signal model of each group of antenna arrays ; Using a spatial super-resolution angle estimation algorithm to estimate the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array.
18. The system according to claim 17, wherein the baseband processing unit is based on relative position information between each group of antenna arrays in the at least two groups of uniform linear antenna arrays, and the relative position information of each group of antenna arrays. The received signal model, when establishing the received signal model of the virtual antenna array, is specifically used for:

    According to the relative position information of the at least two groups of uniform linear antenna arrays, determine the beam arrival angle relationship and the phase relationship of each group of antenna arrays;

    Rewrite the received signal model of each group of antenna arrays according to the phase relationship and the beam angle of arrival relationship, so that the dependent variable in the received signal model of each group of antenna arrays is determined by the beam arrival angle of the virtual antenna array and the receiving vector of each array element in the received signal model of each group of antenna arrays is represented by the receiving vector of the first array element, wherein the first array element is the at least two groups of uniform linear any element in the antenna array of ;

    The received signal model of the virtual antenna array is determined based on the rewritten received signal models of each group of antenna arrays.
19. The system of claim 18, wherein the at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

    Y ₁ =A ₁ S+W ₁ ;

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

    Y ₂ =A ₂ S+W ₂ ;

    Wherein, Y ₁ =[y ₁₁ , y ₁₂ ,...,y _1Q ], Y ₂ =[y ₂₁ ,y ₂₂ ,...,y _2Q ,], is the receiving matrix;

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

    

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

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

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

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

    W _2q = [W ₂₁ (q), W ₂₂ (q), . . . , W 2 , _2M+1 (q)];

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

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

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

    θ ₁ =ф ₁ +θ; (1)

    θ ₂ =ф ₂ -θ; (2)

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

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

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

    

    Taking the position of the center point O1 of the _first antenna array as the reference point, according to formula (1), the received signal of the nth element of the first antenna array in the qth symbol period is rewritten as:

    

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

    The received signal of the mth element of the second antenna array in the qth symbol period with the first element of the second antenna array as a reference point is:

    

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

    

    Taking the position of the center point O1 of the _first antenna array element as the reference point, according to formula ( ₁ ) (2) and the distance K(λ/2) between _O2 and O1, the mth of the second antenna array is The received signal of the array element in the qth symbol period is rewritten as:

    

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

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

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

    Y=[y(1), y(2), ..., y(Q)]=AS+W;

    in,

    
20. The system according to claim 17 or 18, wherein the at least two groups of uniform linear antenna arrays are composed of a first antenna array and a second antenna array;

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

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

    Y ₁ =A ₁ S+W ₁ ;

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

    Y ₂ =A ₂ S+W ₂ ;

    Wherein, Y ₁ =[y ₁₁ , y ₁₂ ,...,y _1Q ], Y ₂ =[y ₂₁ ,y ₂₂ ,...,y _2Q ,], is the receiving matrix;

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

    

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

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

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

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

    W _2q = [W ₂₁ (q), W ₂₂ (q), . . . , W 2 , _2M+1 (q)];

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

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

    The received signal model of the virtual antenna array is:

    Y=[y(1), y(2), ..., y(Q)]=AS+W;

    in,

    

    In the qth symbol period, the received signal of each array element in the virtual antenna array with the center point O1 of the _first antenna array as the reference point satisfies the following relationship:

    

    

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

    before estimating the beam angle of arrival of the virtual antenna array based on the received signal model of the virtual antenna array, calculating each group of antenna arrays based on the received signal model of each group of the at least two uniform linear antenna arrays The initial estimate of the beam angle of arrival of ;

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

    

    in,

    

    is the initial estimated value of the beam arrival angle of the first antenna array,

    

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

    After estimating the beam arrival angle of the virtual antenna array based on the received signal model of the virtual antenna array by using a spatial super-resolution angle estimation algorithm, update the beam arrival angle of each group of antenna arrays according to the beam arrival angle of the virtual antenna array. The initial estimated value of the beam angle of arrival is used to obtain the final estimated value of the beam angle of arrival of each group of antenna arrays.
25. A communication device, characterized in that it comprises a processor and a memory; the memory is used for storing computer-executed instructions; the processor is used for executing the computer-executed instructions stored in the memory, so that the communication device executes the computer-executable instructions as claimed in the claims. The method of any one of claims 1 to 8.
26. A communication device, characterized in that it includes a processor and an interface circuit; the interface circuit is used to receive code instructions and transmit them to the processor; the processor executes the code instructions to execute the code instructions according to claims 1 to The method of any one of 8.
27. A computer-readable storage medium, characterized in that, the readable storage medium is used for storing instructions, and when the instructions are executed, the method according to any one of claims 1 to 8 is implemented.
28. A chip, characterized in that, the chip is coupled with a memory, and is used for reading and executing program instructions stored in the memory, so as to implement the method according to any one of claims 1 to 8.
29. A computer program product comprising instructions, characterized in that the computer program product stores instructions that, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 8 .

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