An angle of arrival estimation method and device, where a first device: collects a first signal from a second device using a reference antenna and a first antenna group; determines first channel state information (CSI); collects a second signal from the second device using the reference antenna and a second antenna group; determines second CSI; determines a phase difference vector between the first signal and the second signal based on a vector corresponding to the reference antenna in the first CSI and a vector corresponding to the reference antenna in the second CSI; compensates for the second CSI using the phase difference vector; and estimates an angle of arrival of the second device based on the first CSI and compensated second CSI.