Multi-point calibration method and device based on ultra wide band, electronic equipment and storage medium

Abstract

The invention relates to a multi-point calibration method and device based on an ultra wide band, electronic equipment and a storage medium. The multi-point calibration method based on the ultra wide band comprises the following steps: creating a communication tag; a steering engine is driven to rotate, and signals sent by a plurality of UWB nodes are collected through a communication tag; and performing calculation processing on the signals sent by the plurality of UWB nodes, and outputting a plurality of arrival angle compensation tables. According to the scheme provided by the invention, the rotation angle of the receiver and the sampling time can be reduced, high-precision calibration of each module can be ensured, and the calibration efficiency can be greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of ultra-wideband technology, and in particular to an ultra-wideband-based multi-point calibration method, device, electronic equipment and storage medium. Background Art

[0002] Ultra-wideband technology is a technology used for indoor positioning with a positioning accuracy of up to several centimeters. At the same time, ultra-wideband technology has strong anti-interference ability and penetration, enabling it to provide reliable positioning services in complex environments.

[0003] Ultra-wideband technology is based on the main methods such as time of flight ToF, time difference of arrival TDoA, and angle of arrival AoA. The principle of angle of arrival AoA positioning is to determine the position of the target by measuring the angle at which the signal reaches the receiver. In short-distance positioning, only a pair of modules, namely a transmitter and a receiver, are required. The angle of arrival AoA is calculated by the conversion formula of the phase difference of arrival PDOA and the angle of arrival AoA. However, since the calculated angle of arrival AoA deviates from the actual one, the module needs to be calibrated in advance to obtain the angle of arrival compensation table.

[0004] In the related art, the existing calibration method usually obtains the arrival phase difference PDOA of a pair of modules under different real arrival angles AOA at a fixed distance, and then calculates the arrival angle AOA corresponding to different PDOA through a conversion formula to generate an arrival angle compensation table. However, during the calibration process, the transmitter needs to be fixed and the receiver needs to rotate to collect data. Since only one module can be calibrated at a time, the calibration time is long and the efficiency is extremely low. If different modules use the same arrival angle compensation table, the calculated actual arrival angle AOA will have a large deviation. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a multi-point calibration method, device, electronic device and storage medium based on ultra-wideband, which can improve the accuracy and efficiency of calibration.

[0006] The objective of the present invention is achieved through the following technical solutions:

[0007] The first aspect of the present application provides a multi-point calibration method based on ultra-wideband, including: creating a communication tag; driving the servo to rotate, and collecting signals sent by multiple UWB nodes through the communication tag; calculating and processing the signals sent by the multiple UWB nodes, and outputting multiple arrival angle compensation tables.

[0008] The driving the steering gear to rotate and collecting signals sent by multiple UWB nodes through the communication tag includes: driving the steering gear to rotate according to a preset trajectory and collecting signals sent by multiple UWB nodes through the communication tag.

[0009] The calculating and processing the signals sent by the plurality of UWB nodes and outputting a plurality of arrival angle compensation tables comprises: identifying the MAC address of each of the UWB nodes and outputting the azimuth angle corresponding to each of the UWB nodes; collecting the arrival angle phase difference data corresponding to each of the UWB nodes according to each of the azimuth angles; calculating and processing each of the arrival angle phase difference data and outputting a plurality of the arrival angle compensation tables.

[0010] The collecting, by means of the communication tag, signals sent by a plurality of UWB nodes comprises: collecting, by means of the communication tag, signals sent by a plurality of UWB nodes within a preset time.

[0011] The second aspect of the present application provides a multi-point calibration device based on ultra-wideband, including: a configuration module for creating a communication tag; a collection module for driving the servo to rotate and collecting signals sent by multiple UWB nodes through the communication tag; an analysis module for calculating and processing the signals sent by multiple UWB nodes and outputting multiple arrival angle compensation tables.

[0012] The acquisition module is also used to drive the steering gear to rotate according to a preset trajectory, and to collect signals sent by multiple UWB nodes through the communication tags.

[0013] The analysis module includes an identification unit, which is used to identify the MAC address of each UWB node and output the azimuth angle corresponding to each UWB node; according to each azimuth angle, collect the arrival angle phase difference data corresponding to each UWB node; calculate and process each arrival angle phase difference data, and output a plurality of arrival angle compensation tables.

[0014] The acquisition module is also used to collect signals sent by multiple UWB nodes through the communication tags within a preset time.

[0015] A third aspect of the present application provides an electronic device, including:

[0016] Processor; and

[0017] The memory stores executable codes thereon, and when the executable codes are executed by the processor, the processor is caused to execute the method as described above.

[0018] A fourth aspect of the present application provides a computer-readable storage medium having executable code stored thereon. When the executable code is executed by a processor of an electronic device, the processor is caused to execute the method as described above.

[0019] Compared with the prior art, the present invention has at least the following advantages:

[0020] This application can reduce the receiver rotation angle and sampling time, ensuring that each module can be calibrated with high precision, while also greatly improving the calibration efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below.

[0022] Figure 1 is a method flow chart of a multi-point calibration method based on ultra-wideband in one embodiment of the present invention;

[0023] Figure 2 A method flow chart of another implementation of a multi-point calibration method based on ultra-wideband in an embodiment of the present invention;

[0024] Figure 3 is a functional module diagram of a multi-point calibration device based on ultra-wideband in one embodiment of the present invention;

[0025] Figure 4 FIG. 4 is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0027] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0028] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0029] Ultra-wideband technology is based on main methods such as time of flight ToF, time difference of arrival TDoA, and angle of arrival AoA. The principle of angle of arrival AoA positioning is to determine the position of the target by measuring the angle at which the signal reaches the receiver. In short-distance positioning, only a pair of modules, namely a transmitter and a receiver, are required. The angle of arrival AOA is calculated by the conversion formula of the phase difference of arrival PDOA and the angle of arrival AOA. However, since the calculated angle of arrival AOA deviates from the actual one, the module needs to be calibrated in advance to obtain the angle of arrival AOA compensation table. In the related art, the existing calibration method usually obtains the phase difference of arrival PDOA of a pair of modules under different real angle of arrival AOA conditions at a fixed distance, and then calculates the angle of arrival AOA corresponding to different PDOA through the conversion formula, thereby generating an angle of arrival compensation table. However, during the calibration process, the transmitter needs to be fixed and the receiver needs to rotate to collect data. Since only one module can be calibrated at a time, the calibration time is consumed and the efficiency is extremely low. If different modules use the same angle of arrival compensation table, the calculated actual angle of arrival AOA will have a large deviation.

[0030] In response to the above problems, the embodiments of the present application provide a multi-point calibration method, device, electronic device and storage medium based on ultra-wideband, which can reduce the rotation angle and sampling time of the receiver, ensure that each module can be calibrated with high precision, and greatly improve the calibration efficiency.

[0031] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0032] Figure 1 It is a flowchart of a multi-point calibration method based on ultra-wideband shown in an embodiment of the present application.

[0033] See also Figure 1 , a multi-point calibration method based on ultra-wideband, comprising:

[0034] Step S101: Create a communication tag.

[0035] It should be noted that the UWB node is a transmitter. The present application is provided with multiple transmitters and one receiver, and each transmitter and receiver uses the same communication tag for communication. Further, multiple transmitters and receivers are UBW modules, where the transmitter is in unicast mode, that is, each message is sent only to a single node. Further, the receiver creates the same and unique communication tag as the transmitter, such as sessionID.

[0036] Step S102: driving the steering engine to rotate, and collecting signals sent by multiple UWB nodes through communication tags.

[0037] It should be noted that the servo obtains the signals sent by multiple UWB nodes by rotating.

[0038] Step S103: Calculate and process the signals sent by the multiple UWB nodes, and output multiple arrival angle compensation tables.

[0039] It should be noted that the receiver calculates the signals sent by multiple UWB nodes to obtain multiple arrival angle compensation tables actually of multiple transmitters, thereby ensuring the accuracy of the position of the receiver in an actual application environment.

[0040] It should also be noted that in complex environments, such as urban streets or indoor areas, it will cause the signal to be reflected, scattered and propagated multiple times, so that the received signal contains components from different paths, thus affecting the accuracy and precision of positioning. Therefore, this application uses an open darkroom for calibration and uses a multipath compensation algorithm to reduce the impact of multipath on the signal and improve the accuracy and stability of positioning.

[0041] Figure 2 for Figure 1 A more detailed implementation of the ultra-wideband based multi-point calibration method is shown, for example, a ultra-wideband based multi-point calibration method includes:

[0042] Step S201: Create a communication tag.

[0043] It should be noted that the communication tag here is unique, and the communication tags of the transmitter and the receiver are the same.

[0044] Step S202: driving the servo to rotate according to a preset trajectory, and collecting signals sent by multiple UWB nodes through communication tags.

[0045] It should be noted that the preset trajectory here is that the pitch angle or yaw angle is within the range of plus or minus 60 degrees, and the step length is 12 degrees.

[0046] Step S203, identifying the MAC address of each UWB node, and outputting the azimuth angle corresponding to each UWB node;

[0047] According to each azimuth angle, the arrival angle phase difference data of each UWB node is collected one by one;

[0048] The arrival angle phase difference data are calculated and processed, and multiple arrival angle compensation tables are output.

[0049] It should be noted that the receiver first identifies the azimuth angle of each transmitter through different MAC addresses. Then the transmitters corresponding to each azimuth angle are collected one by one, so as to obtain the arrival angle phase difference data of different azimuths. Specifically, the servo of the present application only needs to rotate 11 times to collect all 121 angle data. Compared with the traditional one-to-one mode, the time required for the servo to rotate the angle is greatly reduced, and since all modules communicate at the same time, the communication time is also reduced. Therefore, the present application can obtain the arrival angle phase difference data of 11 different azimuths, and then calculate the actual arrival angle compensation table of different azimuths through the conversion company between the arrival angle phase difference data and the arrival angle. And each module has a unique arrival angle compensation table, which is more accurate and the calibration efficiency is greatly improved. Compared with the one-to-one calibration mode, it has obvious advantages and can be widely used in fields such as factory production lines, improving calibration efficiency, reducing costs, reducing the use of human resources, and reducing labor intensity.

[0050] In another embodiment, signals sent by multiple UWB nodes are collected by communication tags within a preset time.

[0051] It can be understood that the preset time is 50ms, that is, the signal sent by the UWB node will be collected once every 50ms.

[0052] Further, in another embodiment, a multi-point calibration method based on ultra-wideband further includes:

[0053] Photographing the current horizontal plane of the servo and outputting a real-time horizontal plane image;

[0054] Acquire a target angle, construct a target horizontal plane according to the target angle, and output a preprocessed horizontal plane image;

[0055] The offset angle data between the real-time horizontal plane image and the pre-processed horizontal plane image is calculated, and the steering engine is driven to rotate according to the offset angle data to reach a preset target position point.

[0056] It should be noted that a camera module is provided in the receiver, which is used to shoot the current horizontal plane of the servo. Furthermore, according to the preset trajectory, the target angle is obtained, and then the target horizontal plane is constructed according to the target angle to generate a preprocessed horizontal plane image. By calculating the offset angle data between the real-time horizontal plane image and the preprocessed horizontal plane image. Finally, the servo is driven to rotate according to the offset angle data to reach the preset target position point. In this way, the above method can improve the rotation accuracy of the servo, making the rotation angle more accurate. At the same time, it can also improve the accuracy of obtaining the arrival angle phase difference data and improve the accuracy of calibration.

[0057] Further, in another embodiment, a multi-point calibration method based on ultra-wideband further includes:

[0058] Obtain the real-time position point of the steering gear, identify whether the real-time position point coincides with the preset position point, and if not, enter the compensation process;

[0059] Calculating a deviation angle between the real-time position point and the preset position point, and if the deviation angle is less than a preset compensation angle, driving the steering gear to rotate according to the deviation angle;

[0060] If the deviation angle is greater than the preset compensation angle, the real-time operating current of the servo is collected to determine whether the real-time operating current is greater than the preset current. If so, an over-current protection instruction is output to drive the servo to stop working; if not, the real-time operating temperature of the servo is collected to determine whether the real-time operating temperature is greater than the rated temperature. If so, an over-temperature protection instruction is output to drive the servo to stop working; if not, the servo is driven again to rotate according to the deviation angle. If the servo still does not rotate, a stop instruction is generated.

[0061] It should be noted that when the servo rotates, it is inevitable that there will be slight tolerances due to external factors. In order to ensure that the servo can collect accurate arrival angle phase difference data. After the servo rotates, it will identify whether the servo has accurately reached the preset target position. If the deviation is within the preset compensation angle range, the servo will rotate again according to the deviation angle until it reaches the preset target position. Among them, the preset compensation angle is within 5 degrees. However, if the servo has an abnormality during operation, such as excessive operating current, excessive operating temperature, or loose parts, the deviation angle will be much greater than 5 degrees. At this time, in order to protect the servo from damage, the possible abnormal conditions of the servo will be gradually detected to prevent further damage to the servo and reduce cost losses.

[0062] Corresponding to the aforementioned application function implementation method embodiment, the present application also provides an ultra-wideband-based multi-point calibration device, an electronic device and corresponding embodiments.

[0063] Figure 3 It is a functional module diagram of a multi-point calibration device based on ultra-wideband shown in an embodiment of the present application.

[0064] See also Figure 3 A multi-point calibration device based on ultra-wideband includes: a configuration module 100, a collection module 200 and an analysis module 300, wherein the configuration module 100 is used to create a communication tag; the collection module 200 is used to drive the steering gear to rotate and collect signals sent by multiple UWB nodes through the communication tag; the analysis module 300 is used to calculate and process the signals sent by multiple UWB nodes and output multiple arrival angle compensation tables.

[0065] In one embodiment, the acquisition module 200 is further used to drive the servo to rotate according to a preset trajectory, and to collect signals sent by multiple UWB nodes through communication tags.

[0066] In one embodiment, the analysis module 300 includes an identification unit, which is used to identify the MAC address of each UWB node and output the azimuth angle corresponding to each UWB node; based on each azimuth angle, collect the arrival angle phase difference data corresponding to each UWB node; calculate and process each arrival angle phase difference data, and output multiple arrival angle compensation tables.

[0067] In one embodiment, the collection module 100 is further configured to collect signals sent by multiple UWB nodes through communication tags within a preset time.

[0068] Regarding the system in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated again here.

[0069] Figure 4 It is a schematic diagram of the structure of an electronic device shown in an embodiment of the present application.

[0070] See also Figure 4 , the electronic device 1000 includes a memory 1010 and a processor 1020 .

[0071] The processor 1020 may be a central processing unit (CPU), or an integrated circuit composed of other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. The general-purpose processor may be any conventional processor that can run the Linux kernel.

[0072] The memory 1010 may include various types of storage units, such as system memory, read-only memory (ROM), and permanent storage devices. Among them, ROM can store static data or instructions required by the processor 1020 or other modules of the computer. The permanent storage device may be a readable and writable storage device. The permanent storage device may be a non-volatile storage device that does not lose the stored instructions and data even after the computer is powered off. In some embodiments, the permanent storage device uses a large-capacity storage device (such as a magnetic or optical disk, flash memory) as a permanent storage device. In some other embodiments, the permanent storage device may be a removable storage device (such as a floppy disk, optical drive). The system memory may be a readable and writable storage device or a volatile readable and writable storage device, such as a dynamic random access memory. The system memory may store some or all instructions and data required by the processor at run time. In addition, the memory 1010 may include any combination of computer-readable storage media, including various types of semiconductor storage chips (such as DRAM, SRAM, SDRAM, flash memory, programmable read-only memory), and disks and / or optical disks may also be used. In some embodiments, the memory 1010 may include a readable and / or writable removable storage device, such as a laser disc (CD), a read-only digital versatile disc (such as a DVD-ROM, a double-layer DVD-ROM), a read-only Blu-ray disc, an ultra-density optical disc, a flash memory card (such as an SD card, a mini SD card, a Micro-SD card, etc.), a magnetic floppy disk, etc. The computer-readable storage medium does not include carrier waves and transient electronic signals transmitted wirelessly or wired.

[0073] The memory 1010 stores executable codes, and when the executable codes are processed by the processor 1020 , the processor 1020 can execute part or all of the methods described above.

[0074] In addition, the method according to the present application may also be implemented as a computer program or a computer program product, which includes computer program code instructions for executing some or all of the steps in the above method of the present application.

[0075] Alternatively, the present application can also be implemented as a computer-readable storage medium (or non-transitory machine-readable storage medium or machine-readable storage medium) on which executable code (or computer program or computer instruction code) is stored. When the executable code (or computer program or computer instruction code) is executed by a processor of an electronic device (or server, etc.), the processor executes part or all of the steps of the above-mentioned method according to the present application.

[0076] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of the various embodiments have their own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required for the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0077] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A multi-point calibration method based on ultra-wideband, characterized in that: include: Create communication tags; The servo is driven to rotate, and the communication tag collects signals sent by multiple UWB nodes; The signals sent by the plurality of UWB nodes are calculated and processed, and a plurality of arrival angle compensation tables are output.

2. The ultra-wideband based multi-point calibration method according to claim 1, characterized in that: The driving servo to rotate and collecting signals sent by multiple UWB nodes through the communication tag include: The steering engine is driven to rotate according to a preset trajectory, and the communication tag collects signals sent by multiple UWB nodes.

3. The ultra-wideband based multi-point calibration method according to claim 1, characterized in that: The calculating and processing the signals sent by the plurality of UWB nodes and outputting a plurality of arrival angle compensation tables comprises: Identify the MAC address of each of the UWB nodes, and output the azimuth angle corresponding to each of the UWB nodes; According to each of the azimuth angles, collecting the corresponding arrival angle phase difference data of each of the UWB nodes; Each of the arrival angle phase difference data is calculated and processed, and a plurality of the arrival angle compensation tables are output.

4. The ultra-wideband based multi-point calibration method according to claim 1, characterized in that: The collecting of signals sent by a plurality of UWB nodes by the communication tag comprises: The signals sent by the plurality of UWB nodes are collected by the communication tag within a preset time.

5. A multi-point calibration device based on ultra-wideband, characterized in that: include: Configuration module, used to create communication tags; A collection module, used to drive the steering gear to rotate, and collect signals sent by multiple UWB nodes through the communication tags; The analysis module is used to calculate and process the signals sent by the multiple UWB nodes and output multiple arrival angle compensation tables.

6. The ultra-wideband based multi-point calibration device according to claim 5, characterized in that: The acquisition module is also used to drive the steering gear to rotate according to a preset trajectory, and to collect signals sent by multiple UWB nodes through the communication tags.

7. The ultra-wideband based multi-point calibration device according to claim 5, characterized in that: The analysis module includes an identification unit, which is used to identify the MAC address of each UWB node and output the azimuth angle corresponding to each UWB node; According to each of the azimuth angles, collecting the corresponding arrival angle phase difference data of each of the UWB nodes; Each of the arrival angle phase difference data is calculated and processed, and a plurality of the arrival angle compensation tables are output.

8. The ultra-wideband based multi-point calibration device according to claim 5, characterized in that: The acquisition module is also used to collect signals sent by multiple UWB nodes through the communication tags within a preset time.

9. An electronic device, characterized in that: include: processor; as well as A memory having executable codes stored thereon, which, when executed by the processor, causes the processor to execute the method according to any one of claims 1 to 4.

10. A computer-readable storage medium having executable codes stored thereon, which, when executed by a processor of an electronic device, causes the processor to execute the method according to any one of claims 1 to 4.

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