A positioning system, a positioning method and a legged robot

Abstract

The present disclosure relates to a positioning system, a positioning method, and a legged robot, and relates to the field of wireless communication technologies. The system includes: an antenna assembly and a positioning assembly, wherein the antenna assembly includes a first antenna array and a second antenna array, the first antenna array and the second antenna array are composed of omnidirectional antenna units, and the arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array; the first antenna array and the second antenna array are respectively used for receiving positioning signals; the positioning assembly is used for determining the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay, and can ensure that when the arrival angle of the incident wave is within any range, the positioning signal can be accurately positioned, avoiding phase ambiguity. Based on the positioning system including the antenna assembly and the positioning assembly, omnidirectional positioning within a 360° range in the horizontal plane is achieved.

Description

Technical Field

[0001] The present disclosure relates to the field of mobile communications, and particularly to a positioning system, a positioning method, and a legged robot. Background Art

[0002] UWB (Ultra-Wide Band) positioning technology usually measures the distance of a target such as a terminal device by the Time of Flight (ToF) method, and measures the azimuth angle of the target by the Angle of Arrival (AoA) of the radio frequency signal sent by the terminal device, so as to realize the positioning of the terminal device.

[0003] In related technologies, the methods of AoA mainly include: TDOA (Time Difference of Arrival) and PDOA (Phase Difference of Arrival). Among them, TDOA can estimate the azimuth angle according to the time difference of the arriving wave; PDOA can estimate the azimuth angle according to the phase difference of the arriving wave. In particular, since the estimation accuracy of PDOA is higher, in practical engineering applications, the UWB-based positioning system mostly uses the PDOA method to estimate the azimuth angle.

[0004] However, due to the defects in antenna design and positioning algorithm in the PDOA method, the UWB-based positioning system can only achieve 180-degree half-space positioning, that is, it can only achieve azimuth angle positioning within 180 degrees in the horizontal plane. Summary of the Invention

[0005] The present disclosure provides a positioning system, a positioning method, and a legged robot to at least solve the problem that only azimuth angle positioning within 180 degrees in the horizontal plane can be achieved in related technologies. The technical solutions of the present disclosure are as follows:

[0006] According to the first aspect of the embodiments of the present disclosure, a positioning system is provided. The system includes: an antenna assembly and a positioning assembly. Among them, the antenna assembly includes a first antenna array and a second antenna array. The first antenna array and the second antenna array are composed of omnidirectional antenna units. The arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array. The first antenna array and the second antenna array are respectively used to receive positioning signals. The positioning assembly is used to determine the first phase delay between the antenna units in the first antenna array according to the positioning signal fed back by the first antenna array, determine the second phase delay between the antenna units in the second antenna array according to the positioning signal fed back by the second antenna array, and determine the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay.

[0007] According to an embodiment of the present disclosure, the first antenna array and the second antenna array share an antenna unit.

[0008] According to an embodiment of the present disclosure, the first antenna array further includes a first antenna unit. The first antenna unit and the shared antenna unit form the first antenna array. The second antenna array further includes a second antenna unit. The shared antenna unit and the second antenna unit form the second antenna array.

[0009] According to an embodiment of the present disclosure, the determining the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay includes: respectively determining a first direction angle estimation value and a second direction angle estimation value of the positioning signal according to the first phase delay and the second phase delay; determining the target azimuth angle of the positioning signal according to the first direction angle estimation value and the second direction angle estimation value.

[0010] According to an embodiment of the present disclosure, the respectively determining the first azimuth angle estimation value and the second azimuth angle estimation value of the positioning signal according to the first phase delay and the second phase delay includes: determining the first azimuth angle estimation value of the positioning signal with reference to the positive and negative attributes of the second phase delay for the first phase delay; determining the second azimuth angle estimation value of the positioning signal with reference to the positive and negative attributes of the first phase delay for the second phase delay.

[0011] According to an embodiment of the present disclosure, determining the target azimuth angle of the positioning signal based on the first direction angle estimate and the second direction angle estimate includes: obtaining a first angle confidence range and a second angle confidence range, where the first angle confidence range and the second angle confidence range do not overlap; in response to the first azimuth angle estimate belonging to the first angle confidence range and the second azimuth angle estimate not belonging to the second angle confidence range, the target azimuth angle is equal to the first azimuth angle estimate; in response to the second azimuth angle estimate belonging to the second angle confidence range and the first azimuth angle estimate not belonging to the first angle confidence range, the target azimuth angle is equal to the second azimuth angle estimate; in response to the first azimuth angle estimate belonging to the first angle confidence range and the second azimuth angle estimate belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate; in response to the first azimuth angle estimate not belonging to the first angle confidence range and the second azimuth angle estimate not belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate.

[0012] According to a second aspect of the embodiments of the present disclosure, a positioning method is provided, which is applicable to a positioning system. The positioning system includes an antenna assembly. The antenna assembly includes a first antenna array and a second antenna array. The first antenna array and the second antenna array are composed of omnidirectional antenna units. The arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array. The first antenna array and the second antenna array are respectively used to receive positioning signals. The method includes: determining a first phase delay between antenna units in the first antenna array according to the positioning signal fed back by the first antenna array; determining a second phase delay between antenna units in the second antenna array according to the positioning signal fed back by the second antenna array; and determining the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay.

[0013] According to an embodiment of the present disclosure, determining the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay includes: respectively determining a first direction angle estimate and a second direction angle estimate of the positioning signal according to the first phase delay and the second phase delay; and determining the target azimuth angle of the positioning signal according to the first direction angle estimate and the second direction angle estimate.

[0014] According to an embodiment of the present disclosure, determining the first azimuth angle estimate and the second azimuth angle estimate of the positioning signal according to the first phase delay and the second phase delay respectively includes: determining the first azimuth angle estimate of the positioning signal by referring to the positive or negative attribute of the second phase delay for the first phase delay; determining the second azimuth angle estimate of the positioning signal by referring to the positive or negative attribute of the first phase delay for the second phase delay.

[0015] According to an embodiment of the present disclosure, determining the target azimuth angle of the positioning signal according to the first direction angle estimate and the second direction angle estimate includes: obtaining a first angle confidence range and a second angle confidence range, where the first angle confidence range and the second angle confidence range do not overlap; in response to the first azimuth angle estimate belonging to the first angle confidence range and the second azimuth angle estimate not belonging to the second angle confidence range, the target azimuth angle is equal to the first azimuth angle estimate; in response to the second azimuth angle estimate belonging to the second angle confidence range and the first azimuth angle estimate not belonging to the first angle confidence range, the target azimuth angle is equal to the second azimuth angle estimate; in response to the first azimuth angle estimate belonging to the first angle confidence range and the second azimuth angle estimate belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate; in response to the first azimuth angle estimate not belonging to the first angle confidence range and the second azimuth angle estimate not belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate.

[0016] According to a third aspect of the embodiments of the present disclosure, a legged robot is provided, including: a head, a torso, a leg assembly, and the positioning system provided in the first aspect of the embodiments of the present disclosure.

[0017] According to an embodiment of the present disclosure, the positioning system is disposed in the head of the legged robot or the back area of the torso.

[0018] According to an embodiment of the present disclosure, the antenna assembly in the positioning system is disposed in the head of the legged robot or the back area of the torso.

[0019] According to a fourth aspect of the embodiments of the present disclosure, a legged robot is provided, including: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the positioning method provided in the second aspect of the embodiments of the present disclosure.

[0020] According to a fifth aspect of the embodiments of the present disclosure, a storage medium is provided. When the instructions in the storage medium are executed by a processor of a legged robot, the legged robot is enabled to execute the positioning method provided in the second aspect of the embodiments of the present disclosure.

[0021] According to a sixth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, characterized in that when the computer program is executed by a processor, it implements the positioning method provided in the second aspect of the present disclosure.

[0022] The technical solutions provided by the embodiments of the present disclosure at least bring the following beneficial effects:

[0023] The present disclosure provides a positioning system including an antenna component and a positioning component. The antenna component includes a first antenna array and a second antenna array. The first antenna array and the second antenna array are composed of omnidirectional antenna units. The arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array, and the first antenna array and the second antenna array are respectively used to receive positioning signals. The positioning component is used to determine the first phase delay between the antenna units in the first antenna array according to the positioning signal fed back by the first antenna array, determine the second phase delay between the antenna units in the second antenna array according to the positioning signal fed back by the second antenna array, and determine the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay, which can ensure that the angle of arrival of the incident wave can be accurately positioned within any range, avoiding phase ambiguity. Based on the positioning system including the antenna component and the positioning component, omnidirectional positioning within a 360° range in the horizontal plane is realized.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure, and do not constitute an improper limitation to the present disclosure.

[0026] Figure 1 is a schematic diagram of a traditional PDOA positioning process shown according to an exemplary embodiment.

[0027] Figure 2 is a schematic diagram of a traditional PDOA positioning system shown according to an exemplary embodiment.

[0028] Figure 3 is a block diagram of a positioning system shown according to an exemplary embodiment.

[0029] Figure 4It is a schematic diagram of a UWB technology shown according to an exemplary embodiment.

[0030] Figure 5 It is a schematic diagram of a device carrying a UWB tag shown according to an exemplary embodiment.

[0031] Figure 6 It is a schematic diagram of an arrangement method of an antenna array shown according to an exemplary embodiment.

[0032] Figure 7 It is a schematic diagram of the horizontal plane direction of an ideal monopole antenna shown according to an exemplary embodiment.

[0033] Figure 8 It is a schematic diagram of the vertical plane direction of an ideal monopole antenna shown according to an exemplary embodiment.

[0034] Figure 9 It is a schematic diagram of a flowchart of a positioning process shown according to an exemplary embodiment.

[0035] Figure 10 It is a schematic diagram of an orthogonal positioning shown according to an exemplary embodiment.

[0036] Figure 11 It is a schematic diagram of a flowchart of another positioning process shown according to an exemplary embodiment.

[0037] Figure 12 It is a schematic diagram of the positive and negative attributes of phase delay shown according to an exemplary embodiment.

[0038] Figure 13 It is a schematic diagram of a flowchart of another positioning process shown according to an exemplary embodiment.

[0039] Figure 14 It is a schematic diagram of a confidence interval shown according to an exemplary embodiment.

[0040] Figure 15 It is a schematic diagram of a flowchart of a positioning method shown according to an exemplary embodiment.

[0041] Figure 16 It is a schematic diagram of a flowchart of another positioning method shown according to an exemplary embodiment.

[0042] Figure 17 It is a schematic diagram of a flowchart of another positioning method shown according to an exemplary embodiment.

[0043] Figure 18 It is a schematic diagram of a flowchart of another positioning method shown according to an exemplary embodiment.

[0044] Figure 19Schematic diagram of a legged robot shown according to an exemplary embodiment.

[0045] Figure 20 Block diagram of a legged robot shown according to an exemplary embodiment. Detailed implementation manners

[0046] To enable those of ordinary skill in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0047] It should be noted that in the present disclosure, terms such as "first" and "second" in the specification, claims and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such used data can be interchanged under appropriate circumstances so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0048] It should be noted that in the related art, when estimating the azimuth angle using the PDOA method, antennas A and B as shown in Figure 1 are deployed. The target object is far from antennas A and B. Therefore, the electromagnetic wave signals emitted by the target object can be approximated as plane wave illumination at antennas A and B. Obviously, the incident wave arrives at antenna B first and then arrives at antenna A after a certain delay.

[0049] If the angle between the incident wave direction and the Y-axis is θ, the distance between antennas A and B is d, the line connecting the centers of antennas A and B is set as the X-axis, the direction perpendicular to the X-axis is the Y-axis, and the path difference p between the incident wave arriving at antenna B and arriving at antenna A is considered. In this case, p = d·cos(θ), and the phase difference PDOA between antennas A and B is Then the target azimuth angle can be obtained through the formula to obtain the target azimuth angle.

[0050] It can be seen from this that to ensure a one-to-one mapping relationship between θ and it is necessary to satisfy θ ∈ (-π / 2, π / 2) and d < λ / 2. If θ exceeds this range, phase ambiguity will occur.

[0051] Furthermore, in the related art, a patch antenna is used in the positioning system for positioning, and the patch antenna belongs to a directional antenna, and the lobe width of its horizontal plane pattern is less than 180°. As shown in Figure 2As shown in the figure, three patch antennas are placed on a vertical plane and arranged along the X direction and the Z direction respectively, which can achieve horizontal plane and elevation plane positioning, but the positioning range of the horizontal plane is less than 180°.

[0052] In summary, the defects of the antenna design and the positioning algorithm determine that the positioning system based on patch antennas in the related art can only achieve 180° half-space positioning.

[0053] Therefore, in the present disclosure, it is possible to achieve omnidirectional positioning in the 360° range of the horizontal plane based on a positioning system and a positioning method including an antenna component and a positioning component.

[0054] Figure 3 FIG. is a schematic structural diagram of a positioning system provided by an embodiment of the present disclosure.

[0055] As Figure 3 shown, the ultra-wideband positioning system 1000 includes: an antenna component 100 and a positioning component 200.

[0056] Among them, the antenna component 100 includes: a first antenna array 110 and a second antenna array 120. The first antenna array 110 and the second antenna array 120 are composed of omnidirectional antenna units, and the arrangement direction of the first antenna array 110 is perpendicular to the arrangement direction of the second antenna array 120; the first antenna array 110 and the second antenna array 120 are respectively used to receive positioning signals.

[0057] Hereinafter, the positioning system proposed in the present disclosure will be explained by taking a UWB (Ultra-Wide Band) positioning system as an example.

[0058] It should be noted that the UWB technology combines the time-domain pulse technology for high-precision positioning and the TDOA (Time Difference of Arrival) measurement technology. For example, as Figure 4 shown, based on the UWB technology, the target azimuth angle of the positioning signal between the UWB tag and the UWB base station can be determined, so as to achieve positioning.

[0059] It should be noted that in the present disclosure, UWB tags are carried on all targets attempting to be positioned. For example, as Figure 5 shown, when attempting to position a charging device 5-2 matching a legged robot 5-1, a UWB tag 5-3 is provided on the charging device 5-2. In this case, the UWB tag can emit a positioning signal.

[0060] Among them, the positioning component 200 includes: a baseband unit and a radio frequency unit.

[0061] In an embodiment of the present disclosure, the first antenna array 110 can feed back a positioning signal to the positioning component 200, and the second antenna array 120 can also feed back a positioning signal to the positioning component 200. In this case, the positioning component 200 can determine a first phase delay between antenna elements in the first antenna array 110 according to the positioning signal fed back by the first antenna array 110, and determine a second phase delay between antenna elements in the second antenna array 120 according to the positioning signal fed back by the second antenna array 120.

[0062] Further, the positioning component 200 can determine a target azimuth angle of the positioning signal according to the first phase delay and the second phase delay.

[0063] According to a positioning system of an embodiment of the present disclosure, the system includes an antenna component and a positioning component. The antenna component includes a first antenna array and a second antenna array. The first antenna array and the second antenna array are composed of omnidirectional antenna elements. The arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array, and the first antenna array and the second antenna array are respectively used to receive positioning signals. The positioning component is used to determine a first phase delay between antenna elements in the first antenna array according to the positioning signal fed back by the first antenna array, determine a second phase delay between antenna elements in the second antenna array according to the positioning signal fed back by the second antenna array, and determine a target azimuth angle of the positioning signal according to the first phase delay and the second phase delay, which can ensure accurate positioning of the positioning signal when the incident wave arrival angle is within any range, avoid phase ambiguity, and realize omnidirectional positioning in the 360° range of the horizontal plane based on the positioning system including the antenna component and the positioning component.

[0064] It should be noted that in the positioning system 1000 proposed in the present disclosure, the first antenna array 110 and the second antenna array 120 share an antenna element.

[0065] Optionally, the first antenna array 110 further includes a first antenna element 111. The first antenna element and the shared antenna element 112 form the first antenna array 110. The second antenna array 120 further includes a second antenna element 121. The shared antenna element 112 and the second antenna element 121 form the second antenna array 120.

[0066] As a possible implementation, as Figure 6 shown, the antenna component 100 includes three monopole antennas, namely 6-1 to 6-3. Among them, the first antenna array 110 includes antenna element 6-1 and antenna element 6-2, and the first antenna array is arranged along the x direction; the second antenna array 120 includes antenna element 6-2 and antenna element 6-3, and the second antenna array 120 is arranged along the y direction.

[0067] A positioning system according to an embodiment of the present disclosure, as Figures 7 - 8 shown, in this case, the gain fluctuation of the horizontal plane pattern of the ideal monopole antenna is very small, and the gain zero point of the vertical plane pattern is in the z-axis direction, that is, the vertical direction.

[0068] It should be noted that in the present disclosure, when attempting to determine the target azimuth angle of the positioning signal based on the first phase delay and the second phase delay, the first direction angle estimate value and the second direction angle estimate value of the positioning signal can be determined respectively, and then the target azimuth angle of the positioning signal can be determined.

[0069] As a possible implementation, as Figure 9 shown, it specifically includes the following steps:

[0070] Step 901, determine the first direction angle estimate value and the second direction angle estimate value of the positioning signal according to the first phase delay and the second phase delay respectively.

[0071] In the embodiment of the present disclosure, the initial azimuth angle of the positioning signal can be determined according to one of the first phase delay and the second phase delay. Optionally, the first initial azimuth angle of the positioning signal can be determined according to the first phase delay, and the second initial azimuth angle of the positioning signal can be determined according to the second phase delay.

[0072] For example, as Figure 10 shown, the array arranged in the X direction constitutes the first antenna array, where the array element spacing is d x , the array arranged in the Y direction constitutes the second antenna array, where the array element spacing is d y , the first phase delay is The second phase delay is Δψ. In this case, according to the formula The first azimuth angle can be obtained. Among them, θ x represents the angle difference between the incoming wave direction and the x-axis.

[0073] Furthermore, based on the second phase delay Δψ, according to the formula Another azimuth estimate value, that is, the second azimuth angle, can be obtained. It should be noted that γ is the angle difference between the incoming wave direction and the y-axis. For the sake of unity, γ needs to be converted into the angle difference between the incoming wave direction and the x-axis. Therefore, the second azimuth angle can be obtained Among them, the subscript y represents the estimation result based on the dual-element array antenna arranged in the y direction.

[0074] It should be noted that theoretically θ x =θ y , however, in actual applications, the two are angle estimates based on antenna arrays in different directions respectively, both deviate from the true value, and the two are not equal.

[0075] Further, when the direction of the incoming wave deflects to -180° to 0°, the single-array azimuth angle estimation method in the related art will have discrimination ambiguity, resulting in the positioning system being unable to work properly. Thus, in the present disclosure, the calculation ambiguity of the first initial azimuth angle can be eliminated according to the positive and negative attributes of the second phase delay.

[0076] As a possible implementation, as Figure 11 shown, it specifically includes the following steps:

[0077] Step 1101, the first phase delay determines the first azimuth angle estimation value of the positioning signal with reference to the positive and negative attributes of the second phase delay.

[0078] It should be noted that for different incoming wave directions, the positive and negative values of the first phase delay and the second phase delay are different. For example, as Figure 11 shown, the values of the first phase delay and the second phase delay can be positive and negative respectively.

[0079] Step 1102, the second phase delay determines the second azimuth angle estimation value of the positioning signal with reference to the positive and negative attributes of the first phase delay.

[0080] Optionally, for the first phase delay, if the positive and negative attribute of the second phase delay is positive, the adjustment value of the initial azimuth angle can be determined as π / 6; if the positive and negative attribute of the second phase delay is negative, the adjustment value of the initial azimuth angle can be determined as π / 2; for the second phase delay, if the positive and negative attribute of the first phase delay is positive, the adjustment value of the initial azimuth angle can be determined as 0; if the positive and negative attribute of the second phase delay is negative, the adjustment value of the initial azimuth angle can be determined as 5π / 3.

[0081] For example, as Figure 12 shown, the corresponding calculation formula can be adopted according to the positive and negative attributes of the array phase delay, so as to eliminate the calculation ambiguity.

[0082] If the positive and negative attribute of the first phase delay is positive, the corrected direction angle can be determined according to Equation 12-1; if the positive and negative attribute of the first phase delay is negative, the corrected direction angle can be determined according to Equation 12-2; if the positive and negative attribute of the second phase delay Δψ is positive, the corrected direction angle can be determined according to Equation 12-3; if the positive and negative attribute of the second phase delay Δψ is negative, the corrected direction angle can be determined according to Equation 12-4.

[0083] Step 902, according to the first direction angle estimation value and the second direction angle estimation value, determine the target azimuth angle of the positioning signal.

[0084] As a possible implementation, asFigure 13 As shown, it specifically includes the following steps:

[0085] Step 1301: Obtain a first angle confidence range and a second angle confidence range, where the first angle confidence range and the second angle confidence range do not overlap.

[0086] It should be noted that in the present disclosure, a non - overlapping first angle confidence range and a second angle confidence range are preset. For example, the first angle confidence range and the second angle confidence range can be preset as 45° < θx < 135° or 225° < θx < 315° respectively.

[0087] Step 1302: In response to the first azimuth angle estimate value belonging to the first angle confidence range and the second azimuth angle estimate value not belonging to the second angle confidence range, the target azimuth angle is equal to the first azimuth angle estimate value.

[0088] Step 1303: In response to the second azimuth angle estimate value belonging to the second angle confidence range and the first azimuth angle estimate value not belonging to the first angle confidence range, the target azimuth angle is equal to the second azimuth angle estimate value.

[0089] Step 1304: In response to the first azimuth angle estimate value belonging to the first angle confidence range and the second azimuth angle estimate value belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate value and the second azimuth angle estimate value.

[0090] Step 1305: In response to the first azimuth angle estimate value not belonging to the first angle confidence range and the second azimuth angle estimate value not belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate value and the second azimuth angle estimate value.

[0091] For example, Figure 14 shows the confidence region of the azimuth angle calculation value. When the result of the first corrected azimuth angle θ x falls within the first angle confidence range, and the result of the second corrected azimuth angle θ y falls outside the second angle confidence range, that is, 450 < θ x < 1350 or 2250 < θ x < 3150, and at the same time 450 < θ y < 1350 or 2250 < θ y < 3150 θ x when, θ x has a higher confidence level than θ y In this case, θ x can be used as the final azimuth angle estimation result, that is, the target azimuth angle; when the result of the second corrected azimuth angle θ y falls within the second angle confidence range, and the first corrected azimuth angle θx The result falls outside the first angular confidence range, i.e., 1350 < θ y <22550 or -450 (3150) < θ y <450, and at the same time 1350 < θ x <22550 or -450 (3150) < θ x <450, θ y has a higher confidence level than θ x In this case, θ y can be used as the final azimuth angle estimate, i.e., the target azimuth angle; outside the first two cases, the average value of θ x and θ y can be used as the final azimuth angle estimation result.

[0092] Figure 15 FIG. is a schematic flow chart of a positioning method provided by an embodiment of the present disclosure. Among them, the positioning method is applicable to a positioning system, the positioning system includes an antenna assembly, the antenna assembly includes a first antenna array and a second antenna array, the first antenna array and the second antenna array are composed of omnidirectional antenna units, the arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array, and the first antenna array and the second antenna array are respectively used to receive positioning signals.

[0093] As a possible implementation, as Figure 15 shown, it specifically includes the following steps:

[0094] Step 1501, determine the first phase delay between the antenna units in the first antenna array according to the positioning signal fed back by the first antenna array.

[0095] Optionally, the first phase delay between the antenna units in the first antenna array can be determined based on the following formula according to the positioning signal fed back by the first antenna array:

[0096]

[0097] where p is the path difference.

[0098] Step 1502, determine the second phase delay between the antenna units in the second antenna array according to the positioning signal fed back by the second antenna array.

[0099] Optionally, the second phase delay between the antenna units in the second antenna array can be determined based on the following formula according to the positioning signal fed back by the second antenna array:

[0100]

[0101] where p is the path difference.

[0102] Step 1503: Determine the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay.

[0103] Optionally, the target azimuth angle of the positioning signal can be determined according to the first phase delay and the second phase delay based on the following formula:

[0104]

[0105] According to a positioning method of an embodiment of the present disclosure, the first phase delay between the antenna elements in the first antenna array can be determined according to the positioning signal fed back by the first antenna array, and the second phase delay between the antenna elements in the second antenna array can be determined according to the positioning signal fed back by the second antenna array. Furthermore, according to the first phase delay and the second phase delay, the target azimuth angle of the positioning signal can be determined, which can ensure accurate positioning of the positioning signal when the arrival angle of the incident wave is within any range, avoiding phase ambiguity. Based on a positioning system including an antenna assembly and a positioning assembly, omnidirectional positioning in a 360° range of the horizontal plane is achieved.

[0106] Figure 16 It is a schematic flowchart of another positioning method provided by an embodiment of the present disclosure.

[0107] As a possible implementation, as Figure 16 shown, it specifically includes the following steps:

[0108] Step 1601: Determine the first phase delay between the antenna elements in the first antenna array according to the positioning signal fed back by the first antenna array.

[0109] Step 1602: Determine the second phase delay between the antenna elements in the second antenna array according to the positioning signal fed back by the second antenna array.

[0110] Step 1603: Determine the first direction angle estimation value and the second direction angle estimation value of the positioning signal according to the first phase delay and the second phase delay respectively.

[0111] As a possible implementation, as Figure 17 shown, it specifically includes the following steps:

[0112] Step 1701: Determine the first azimuth angle estimation value of the positioning signal based on the positive and negative attributes of the first phase delay with reference to the second phase delay.

[0113] Among them, for different incident wave directions, the positive and negative values of the first phase delay and the second phase delay are different.

[0114] Step 1702: Determine the second azimuth angle estimation value of the positioning signal based on the positive and negative attributes of the second phase delay with reference to the first phase delay.

[0115] Optionally, for the first phase delay, if the positive / negative attribute of the second phase delay is positive, the adjustment value of the initial azimuth angle can be determined as π / 6; if the positive / negative attribute of the second phase delay is negative, the adjustment value of the initial azimuth angle can be determined as π / 2; for the second phase delay, if the positive / negative attribute of the first phase delay is positive, the adjustment value of the initial azimuth angle can be determined as 0; if the positive / negative attribute of the second phase delay is negative, the adjustment value of the initial azimuth angle can be determined as 5π / 3.

[0116] Step 1604: Determine the target azimuth angle of the positioning signal according to the first direction angle estimate and the second direction angle estimate.

[0117] As a possible implementation, as Figure 18 shown, it specifically includes the following steps:

[0118] Step 1801: Obtain a first angle confidence range and a second angle confidence range, where the first angle confidence range and the second angle confidence range do not overlap.

[0119] Step 1802: In response to the first azimuth angle estimate belonging to the first angle confidence range and the second azimuth angle estimate not belonging to the second angle confidence range, the target azimuth angle is equal to the first azimuth angle estimate.

[0120] Step 1803: In response to the second azimuth angle estimate belonging to the second angle confidence range and the first azimuth angle estimate not belonging to the first angle confidence range, the target azimuth angle is equal to the second azimuth angle estimate.

[0121] Step 1804: In response to the first azimuth angle estimate belonging to the first angle confidence range and the second azimuth angle estimate belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate.

[0122] Step 1805: In response to the first azimuth angle estimate not belonging to the first angle confidence range and the second azimuth angle estimate not belonging to the second angle confidence range, the target azimuth angle is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate.

[0123] It should be noted that non-overlapping first angle confidence range and second angle confidence range are preset in the present disclosure. For example, the first angle confidence range and the second angle confidence range can be preset as 45° < θx < 135° or 225° < θx < 315° respectively.

[0124] It should be noted that the positioning method proposed in the present disclosure is applicable to various scenarios.

[0125] For the user tracking application scenario, the mobile phone can quickly determine the position and orientation of the UWB tag through a UWB-based positioning system. For example, if it is attempted to locate staff member A wearing a UWB tag, the first phase delay between the antenna elements in the first antenna array can be determined based on the positioning signal fed back by the first antenna array, and the second phase delay between the antenna elements in the second antenna array can be determined based on the positioning signal fed back by the second antenna array. Furthermore, based on the first phase delay and the second phase delay, the target azimuth angle of the positioning signal emitted by the UWB tag can be determined, thereby achieving the positioning of the person.

[0126] For the application scenarios of robot and driverless vehicle control, the user can quickly determine the position and orientation of robots, vehicles, etc. through a UWB-based positioning system set on terminals such as mobile phones. For example, if it is attempted to locate the sweeping robot B equipped with a UWB tag, the first phase delay between the antenna elements in the first antenna array can be determined based on the positioning signal fed back by the first antenna array, and the second phase delay between the antenna elements in the second antenna array can be determined based on the positioning signal fed back by the second antenna array. Furthermore, based on the first phase delay and the second phase delay, the target azimuth angle of the positioning signal emitted by the UWB tag can be determined, thereby achieving the positioning of the sweeping robot.

[0127] Figure 19 The structural schematic diagram of a legged robot provided by an embodiment of the present disclosure.

[0128] As Figure 19 shown, the legged robot 3000 includes: a head 31, a torso 32, a leg assembly 33, and a positioning system 1000.

[0129] In the embodiment of the present disclosure, in order to ensure that the positioning signal of the positioning system 1000 can be blocked as little as possible. Therefore, optionally, the positioning system 1000 can be set in the head 31 of the legged robot 3000 or the back area of the torso 32.

[0130] Furthermore, only the antenna assembly 100 in the positioning device 1000 can be set in the head 31 of the legged robot 3000 or the back area of the torso 32, and the setting position of the positioning component 200 can be set according to the actual situation. For example, the positioning component 200 can be set in the abdominal area of the torso 32 of the legged robot 3000.

[0131] For example, when the legged robot attempts to match with a charging device, it can accurately perform 360° omnidirectional positioning on the charging device based on the positioning system, and then move according to the positioning result for charging.

[0132] A legged robot according to an embodiment of the present disclosure. The legged robot includes a head, a trunk, leg assemblies, and a positioning system. Optionally, the positioning system is disposed in the head of the legged robot or in the back region of the trunk, enabling the legged robot to achieve various functions such as charging and obstacle avoidance through omnidirectional positioning, thereby enhancing the intelligence level of the legged robot.

[0133] To implement the above embodiment, the present disclosure also provides a legged robot, as Figure 20 shown, the legged robot 8000 includes: a processor 801; one or more memories 802 for storing executable instructions of the processor 801; wherein, the processor 801 is configured to execute the positioning method described in the above embodiment. The processor 801 and the memory 802 are connected through a communication bus.

[0134] To implement the above embodiment, the present disclosure also provides a storage medium including instructions, such as the memory 802 including instructions, and the above instructions can be executed by the processor 801 of the device 1000 to complete the above method. Optionally, the storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, magnetic tape, a floppy disk, and an optical data storage device, etc.

[0135] To implement the above embodiment, the present disclosure also provides a computer program product, including a computer program, characterized in that the computer program, when executed by a processor, implements the positioning method described in the above embodiment.

[0136] Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the following claims.

[0137] It should be understood that the present disclosure is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present disclosure is only limited by the appended claims.

Claims

1. A positioning system, characterized in that, Comprising: An antenna assembly and a positioning assembly, wherein the antenna assembly includes a first antenna array and a second antenna array, the first antenna array and the second antenna array are composed of omnidirectional antenna units, and the arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array; The first antenna array and the second antenna array are respectively used for receiving positioning signals; The positioning assembly is configured to determine a first phase delay between antenna units in the first antenna array according to the positioning signal fed back by the first antenna array, determine a second phase delay between antenna units in the second antenna array according to the positioning signal fed back by the second antenna array, and determine a target azimuth angle of the positioning signal according to the first phase delay and the second phase delay; The determining the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay includes: Respectively determining a first azimuth angle estimation value and a second azimuth angle estimation value of the positioning signal according to the first phase delay and the second phase delay; Obtaining a first angle confidence range and a second angle confidence range, wherein the first angle confidence range and the second angle confidence range do not overlap; In response to the first azimuth angle estimation value belonging to the first angle confidence range and the second azimuth angle estimation value not belonging to the second angle confidence range, determining that the target azimuth angle of the positioning signal is equal to the first azimuth angle estimation value; In response to the second azimuth angle estimation value belonging to the second angle confidence range and the first azimuth angle estimation value not belonging to the first angle confidence range, determining that the target azimuth angle of the positioning signal is equal to the second azimuth angle estimation value; In response to the first azimuth angle estimation value belonging to the first angle confidence range and the second azimuth angle estimation value belonging to the second angle confidence range, determining that the target azimuth angle of the positioning signal is equal to the arithmetic mean of the first azimuth angle estimation value and the second azimuth angle estimation value; In response to the first azimuth angle estimation value not belonging to the first angle confidence range and the second azimuth angle estimation value not belonging to the second angle confidence range, determining that the target azimuth angle of the positioning signal is equal to the arithmetic mean of the first azimuth angle estimation value and the second azimuth angle estimation value.

2. The positioning system according to claim 1, wherein, The first antenna array and the second antenna array share one antenna unit.

3. The positioning system according to claim 2, wherein The first antenna array further includes a first antenna unit, the first antenna unit and the shared antenna unit form the first antenna array, the second antenna array further includes a second antenna unit, and the shared antenna unit and the second antenna unit form the second antenna array.

4. The positioning system according to claim 1, characterized in that, The respectively determining the first azimuth angle estimation value and the second azimuth angle estimation value of the positioning signal according to the first phase delay and the second phase delay includes: Determining the first azimuth angle estimation value of the positioning signal according to the positive or negative attribute of the first phase delay with reference to the second phase delay; The second phase delay determines the second azimuth angle estimate of the positioning signal with reference to the positive / negative attribute of the first phase delay.

5. A positioning method, characterized in that, Applicable to a positioning system, the positioning system includes an antenna assembly, the antenna assembly includes a first antenna array and a second antenna array, the first antenna array and the second antenna array are composed of omnidirectional antenna units, the arrangement direction of the first antenna array is perpendicular to the arrangement direction of the second antenna array, and the first antenna array and the second antenna array are respectively used to receive positioning signals; The method includes the following steps: Determine a first phase delay between antenna units in the first antenna array according to the positioning signal fed back by the first antenna array; Determine a second phase delay between antenna units in the second antenna array according to the positioning signal fed back by the second antenna array; Determine the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay; The determining the target azimuth angle of the positioning signal according to the first phase delay and the second phase delay includes: Determine a first azimuth angle estimate and a second azimuth angle estimate of the positioning signal according to the first phase delay and the second phase delay respectively; Obtain a first angular confidence range and a second angular confidence range, wherein the first angular confidence range and the second angular confidence range do not overlap; In response to the first azimuth angle estimate belonging to the first angular confidence range and the second azimuth angle estimate not belonging to the second angular confidence range, determine that the target azimuth angle of the positioning signal is equal to the first azimuth angle estimate; In response to the second azimuth angle estimate belonging to the second angular confidence range and the first azimuth angle estimate not belonging to the first angular confidence range, determine that the target azimuth angle of the positioning signal is equal to the second azimuth angle estimate; In response to the first azimuth angle estimate belonging to the first angular confidence range and the second azimuth angle estimate belonging to the second angular confidence range, determine that the target azimuth angle of the positioning signal is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate; In response to the first azimuth angle estimate not belonging to the first angular confidence range and the second azimuth angle estimate not belonging to the second angular confidence range, determine that the target azimuth angle of the positioning signal is equal to the arithmetic mean of the first azimuth angle estimate and the second azimuth angle estimate.

6. The positioning method according to claim 5, wherein The determining the first azimuth angle estimate and the second azimuth angle estimate of the positioning signal according to the first phase delay and the second phase delay respectively includes: The first phase delay determines the first azimuth angle estimate of the positioning signal with reference to the positive / negative attribute of the second phase delay; The second phase delay determines the second azimuth angle estimate of the positioning signal with reference to the positive / negative attribute of the first phase delay.

7. A legged robot, characterized in that, Includes: A head, a trunk, a leg assembly, and the positioning system according to any one of claims 1-4.

8. The robot according to claim 7, wherein The positioning system is disposed in the head of the legged robot or the back area of the trunk.

9. The robot according to claim 8, characterized in that, The antenna assembly in the positioning system is disposed in the head of the legged robot or the back area of the trunk.

10. A legged robot, characterized in that, Comprising: A processor; A memory for storing executable instructions of the processor; Wherein, the processor is configured to execute the instructions to implement the positioning method according to any one of claims 5 to 6.

11. A computer-readable storage medium, when the instructions in the computer-readable storage medium are executed by a processor of a legged robot, enabling the legged robot to execute the positioning method according to any one of claims 5 to 6.

12. A computer program product, comprising a computer program, characterized in that, The computer program, when executed by a processor, implements the positioning method according to any one of claims 5 to 6.

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