Angle determination method, device, computer device and computer-readable storage medium

Abstract

An embodiment of the present application discloses an angle determination method, apparatus, computer device, and computer-readable storage medium. The method includes: receiving, by using the antenna array, a signal sent by a signal sending device, and determining, according to the signal, an angle between the signal receiving device and the signal sending device; performing validity verification on the angle; if the angle passes the validity verification, using the angle as a measurement result; if the angle fails to pass the validity verification, changing the orientation of the antenna array, and re-determining the pose of the signal receiving device to obtain an angle that meets a preset condition as the measurement result. In this way, the validity of the angle is verified, thereby ensuring the accuracy of the angle; at the same time, when the angle fails to pass the validity verification, the orientation of the antenna array is also changed, and the pose of the signal receiving device is re-determined to obtain an angle that meets the preset condition as the measurement result, which also ensures the accuracy of the angle.

Description

Technical Field

[0001] This application relates to the technical field of angle measurement, and in particular, to an angle determination method, apparatus, computer device, and computer-readable storage medium. Background Art

[0002] Currently, wireless technologies such as UWB (Ultra Wide Band) or Bluetooth can be used to send wireless signals through a signal sending device, and then receive the wireless signals through a signal receiving device, so as to obtain the angle of the signal sending device relative to the signal receiving device. When the measured angle is incorrect or has low accuracy, it will affect the accuracy of subsequent positioning using the angle. Summary of the Invention

[0003] In view of this, the purpose of the embodiments of this application is to provide an angle determination method, apparatus, computer device, and computer-readable storage medium, which can solve the problem that when the currently measured angle is incorrect or has low accuracy, it affects the accuracy of positioning.

[0004] To solve the above technical problems, this application is implemented as follows:

[0005] In a first aspect, an embodiment of this application provides an angle determination method, which is applied to a signal receiving device including an antenna array. The method includes:

[0006] Receiving the signal sent by the signal sending device by using the antenna array, and determining the angle between the signal receiving device and the signal sending device according to the signal;

[0007] Performing validity verification on the angle;

[0008] If the angle passes the validity verification, then using the angle as the measurement result;

[0009] If the angle fails to pass the validity verification, then changing the orientation of the antenna array, re-determining the pose of the signal receiving device, so as to obtain an angle that meets the preset conditions as the measurement result.

[0010] According to a specific implementation manner disclosed in this application, the performing validity verification on the angle includes:

[0011] Judging whether the angle is within a preset range;

[0012] If so, determining that the angle passes the validity verification;

[0013] If not, determining that the angle fails to pass the validity verification.

[0014] According to a specific embodiment disclosed in the present application, the validity verification of the angle further includes:

[0015] Determine a first distance between the signal sending device and the signal receiving device according to the signal strength of the signal;

[0016] Calculate a second distance between the signal sending device and the signal receiving device by using a preset ranging method;

[0017] Judge whether the difference between the first distance and the second distance is less than a preset difference threshold;

[0018] If so, determine that the angle passes the validity verification;

[0019] If not, determine that the angle fails the validity verification.

[0020] According to a specific embodiment disclosed in the present application, the validity verification of the angle further includes:

[0021] When the static durations of both the signal sending device and the signal receiving device are greater than a preset duration threshold, obtain the angle within the static duration and calculate the average error of the angle;

[0022] Judge whether the average error of the angle is greater than a first preset average error threshold;

[0023] If so, determine that the angle fails the validity verification;

[0024] If not, determine that the angle passes the validity verification.

[0025] According to a specific embodiment disclosed in the present application, the changing the orientation of the antenna array, re-determining the pose of the signal receiving device, and obtaining an angle that meets the preset conditions as the measurement result includes:

[0026] Change the orientation of the antenna array;

[0027] Obtain the angle between the signal sending device and the signal receiving device and the corresponding horizontal attitude angle of the antenna array at preset intervals, and store them in the data queue in sequence as the acquisition results;

[0028] When the difference between the horizontal attitude angle of the last acquisition result and the horizontal attitude angle of the first acquisition result in the data queue is greater than a preset angle threshold, calculate the angle difference between the angle and the horizontal attitude angle of each acquisition result, perform normalization processing on all the angle differences, and calculate the average error of all the angle differences;

[0029] Determine whether the average error of the angle difference is less than a second preset average error threshold;

[0030] If so, control the antenna array to stop rotating;

[0031] If not, store the angle difference and the average error of the angle difference until the antenna array rotates 360°;

[0032] Take the angle corresponding to the minimum average error of the angle difference as the result, and control the antenna array to rotate the horizontal attitude angle corresponding to the minimum average error of the angle difference to obtain an angle that meets the preset conditions as the measurement result.

[0033] According to a specific embodiment disclosed in the present application, the antenna array is disposed on the base or the pan-tilt of the signal receiving device, and changing the orientation of the antenna array includes:

[0034] Control the base or the pan-tilt to rotate in a preset direction to change the orientation of the antenna array.

[0035] According to a specific embodiment disclosed in the present application, the method further includes:

[0036] Calculate the pose of the signal receiving device using the measurement result.

[0037] In a second aspect, an embodiment of the present application provides an angle determination device applied to a signal receiving device including an antenna array. The device includes:

[0038] An angle determination module, configured to receive a signal sent by a signal sending device using the antenna array, and determine an angle between the signal receiving device and the signal sending device according to the signal;

[0039] A verification module, configured to perform validity verification on the angle;

[0040] A first result determination module, configured to, if the angle passes the validity verification, use the angle as the measurement result;

[0041] A second result determination module, configured to, if the angle fails to pass the validity verification, change the orientation of the antenna array, re-determine the pose of the signal receiving device, and obtain an angle that meets the preset conditions as the measurement result.

[0042] In a third aspect, an embodiment of the present application provides a computer device, including a processor and a memory, where a program or an instruction is stored on the memory, and when the program or the instruction is executed by the processor, the steps of the method described in the first aspect are implemented.

[0043] Fourthly, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented.

[0044] The angle determination method, device, computer device, and computer-readable storage medium provided in the above embodiments of the present application perform validity verification on the angle, thereby ensuring the accuracy of the angle. At the same time, when the angle fails the validity verification, the orientation of the antenna array is also changed, and the pose of the signal receiving device is re-determined to obtain an angle that meets the preset conditions as the measurement result, which also ensures the accuracy of the angle. Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the protection scope of the present application. In each drawing, similar components are numbered similarly.

[0046] Figure 1 It shows a schematic flowchart of an angle determination method provided by an embodiment of the present application;

[0047] Figure 2 It shows a schematic diagram of the positional relationship between a signal receiving device and a signal transmitting device provided by an embodiment of the present application;

[0048] Figure 3 It shows a schematic structural diagram of an angle determination device provided by an embodiment of the present application. Detailed Embodiments

[0049] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments.

[0050] Generally, the components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the present application to be protected, but only represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of the present application.

[0051] As used hereinafter, the terms "comprising", "having" and their cognates that can be used in various embodiments of the present application are only intended to represent specific features, numbers, steps, operations, elements, components or combinations of the foregoing items, and should not be construed as precluding the existence of one or more other features, numbers, steps, operations, elements, components or combinations of the foregoing items or the possibility of adding one or more features, numbers, steps, operations, elements, components or combinations of the foregoing items first.

[0052] In addition, the terms "first", "second", "third", etc. are only used for differential description and cannot be construed as indicating or implying relative importance.

[0053] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as commonly understood by those of ordinary skill in the art to which various embodiments of the present application pertain. The terms (such as those defined in a commonly used dictionary) will be construed to have the same meaning as the contextual meaning in the relevant technical field and will not be construed to have an idealized meaning or an overly formal meaning unless clearly defined in various embodiments of the present application.

[0054] To solve the technical problem that when the existing measured angle is incorrect or the accuracy is low, it affects the accuracy of positioning, the present application provides an angle determination method. Please refer to Figure 1 , Figure 1 which is a schematic flowchart of the angle determination method provided by an embodiment of the present application. The method is applied to a signal receiving device including an antenna array and includes the following steps:

[0055] Step 110: Receive the signal sent by the signal sending device by using the antenna array, and determine the angle between the signal receiving device and the signal sending device according to the signal.

[0056] Specifically, the signal sending device is usually provided with an antenna for sending signals. In an embodiment of the present application, the antenna includes but is not limited to an omnidirectional antenna, and the transmission power of the signal sending device is fixed. It can be understood that since the omnidirectional antenna shows uniform radiation at 360° on the horizontal pattern and the transmission power of the signal sending device is fixed, the consistency of the sent signal in all directions is ensured.

[0057] The signal receiving device is usually provided with an antenna array including at least two antennas, and the signal sent by the signal sending device can be received by using the antenna array. Further, the angle between the signal receiving device and the signal sending device is determined according to the signal. It can be understood that the angle between the signal receiving device and the signal sending device is referenced by the direction of the connection line of the two antennas of the signal receiving device. Further, please refer to Figure 2 ,Figure 2 FIG. 0 shows a schematic diagram of the positional relationship between a signal receiving device 200 and a signal transmitting device 300 provided in an embodiment of the present application. In the embodiment of the present application, the angle in the front vertical direction of the antenna array is 0 degrees, the angle in the left direction of the figure is negative, and the angle in the right direction of the figure is positive. Therefore, the angle between the signal receiving device 200 and the signal transmitting device 300 is approximately 45°.

[0058] Step 120: Verify the validity of the angle.

[0059] Specifically, in the embodiment of the present application, the validity of the angle is verified, thereby ensuring the accuracy of the angle.

[0060] Next, the steps for verifying the validity of the angle in the embodiment of the present application will be specifically introduced.

[0061] In an alternative embodiment, the verifying the validity of the angle includes:

[0062] Determine whether the angle is within a preset range;

[0063] If so, determine that the angle passes the validity verification;

[0064] If not, determine that the angle fails the validity verification.

[0065] Specifically, the preset range can be set to [-A1, A1]. It can be understood that the specific value of A1 can be set according to actual needs, and the embodiment of the present application does not limit this. Generally, the value range of A1 is between 50° and 80°. For example, it can be 60° or 70°.

[0066] If the angle is not within the preset range, it indicates that the accuracy of the angle is insufficient. Therefore, it is necessary to re-obtain the angle between the signal transmitting device and the signal receiving device to avoid calculation errors caused by insufficient accuracy of the angle.

[0067] In an alternative embodiment, the verifying the validity of the angle further includes:

[0068] Determine a first distance between the signal transmitting device and the signal receiving device according to the signal strength of the signal;

[0069] Calculate a second distance between the signal transmitting device and the signal receiving device by using a preset ranging method;

[0070] Determine whether the difference between the first distance and the second distance is less than a preset difference threshold;

[0071] If so, determine that the angle passes the validity verification;

[0072] If not, it is determined that the angle fails the validity verification.

[0073] Specifically, the distances corresponding to the signal strengths of the signals received at each angle within a preset range can be pre-calibrated, and then the first distance between the signal sending device and the signal receiving device can be determined according to the signal strength of the signal.

[0074] Then, a preset ranging method is used to calculate the second distance between the signal sending device and the signal receiving device. It can be understood that the preset ranging method can be set according to actual needs, and the embodiments of the present application do not limit this. For example, it can be wireless ranging or visual ranging.

[0075] If the difference between the first distance and the second distance is less than or equal to a preset difference threshold, it indicates that the signal sending device is not in front of the signal receiving device. Therefore, it is necessary to re-acquire the angle between the signal sending device and the signal receiving device to avoid calculation errors caused by insufficient angle accuracy. It can be understood that the preset difference threshold can be set according to actual needs, and the embodiments of the present application do not limit this.

[0076] In an optional implementation manner, the validity verification of the angle further includes:

[0077] When the stationary durations of both the signal sending device and the signal receiving device are greater than a preset duration threshold, the angles within the stationary duration are acquired, and the average error of the angles is calculated;

[0078] Determine whether the average error of the angles is greater than a first preset average error threshold;

[0079] If so, it is determined that the angle fails the validity verification;

[0080] If not, it is determined that the angle passes the validity verification.

[0081] Specifically, the stationary duration can be set according to actual needs, and the embodiments of the present application do not limit this. For example, it can be 2s, 3s, or 5s.

[0082] The calculation formula for the average error is as follows:

[0083]

[0084] In the formula, η represents the average error, n represents the quantity, x i represents the value of the variable, represents the average value of the variable. Here, the variable is the angle.

[0085] It can be understood that at least one of the above three steps for validating the angle can be selected for execution according to actual requirements. It should be noted that when two or three steps are selected for execution, the embodiments of the present application do not limit the order between the steps. Preferably, the verification of the preset range should be performed before the verification of the signal strength. In addition, when two or three steps are selected for execution, two or three conditions should be satisfied simultaneously to pass the validity verification.

[0086] Step 130: If the angle passes the validity verification, use the angle as the measurement result.

[0087] Specifically, it can be understood that if the angle passes the validity verification, it indicates that the accuracy of the angle is guaranteed to a certain extent. Therefore, the angle is used as the measurement result, and then the measurement result can be used for subsequent positioning or other calculations.

[0088] Step 140: If the angle does not pass the validity verification, change the orientation of the antenna array, and re-determine the pose of the signal receiving device to obtain an angle that meets the preset conditions as the measurement result.

[0089] Specifically, if the angle does not pass the validity verification, it means that the wireless transmitter is not between [-A1, A1] in front of the antenna array, or there is occlusion or other interference between the signal transmitting device and the signal receiving device, resulting in insufficient accuracy of the angle. Therefore, in the embodiments of the present application, by changing the orientation of the antenna array and re-determining the pose of the signal receiving device, an angle that meets the preset conditions is obtained as the measurement result.

[0090] In an alternative embodiment, the changing the orientation of the antenna array, re-determining the pose of the signal receiving device to obtain an angle that meets the preset conditions as the measurement result includes:

[0091] Change the orientation of the antenna array;

[0092] Obtain the angle between the signal transmitting device and the signal receiving device and the corresponding horizontal attitude angle of the antenna array at preset time intervals, and store the acquisition results in a data queue in sequence;

[0093] When the difference between the horizontal attitude angle of the last acquisition result and the horizontal attitude angle of the first acquisition result in the data queue is greater than a preset angle threshold, calculate the angle difference between the angle and the horizontal attitude angle of each acquisition result, perform normalization processing on all the angle differences, and calculate the average error of all the angle differences;

[0094] Determine whether the average error of the angle differences is less than a second preset average error threshold;

[0095] If so, control the antenna array to stop rotating;

[0096] If not, store the angle difference and the average error of the angle difference until the antenna array rotates 360°;

[0097] Take the angle corresponding to the average error of the smallest angle difference as the result, and control the antenna array to rotate by this angle to obtain an angle that meets the preset conditions as the measurement result.

[0098] Specifically, changing the orientation of the antenna array can be achieved by controlling the antenna array to rotate in a preset direction. The preset direction can be left or right. It can be understood that controlling the antenna array to rotate in one direction can avoid the antenna array repeatedly switching directions and improve the processing efficiency. In addition, the signal receiving device itself can rotate in place or not rotate in place, that is, rotate while moving. It can be understood that if the antenna array is rotatable, directly control the antenna array to rotate; if the antenna array is arranged on the base or pan-tilt of the signal receiving device, control the base or pan-tilt to rotate to achieve the rotation of the antenna array. Therefore, in an optional embodiment, the antenna array is arranged on the base or pan-tilt of the signal receiving device, and changing the orientation of the antenna array includes:

[0099] Control the base or pan-tilt to rotate in a preset direction to change the orientation of the antenna array.

[0100] Then, at every preset time interval, obtain the angle between the signal transmitting device and the signal receiving device and the corresponding horizontal attitude angle of the antenna array, and store them in the data queue in sequence as the acquisition results. The horizontal attitude angle can be obtained through methods such as IMU (Inertial Measurement Unit), servo reading, map positioning, and electronic compass. It can be understood that the specific value of the preset time interval can be set according to actual needs, and the embodiments of the present application do not limit this.

[0101] When the difference between the horizontal attitude angle of the last acquisition result and the horizontal attitude angle of the first acquisition result in the data queue is greater than the preset angle threshold, it means that the rotation angle of the antenna array exceeds a certain range. The acquisition results in the data queue can be analyzed, that is, calculate the angle difference between the angle and the horizontal attitude angle of each acquisition result, perform normalization processing on all the angle differences to the range of [-180°, 180°), and calculate the average error of all the angle differences. The calculation formula of the average error is the same as that described above and will not be repeated here. It can be understood that the variable here is the angle difference. In addition, each time an analysis is performed, an average error will be calculated as the calculation result of this time, corresponding to the acquisition result.

[0102] It is understandable that the specific value of the second preset average error threshold can be set according to actual needs, and the embodiments of the present application do not limit this.

[0103] If the average error of the angle difference is less than the second preset average error threshold, it indicates that the angle is correct, and the antenna array of the signal receiving device is oriented towards the signal transmitting device. Therefore, control the antenna array to stop rotating.

[0104] If the average error of the angle difference is greater than or equal to the second preset average error threshold, store the angle difference and the average error of the angle difference, and the antenna array continues to rotate until it rotates 360°, that is, rotates one week.

[0105] At this time, if the correct orientation still has not been found, it is considered that the angle corresponding to the minimum average error of the angle difference is relatively reliable. Therefore, use the angle corresponding to the minimum average error of the angle difference as the result, and control the antenna array to rotate the horizontal attitude angle corresponding to the minimum average error of the angle difference to obtain an angle that meets the preset conditions as the measurement result, that is, obtain an angle that meets the requirements. It is understandable that the preset conditions can refer to being within a preset range, which can be set according to actual needs, and the embodiments of the present application do not limit this.

[0106] In an optional implementation manner, the method further includes:

[0107] Calculate the pose of the signal receiving device using the measurement result.

[0108] It is understandable that since the accuracy of the angle is guaranteed, when calculating the pose of the signal receiving device, the accuracy of the pose calculation result is improved.

[0109] The angle determination method provided in the embodiments of the present application verifies the validity of the angle, thereby ensuring the accuracy of the angle; at the same time, when the angle fails the validity verification, the orientation of the antenna array is also changed, and the pose of the signal receiving device is re-determined to obtain an angle that meets the preset conditions as the measurement result, which also ensures the accuracy of the angle.

[0110] Corresponding to the above method embodiment, please refer to Figure 3 , Figure 3 , which is a schematic structural diagram of the angle determination device provided in the embodiments of the present application. The angle determination device 1000 includes:

[0111] An angle determination module 1010, configured to receive a signal sent by a signal transmitting device using the antenna array, and determine an angle between the signal receiving device and the signal transmitting device according to the signal;

[0112] A verification module 1020 for validating the effectiveness of the angle;

[0113] A first result determination module 1030 for using the angle as a measurement result if the angle passes the effectiveness verification;

[0114] A second result determination module 1040 for changing the orientation of the antenna array and re - determining the pose of the signal receiving device to obtain an angle that meets a preset condition as the measurement result if the angle fails the effectiveness verification.

[0115] Optionally, the verification module 1020 includes:

[0116] A first judgment unit for judging whether the angle is within a preset range;

[0117] A first determination unit for determining that the angle passes the effectiveness verification if it is;

[0118] A second determination unit for determining that the angle fails the effectiveness verification if it is not.

[0119] Optionally, the verification module 1020 further includes:

[0120] A first distance determination unit for determining a first distance between the signal transmitting device and the signal receiving device according to the signal strength of the signal;

[0121] A second distance determination unit for calculating a second distance between the signal transmitting device and the signal receiving device using a preset ranging method;

[0122] A second judgment unit for judging whether the difference between the first distance and the second distance is less than a preset difference threshold;

[0123] A third determination unit for determining that the angle passes the effectiveness verification if it is;

[0124] A fourth determination unit for determining that the angle fails the effectiveness verification if it is not.

[0125] Optionally, the verification module 1020 further includes:

[0126] A first average error calculation unit for obtaining the angle within the stationary duration and calculating the average error of the angle when the stationary durations of both the signal transmitting device and the signal receiving device are greater than a preset duration threshold;

[0127] A third judgment unit for judging whether the average error of the angle is greater than a first preset average error threshold;

[0128] A fifth determination unit, configured to determine that the angle fails the validity verification if so.

[0129] A sixth determination unit, configured to determine that the angle passes the validity verification if not.

[0130] Optionally, the second result determination module 1050 includes:

[0131] An orientation change unit, configured to change the orientation of the antenna array.

[0132] A first storage unit, configured to obtain the angle between the signal transmitting device and the signal receiving device and the corresponding horizontal attitude angle of the antenna array at preset time intervals, and store them in a data queue in sequence as acquisition results.

[0133] A second average error calculation unit, configured to calculate the angular difference between the angle and the horizontal attitude angle of each acquisition result, normalize all the angular differences, and calculate the average error of all the angular differences when the difference between the horizontal attitude angle of the last acquisition result and the horizontal attitude angle of the first acquisition result in the data queue is greater than a preset angle threshold.

[0134] A fourth judgment unit, configured to judge whether the average error of the angular differences is less than a second preset average error threshold.

[0135] A control unit, configured to control the antenna array to stop rotating if so.

[0136] A second storage unit, configured to store the angular difference and the average error of the angular difference until the antenna array rotates 360° if not.

[0137] A result determination unit, configured to use the angle corresponding to the minimum average error of the angular differences as the result, and control the antenna array to rotate the horizontal attitude angle corresponding to the minimum average error of the angular differences to obtain an angle that meets the preset conditions as the measurement result.

[0138] Optionally, the antenna array is disposed on the base or pan-tilt of the signal receiving device, and the orientation change unit is specifically configured to:

[0139] Control the base or pan-tilt to rotate in a preset direction to change the orientation of the antenna array.

[0140] Optionally, the angle determination device 1000 further includes:

[0141] A pose calculation module, configured to calculate the pose of the signal receiving device by using the measurement result.

[0142] The angle determination device provided by the embodiments of the present application can implement each process of the angle determination method in the above method embodiments and achieve the same technical effects. To avoid repetition, details are not described here again.

[0143] Optionally, the embodiments of the present application further provide a computer device, including a processor and a memory. A program or instruction is stored on the memory. When the program or instruction is executed by the processor, it implements each process of the angle determination method embodiment in the above and can achieve the same technical effects. To avoid repetition, details are not described here again.

[0144] Optionally, the embodiments of the present application further provide a computer-readable storage medium. A program or instruction is stored on the computer-readable storage medium. When the program or instruction is executed by the processor, it implements each process of the angle determination method embodiment in the above and can achieve the same technical effects. To avoid repetition, details are not described here again.

[0145] Wherein, the processor is the processor in the computer device described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs, etc.

[0146] In several embodiments provided by the present application, it should be understood that the disclosed device and method can also be implemented in other ways. The device embodiments described above are merely illustrative. For example, the flowcharts and structure diagrams in the accompanying drawings show the possible architectures, functions, and operations of the device, method, and computer program product according to multiple embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of the code, and the module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in an alternative implementation, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the structure diagram and / or flowchart, as well as the combination of blocks in the structure diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0147] In addition, in each embodiment of the present application, the various functional modules or units may be integrated together to form an independent part, or each module may exist alone, or two or more modules may be integrated to form an independent part.

[0148] If the above-mentioned functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a smart phone, a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs.

[0149] The above is only the specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application.

Claims

1. An angle determination method, characterized in that Applied to a signal receiving device including an antenna array, the method includes: Receiving, by using the antenna array, a signal sent by a signal sending device, and determining an angle between the signal receiving device and the signal sending device according to the signal; Performing validity verification on the angle; If the angle passes the validity verification, using the angle as a measurement result; If the angle fails to pass the validity verification, changing the orientation of the antenna array, and re-determining the pose of the signal receiving device to obtain an angle that meets a preset condition as a measurement result; The changing the orientation of the antenna array and re-determining the pose of the signal receiving device to obtain an angle that meets a preset condition as a measurement result includes: Changing the orientation of the antenna array; Obtaining, at every preset time interval, an angle between the signal sending device and the signal receiving device and a corresponding horizontal attitude angle of the antenna array, and sequentially storing the obtained results into a data queue as acquisition results; When a difference between the horizontal attitude angle of the last acquisition result and the horizontal attitude angle of the first acquisition result in the data queue is greater than a preset angle threshold, calculating an angle difference between the angle and the horizontal attitude angle of each acquisition result, performing normalization processing on all the angle differences, and calculating an average error of all the angle differences; Determining whether the average error of the angle differences is less than a second preset average error threshold; If so, controlling the antenna array to stop rotating; If not, storing the angle differences and the average error of the angle differences until the antenna array rotates 360°; Using the angle corresponding to the minimum average error of the angle differences as a result, and controlling the antenna array to rotate by a horizontal attitude angle corresponding to the minimum average error of the angle differences to obtain an angle that meets a preset condition as a measurement result; The performing validity verification on the angle includes: determining whether the angle is within a preset range; if so, determining that the angle passes the validity verification; if not, determining that the angle fails to pass the validity verification.

2. The angle determination method according to claim 1, characterized in that The performing validity verification on the angle may also be: Determining a first distance between the signal sending device and the signal receiving device according to a signal strength of the signal; Calculating a second distance between the signal sending device and the signal receiving device by using a preset ranging method; Determining whether a difference between the first distance and the second distance is less than a preset difference threshold; If so, determining that the angle passes the validity verification; If not, determining that the angle fails to pass the validity verification.

3. The angle determination method according to claim 1, wherein The performing validity verification on the angle may also be: When stationary durations of both the signal sending device and the signal receiving device are greater than a preset duration threshold, obtaining an angle within the stationary duration and calculating an average error of the angle; Determining whether the average error of the angle is greater than a first preset average error threshold; If so, determining that the angle fails to pass the validity verification; If not, determining that the angle passes the validity verification.

4. The angle determination method according to claim 1, characterized in that The antenna array is disposed on a base or a pan-tilt head of the signal receiving device, and the changing the orientation of the antenna array includes: Control the base or the pan-tilt head to rotate in a preset direction to change the orientation of the antenna array.

5. The angle determination method according to claim 1, wherein The method further includes: Calculating the pose of the signal receiving device by using the measurement result.

6. An angle determination device, characterized in that Applied to a signal receiving device including an antenna array, the device includes: An angle determination module, configured to receive a signal sent by a signal sending device by using the antenna array, and determine an angle between the signal receiving device and the signal sending device according to the signal; A verification module, configured to perform validity verification on the angle; A first result determination module, configured to, if the angle passes the validity verification, use the angle as a measurement result; A second result determination module, configured to, if the angle fails to pass the validity verification, change the orientation of the antenna array, re-determine the pose of the signal receiving device, and use an angle that meets a preset condition as a measurement result; The second result determination module includes: An orientation change unit, configured to change the orientation of the antenna array; A first storage unit, configured to obtain, at intervals of a preset duration, an angle between the signal sending device and the signal receiving device and a corresponding horizontal attitude angle of the antenna array, and sequentially store the obtained results as acquisition results into a data queue; A second average error calculation unit, configured to, when a difference between a horizontal attitude angle of a last acquisition result and a horizontal attitude angle of a first acquisition result in the data queue is greater than a preset angle threshold, calculate an angle difference between the angle and the horizontal attitude angle of each acquisition result, perform normalization processing on all the angle differences, and calculate an average error of all the angle differences; A fourth determination unit, configured to determine whether the average error of the angle differences is less than a second preset average error threshold; A control unit, configured to, if so, control the antenna array to stop rotating; A second storage unit, configured to, if not, store the angle difference and the average error of the angle difference until the antenna array rotates 360°; A result determination unit, configured to use the angle corresponding to the minimum average error of the angle differences as a result, and control the antenna array to rotate by a horizontal attitude angle corresponding to the minimum average error of the angle differences, so as to use an angle that meets a preset condition as a measurement result; The verification module includes: A first determination unit, configured to determine whether the angle is within a preset range; A first determination unit, configured to, if so, determine that the angle passes the validity verification; A second determination unit, configured to, if not, determine that the angle fails to pass the validity verification.

7. A computer device, characterized in that, Including a processor and a memory, where a program or an instruction is stored on the memory, and when the program or the instruction is executed by the processor, the steps of the angle determination method according to any one of claims 1-5 are implemented.

8. A computer-readable storage medium, characterized in that, A program or an instruction is stored on the computer-readable storage medium, and when the program or the instruction is executed by a processor, the steps of the angle determination method according to any one of claims 1-5 are implemented.

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