A method, apparatus, and equipment for azimuth calibration of UWB base stations based on auxiliary base stations.

Abstract

This application provides a method, apparatus, and device for azimuth angle calibration of UWB base stations based on auxiliary base stations. The method includes: determining multiple target areas of a target scene during the movement of the auxiliary base station, wherein the auxiliary base station satisfies constraints with at least two UWB base stations when it is in a target area; for each target area, acquiring target angle measurement data corresponding to at least two UWB base stations corresponding to the target area, determining the relative angle relationship between the azimuth angles of at least two UWB base stations based on the target angle measurement data; and calibrating the azimuth angles of multiple UWB base stations in the target scene based on the relative angle relationship between the azimuth angles of at least two UWB base stations corresponding to each target area. This technical solution automatically calibrates the azimuth angles of multiple UWB base stations, with simple calibration operation, high calibration accuracy, and high calibration efficiency.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method, apparatus and equipment for azimuth calibration of UWB (Ultra Wideband) base stations based on auxiliary base stations. Background Technology

[0002] With the rapid development of information technology, UWB positioning technology has been widely applied in various application scenarios. UWB positioning technology features high accuracy, high anti-interference capability, high penetration, high security, and low power consumption. To implement UWB positioning technology, multiple UWB base stations can be deployed, and communication with the target to be located can be achieved through these base stations (e.g., sending and receiving UWB signals), thereby enabling accurate positioning of the target. For example, at least three UWB base stations can communicate with the target to be located, and based on triangulation, accurate positioning of the target can be achieved.

[0003] The above method requires manual calibration of the azimuth angles of multiple UWB base stations before the target can be located. However, manual calibration of the azimuth angles of multiple UWB base stations suffers from problems such as low calibration accuracy, low calibration efficiency, and complex calibration operations. Summary of the Invention

[0004] This application provides a method for azimuth angle calibration of UWB base stations based on auxiliary base stations, used to calibrate the azimuth angles of multiple UWB base stations in a target scene. The method includes:

[0005] During the movement of the auxiliary base station, multiple target areas of the target scene are determined, and the auxiliary base station satisfies the constraint conditions with at least two UWB base stations when it is in the target area.

[0006] For each target area of ​​the target scene, target angle measurement data corresponding to at least two UWB base stations corresponding to the target area are obtained, and the relative angle relationship between the azimuth angles of the at least two UWB base stations is determined based on the target angle measurement data corresponding to the at least two UWB base stations.

[0007] Based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, the azimuth angles of the plurality of UWB base stations in the target scene are calibrated.

[0008] This application provides a UWB base station azimuth calibration device based on an auxiliary base station, used to calibrate the azimuth angles of multiple UWB base stations in a target scene. The device includes:

[0009] The determination module is used to determine multiple target areas of the target scene during the movement of the auxiliary base station, wherein the auxiliary base station satisfies the constraint conditions with at least two UWB base stations when it is in the target area;

[0010] The acquisition module is used to acquire target angle measurement data corresponding to at least two UWB base stations for each target area of ​​the target scene, and determine the relative angle relationship between the azimuth angles of the at least two UWB base stations based on the target angle measurement data corresponding to the at least two UWB base stations.

[0011] The processing module is used to calibrate the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area.

[0012] This application provides an electronic device, including a processor and a machine-readable storage medium, wherein the machine-readable storage medium stores machine-executable instructions that can be executed by the processor; wherein the processor is used to execute the machine-executable instructions to implement the above-described UWB base station azimuth calibration method based on an auxiliary base station.

[0013] As can be seen from the above technical solutions, the embodiments of this application propose a UWB base station azimuth calibration method based on auxiliary base stations, which automatically calibrates the azimuth of multiple UWB base stations in a multi-UWB base station deployment scenario, realizes automatic calibration of the azimuth of UWB base stations under large-scale deployment, the calibration operation is simple, the calibration accuracy is high, the calibration efficiency is high, and there is no need for manual calibration of the azimuth of multiple UWB base stations. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments of this application or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this application. For those skilled in the art, other drawings can be obtained based on these drawings of the embodiments of this application.

[0015] Figure 1 This is a flowchart illustrating the azimuth calibration method for UWB base stations based on auxiliary base stations.

[0016] Figure 2 This is a schematic diagram of the world coordinate system and the coordinate system of the UWB base station;

[0017] Figure 3 This is a schematic diagram of the ranging and angle measurement functions of a UWB base station;

[0018] Figure 4 This is a schematic diagram of the processing procedures of the data acquisition module and the calibration module;

[0019] Figure 5 This is a schematic diagram illustrating an application scenario of an embodiment of this application;

[0020] Figure 6 This is a schematic diagram of the data acquisition process;

[0021] Figure 7 This is a schematic diagram showing the positional relationship between the auxiliary base station and the two UWB base stations;

[0022] Figure 8 This is a schematic diagram of the calibration process;

[0023] Figure 9 This is a schematic diagram showing the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station.

[0024] Figure 10 This is a schematic diagram of two calibration sets;

[0025] Figure 11 This is a schematic diagram of the structure of a UWB base station azimuth calibration device based on an auxiliary base station;

[0026] Figure 12 This is a hardware structure diagram of an electronic device according to one embodiment of this application. Detailed Implementation

[0027] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “the,” and “the” as used in this application and claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to any and all possible combinations comprising one or more of the associated listed items.

[0028] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" may also be interpreted as "when," "when," or "in response to a determination."

[0029] This application proposes a method for azimuth angle calibration of UWB base stations based on auxiliary base stations. This method is used to calibrate the azimuth angles of multiple UWB base stations in a target scene. This method can be applied to auxiliary base stations. See [link to relevant documentation]. Figure 1 The diagram shown is a flowchart of the method, which may include:

[0030] Step 101: During the movement of the auxiliary base station, determine multiple target areas of the target scene. When the auxiliary base station is in the target area, it satisfies the constraint conditions with at least two UWB base stations.

[0031] In one possible implementation, when the auxiliary base station is in the target area, it satisfies the constraint conditions with at least two UWB base stations, which may include, but are not limited to: the auxiliary base station being within the line-of-sight range of at least two UWB base stations; and / or, the auxiliary base station being within the angular measurement range of at least two UWB base stations, and both of these at least two UWB base stations being within the angular measurement range of the auxiliary base station.

[0032] For example, during the movement of the auxiliary base station, multiple historical angles obtained by the UWB base station measuring the angles of the auxiliary base station are acquired. If the multiple historical angles change linearly, it is determined that the auxiliary base station is within the line-of-sight range of the UWB base station. If the last historical angle among the multiple historical angles (i.e., the current angle obtained by the UWB base station measuring the angles of the auxiliary base station when it is in its current position) is within the angle measurement range of the UWB base station, it is determined that the auxiliary base station is within the angle measurement range of the UWB base station. Furthermore, when the auxiliary base station is in its current position, the current angle obtained by the auxiliary base station measuring the angles of the UWB base station can be acquired. If the current angle is within the angle measurement range of the auxiliary base station, it is determined that the UWB base station is within the angle measurement range of the auxiliary base station.

[0033] Obviously, if the auxiliary base station is simultaneously within the line-of-sight range of at least two UWB base stations, and / or the auxiliary base station is simultaneously within the angular measurement range of these at least two UWB base stations, and these at least two UWB base stations are both within the angular measurement range of the auxiliary base station, then it means that the auxiliary base station and at least two UWB base stations satisfy the constraint condition, and the current area is taken as the target area.

[0034] Step 102: For each target area in the target scene, obtain target angle measurement data corresponding to at least two UWB base stations (i.e., at least two UWB base stations that satisfy the constraints with the auxiliary base station) corresponding to that target area. For example, for each UWB base station corresponding to the target area, the target angle measurement data corresponding to that UWB base station may include a first target angle obtained by the auxiliary base station when measuring the angle of that UWB base station and a second target angle obtained by the UWB base station when measuring the angle of the auxiliary base station.

[0035] Step 103: For each target area, determine the relative angle relationship between the azimuth angles of at least two UWB base stations based on the target angle measurement data of at least two UWB base stations corresponding to the target area.

[0036] In one possible implementation, for each UWB base station corresponding to the target area, the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station can be determined based on a first target angle (the first target angle obtained by the auxiliary base station when measuring the angle of the UWB base station) and a second target angle (the second target angle obtained by the UWB base station when measuring the angle of the auxiliary base station). Based on the relative angular relationship between the azimuth angles of each UWB base station corresponding to the target area and the azimuth angle of the auxiliary base station, the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to the target area can be determined.

[0037] For example, determining the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the first target angle and the second target angle may include, but is not limited to, determining the angular difference between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the angular difference between the first target angle and the second target angle. Wherein, the first target angle is the angle between the normal of the auxiliary base station and the line connecting the target; the second target angle is the angle between the normal of the UWB base station and the line connecting the target; the target line is the line connecting the center point of the auxiliary base station and the center point of the UWB base station; the azimuth angle of the auxiliary base station is the angle between the horizontal axis of the auxiliary base station's coordinate system and the horizontal axis of the world coordinate system; the vertical axis of the auxiliary base station's coordinate system is the normal of the auxiliary base station; the azimuth angle of the UWB base station is the angle between the horizontal axis of the UWB base station's coordinate system and the horizontal axis of the world coordinate system; the vertical axis of the UWB base station's coordinate system is the normal of the UWB base station.

[0038] Step 104: Based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, calibrate the azimuth angles of multiple UWB base stations in the target scene.

[0039] In one possible implementation, one UWB base station can be selected from multiple UWB base stations (such as all UWB base stations) in the target scene as a reference UWB base station, and a reference azimuth angle can be calibrated for the reference UWB base station. Based on the relative angular relationship between the reference azimuth angle and the azimuth angles of at least two UWB base stations corresponding to each target area, the azimuth angles of each UWB base station other than the reference UWB base station can be calibrated.

[0040] In one possible implementation, multiple UWB base stations in the target scenario can be divided into multiple calibration sets based on the relative angular relationships between their azimuth angles. Within the same calibration set, there are relative angular relationships between the azimuth angles of different UWB base stations, while there are no relative angular relationships between the azimuth angles of UWB base stations in different calibration sets. Based on this, for each calibration set, the azimuth angle of each UWB base station within that calibration set can be calibrated based on the relative angular relationships between their azimuth angles. For example, one UWB base station can be selected from all UWB base stations in the calibration set as a reference UWB base station, and a reference azimuth angle can be calibrated for the reference UWB base station. Based on the relative angular relationships between the reference azimuth angle and the azimuth angles of the UWB base stations within the calibration set, the azimuth angles of each UWB base station within the calibration set, excluding the reference UWB base station, can then be calibrated.

[0041] As can be seen from the above technical solutions, the embodiments of this application propose a UWB base station azimuth calibration method based on auxiliary base stations, which automatically calibrates the azimuth of multiple UWB base stations in a multi-UWB base station deployment scenario, realizes automatic calibration of the azimuth of UWB base stations under large-scale deployment, the calibration operation is simple, the calibration accuracy is high, the calibration efficiency is high, and there is no need for manual calibration of the azimuth of multiple UWB base stations.

[0042] The technical solutions of the embodiments of this application will be described below in conjunction with specific application scenarios.

[0043] Before introducing the technical solutions of the embodiments of this application, let's first introduce the technical terms related to this application.

[0044] UWB: UWB technology is a wireless carrier communication technology that does not use sinusoidal carriers but instead transmits data using nanosecond-level non-sinusoidal narrow pulses. Therefore, UWB occupies a wide spectrum. UWB technology has advantages such as low system complexity, low transmitted signal power spectral density, insensitivity to channel fading, low interception capability, and high positioning accuracy, making it particularly suitable for high-speed wireless access in dense multipath environments such as indoors. With the rapid development of information technology, UWB positioning technology has been widely applied in various application scenarios, featuring high accuracy, high anti-interference capability, high penetration, high security, and low power consumption.

[0045] UWB base station (UWB base station equipment): A UWB base station is a fixed-location base station equipment that can transmit and receive UWB signals. UWB base stations typically have ranging and angle measurement functions.

[0046] UWB tags (UWB tag devices): UWB tags are base station devices that are not fixed in location and can transmit and receive UWB signals. UWB tags usually have ranging and angle measurement functions.

[0047] Both UWB tags and UWB base stations can perform ranging and angle measurement functions. The principles behind these functions are the same. The difference lies in that UWB tags are mobile base station devices, meaning they can move with the user, while UWB base stations are fixed base station devices that generally do not move, although they may move under special circumstances.

[0048] UWB base station calibration: Obtain the position and azimuth of the UWB base station in the physical coordinate system, and provide the position and azimuth of the UWB base station in the physical coordinate system to the positioning system (including UWB base station, UWB tag, host computer, etc.), and then realize the ranging and angle measurement functions based on the position and azimuth.

[0049] Since the location and azimuth of a UWB base station generally do not change after deployment, the location of the tag device can be achieved by obtaining the location and azimuth of the deployed UWB base station and combining it with ranging and angle measurement functions.

[0050] Azimuth of a UWB base station: The azimuth of a UWB base station is the angle between the horizontal axis of the UWB base station's coordinate system and the horizontal axis of the world coordinate system. The vertical axis of the UWB base station's coordinate system is the normal to the UWB base station.

[0051] For example, a world coordinate system (also known as a physical coordinate system) can be constructed based on user configuration. There are no restrictions on this world coordinate system; see [link to relevant documentation]. Figure 2 As shown, the XY coordinate system is the world coordinate system.

[0052] UWB base stations have their own coordinate system, called the UWB base station coordinate system. The vertical axis (Y-axis) of the UWB base station coordinate system is usually the normal to the UWB base station. The normal to the UWB base station is perpendicular to the direction of the antenna connection line and is related to the type of UWB base station. Therefore, the coordinate system of the UWB base station can be constructed based on the normal to the UWB base station. See [link to relevant documentation]. Figure 2 As shown, the coordinate system X1-Y1 is the coordinate system of the UWB base station.

[0053] Based on the coordinate system of the UWB base station and the world coordinate system, the azimuth angle of the UWB base station can be obtained. This azimuth angle is the angle between the horizontal axis of the UWB base station's coordinate system and the horizontal axis of the world coordinate system.

[0054] Ranging and angle measurement functions: UWB base stations (or UWB tags) can measure the distance and angle of the target to be located. See [link to documentation]. Figure 3As shown, distance is the distance between the center point of the UWB base station and the center point of the target to be located, angle is the angle between the normal of the UWB base station and the line connecting the target, and the line connecting the target is the line connecting the center point of the UWB base station and the center point of the target to be located. Here, angle is the angle of the target to be located in the coordinate system of the UWB base station, and distance is the distance of the target to be located in the coordinate system of the UWB base station. This embodiment does not impose restrictions on how to measure the distance and angle of the target to be located.

[0055] In one possible implementation, to achieve UWB positioning, multiple UWB base stations (e.g., three UWB base stations) can communicate with the target (e.g., sending and receiving UWB signals), thereby employing triangulation to locate the target. Triangulation involves detecting the target's orientation at different locations and using trigonometric principles to determine the target's position and distance.

[0056] Since three UWB base stations are required to locate the target, the deployment cost of UWB base stations is high and the number of UWB base stations is large. Therefore, in order to reduce deployment costs, reduce the number of UWB base stations, and reduce deployment density, a single UWB base station can also be used to locate the target.

[0057] To enable a single UWB base station to locate a target, the azimuth angle of the UWB base station needs to be calibrated manually. However, manually calibrating the azimuth angles of a large number of UWB base stations results in problems such as low calibration accuracy, low calibration efficiency, and complex calibration operations.

[0058] It should be noted that although a single UWB base station positioning scheme only requires one UWB base station to complete the positioning, when the coverage of a single UWB base station cannot meet the needs of the scenario, multiple UWB base stations need to be set up to form a scenario with multiple UWB base stations. Therefore, the azimuth angles of a large number of UWB base stations need to be manually calibrated, resulting in problems such as low calibration accuracy and low calibration efficiency.

[0059] In response to the above findings, this application proposes a UWB base station azimuth calibration method based on auxiliary base stations. This method can automatically calibrate the azimuth of multiple UWB base stations in a multi-UWB base station deployment scenario. In other words, the azimuth calibration operation is simple, with high calibration accuracy and high calibration efficiency.

[0060] See Figure 4As shown in the embodiments of this application, a data acquisition module and a calibration module may be involved. The data acquisition module and the calibration module can be deployed on the same device, such as both being deployed on the auxiliary base station. Alternatively, the data acquisition module and the calibration module can be deployed on different devices, such as the data acquisition module being deployed on the auxiliary base station and the calibration module being deployed on a management device communicating with the auxiliary base station. There are no restrictions on this. The data acquisition module is used to collect angle measurement data during the movement of the auxiliary base station (such as angle data obtained when the auxiliary base station measures the angle of the UWB base station and the angle data obtained when the UWB base station measures the angle of the auxiliary base station). The calibration module is used to calibrate the azimuth angles of multiple UWB base stations in the target scene based on the angle measurement data.

[0061] See Figure 5 The diagram shown is an application scenario illustration of an embodiment of this application. The target scenario can be any scenario where the azimuth angle of a UWB base station needs to be calibrated. The target scenario may include multiple UWB base stations. Figure 5 This example uses four UWB base stations, but the number may be more or less than four; there is no limit. Obstructions may exist between different UWB base stations, which can result in line-of-sight or non-line-of-sight relationships. Specifically, if there is no obstruction along the line connecting two UWB base stations, it indicates line-of-sight; if there is an obstruction along the line, it indicates non-line-of-sight. Line-of-sight refers to the unobstructed view in the middle of a user's line of sight when looking at a base station from a given location.

[0062] In the above application scenario, in this embodiment, the azimuth angle of each UWB base station can be calibrated based on an auxiliary base station. The auxiliary base station can be a UWB tag, i.e., a base station device with a non-fixed location, which can move with the user. This embodiment may involve a data acquisition process and a calibration process. The data acquisition process can be implemented by a data acquisition module, and the calibration process can be implemented by a calibration module.

[0063] First, the data acquisition process. During data acquisition, angle measurement data can be collected during the movement of the auxiliary base station (such as angle data obtained when the auxiliary base station measures the angle of the UWB base station and angle data obtained when the UWB base station measures the angle of the auxiliary base station). For example, see... Figure 6 As shown, the following steps can be used to collect angle measurement data during the movement of the auxiliary base station during the data acquisition process:

[0064] Step 601: During the movement of the auxiliary base station, acquire multiple historical angles obtained when the UWB base station measures the angle of the auxiliary base station. For each historical angle, the historical angle is the angle between the normal of the UWB base station and the target line, which is the line connecting the center point of the UWB base station and the center point of the auxiliary base station.

[0065] For example, a user can move the auxiliary base station within the target scenario. There are no restrictions on the movement path of the auxiliary base station. The auxiliary base station can move according to the path specified on the map, the path pre-configured, or the path according to the user's own needs.

[0066] During the movement of the auxiliary base station in the target scene, the UWB base stations in the target scene can communicate with the auxiliary base station. When the auxiliary base station moves to the coverage area of ​​a certain UWB base station, the UWB base station can measure the angle of the auxiliary base station to obtain the angle of the auxiliary base station. This angle is the angle between the normal of the UWB base station and the line connecting the target (i.e., the line connecting the center point of the UWB base station and the center point of the auxiliary base station).

[0067] Obviously, since the angle of the auxiliary base station is measured during its movement, this angle is the angle during the movement of the auxiliary base station, not the angle during the stationary state of the auxiliary base station.

[0068] During the movement of the auxiliary base station, as long as the auxiliary base station is still within the coverage area of ​​the UWB base station, the UWB base station can periodically measure the angle of the auxiliary base station, thereby obtaining multiple angles of the auxiliary base station. In other words, one angle of the auxiliary base station can be obtained in each collection cycle.

[0069] Based on this, the angle obtained in the current acquisition cycle and the angle obtained in the previous K-1 (K is a positive integer greater than 1) acquisition cycles can be used as multiple historical angles obtained when the UWB base station measures the angle of the auxiliary base station, that is, K historical angles are obtained, and the subsequent judgment process is performed based on the K historical angles.

[0070] For example, each time the UWB base station measures the angle of the auxiliary base station, it can send the angle obtained in the current acquisition cycle to the auxiliary base station. The auxiliary base station then uses the angle obtained in the current acquisition cycle and the angles obtained in the previous K-1 acquisition cycles as the K historical angles obtained by the UWB base station when measuring the angle of the auxiliary base station. Alternatively, each time the UWB base station measures the angle of the auxiliary base station, it can send the angle obtained in the current acquisition cycle and the angles obtained in the previous K-1 acquisition cycles to the auxiliary base station, allowing the auxiliary base station to obtain the K historical angles.

[0071] In summary, we can obtain K historical angles obtained by the UWB base station when measuring the angle of the auxiliary base station.

[0072] For example, the auxiliary base station can be an omnidirectional UWB tag, such as one with a 360-degree angle measurement range, or it can be a non-omnidirectional UWB tag, such as one with a 120-degree angle measurement range.

[0073] Step 602: Based on multiple historical perspectives (i.e., K historical perspectives), determine whether the auxiliary base station satisfies the constraint condition with at least two UWB base stations (for ease of description, two UWB base stations will be used as an example below). If yes, the current area of ​​the auxiliary base station can be taken as the target area, and step 603 can be executed. If no, wait for the next acquisition cycle, and determine whether the auxiliary base station satisfies the constraint condition with at least two UWB base stations based on multiple historical perspectives in the next acquisition cycle, and so on.

[0074] In one possible implementation, if the auxiliary base station is within the line-of-sight range of two UWB base stations; and / or, the auxiliary base station is within the angular measurement range of two UWB base stations, and both UWB base stations are within the angular measurement range of the auxiliary base station, then it is determined that the auxiliary base station and the two UWB base stations satisfy the constraint condition. Otherwise, it is determined that the auxiliary base station and the two UWB base stations do not satisfy the constraint condition. For example, if the auxiliary base station is within the line-of-sight range of two UWB base stations, and the auxiliary base station is within the angular measurement range of two UWB base stations, and both UWB base stations are within the angular measurement range of the auxiliary base station, then it is determined that the auxiliary base station and the two UWB base stations satisfy the constraint condition. Otherwise, it is determined that the auxiliary base station and the two UWB base stations do not satisfy the constraint condition.

[0075] For example, during the movement of the auxiliary base station, for each acquisition cycle, K historical angles (the angle of the current acquisition cycle and the angles of the previous K-1 acquisition cycles) of the UWB base station relative to the auxiliary base station can be obtained. Based on these K historical angles, it can be determined whether the auxiliary base station is within the line-of-sight range of the UWB base station. For instance, if the K historical angles change linearly, it can be determined that the auxiliary base station is within the line-of-sight range of the UWB base station. If the K historical angles do not change linearly, i.e., they change randomly, it can be determined that the auxiliary base station is not within the line-of-sight range of the UWB base station. As another example, if the K historical angles change linearly and the angle measurement confidence of all K historical angles is higher than a set threshold, it can be determined that the auxiliary base station is within the line-of-sight range of the UWB base station. If the K historical angles do not change linearly (i.e., they change randomly), and / or, the angle measurement confidence of any historical angle is not higher than a set threshold, it can be determined that the auxiliary base station is not within the line-of-sight range of the UWB base station.

[0076] Here, "K historical angles changing linearly (i.e., continuously)" means that, assuming the K historical angles are historical angle 1, historical angle 2, historical angle 3, and historical angle 4 respectively, then the differences between historical angle 4 and historical angle 3, the differences between historical angle 3 and historical angle 2, and the differences between historical angle 2 and historical angle 1 can be the same or similar. "K historical angles not changing linearly (i.e., K historical angles changing randomly)" means that the above differences change significantly, constituting a random jump.

[0077] For example, during the movement of the auxiliary base station, for each data acquisition cycle, K historical angles can be obtained when the UWB base station measures the angle of the auxiliary base station. Based on the last historical angle (i.e., the angle in the current data acquisition cycle, i.e., the angle when the UWB base station measures the angle of the auxiliary base station at its current position), it can be determined whether the auxiliary base station is within the UWB base station's angle measurement range. For instance, if the last historical angle is within the UWB base station's angle measurement range, then the auxiliary base station is determined to be within the UWB base station's angle measurement range; if the last historical angle is not within the UWB base station's angle measurement range, then the auxiliary base station is determined to be outside the UWB base station's angle measurement range.

[0078] Specifically, "historical angle within the UWB base station's angle measurement range" means: The UWB base station can be omnidirectional, in which case the historical angle will always fall within its measurement range, regardless of its actual value. Alternatively, the UWB base station can be non-omnidirectional, such as having an angle measurement range of -60 degrees to +60 degrees. In this case, if the historical angle falls between -60 degrees and +60 degrees, it is considered within the UWB base station's angle measurement range. Conversely, "historical angle not within the UWB base station's angle measurement range" means that if the historical angle is not between -60 degrees and +60 degrees, it is not within the UWB base station's angle measurement range.

[0079] For example, during the movement of the auxiliary base station, for each data acquisition cycle, the angle measured by the auxiliary base station relative to the UWB base station can be obtained. Based on the last angle (i.e., the angle of the current data acquisition cycle, i.e., the angle measured by the auxiliary base station relative to the UWB base station when the auxiliary base station is in its current position), it can be determined whether the UWB base station is within the auxiliary base station's angle measurement range. For instance, if the angle is within the auxiliary base station's angle measurement range, then the UWB base station is determined to be within the auxiliary base station's angle measurement range; if the angle is not within the auxiliary base station's angle measurement range, then the UWB base station is determined to be outside the auxiliary base station's angle measurement range.

[0080] In summary, based on K historical angles measured by the UWB base station towards the auxiliary base station, it can be determined whether the auxiliary base station is within the line-of-sight range of the UWB base station and whether it is within the angle measurement range of the UWB base station. Based on the angle measured by the auxiliary base station towards the UWB base station, it can be determined whether the UWB base station is within the angle measurement range of the auxiliary base station. If the auxiliary base station is already within the line-of-sight range of two UWB base stations, and is also within the angle measurement range of both UWB base stations, then the auxiliary base station and the two UWB base stations satisfy the constraint conditions, and the current area of ​​the auxiliary base station is taken as the target area.

[0081] For example, see Figure 7 As shown, during the movement of the auxiliary base station along the specified path, the system determines whether the auxiliary base station is within the line-of-sight range of UWB base station 1 and within the angle measurement range of UWB base station 1 based on K historical angles obtained when UWB base station 1 measures the auxiliary base station, and whether UWB base station 1 is within the angle measurement range of the auxiliary base station. Similarly, the system determines whether the auxiliary base station is within the line-of-sight range of UWB base station 2 and within the angle measurement range of UWB base station 2 based on K historical angles obtained when UWB base station 2 measures the auxiliary base station, and whether UWB base station 2 is within the angle measurement range of the auxiliary base station.

[0082] Assuming that when the auxiliary base station moves to area A, it is within the line-of-sight range of both UWB base station 1 and UWB base station 2, then the auxiliary base station is determined to be within the line-of-sight range of both UWB base stations. Also, if, when the auxiliary base station moves to area A, it is within the angular measurement range of both UWB base station 1 and UWB base station 2, then the auxiliary base station is determined to be within the angular measurement range of both UWB base stations, i.e., within the overlapping angular measurement area of ​​UWB base station 1 and UWB base station 2. Furthermore, if, when the auxiliary base station moves to area A, both UWB base station 1 and UWB base station 2 are within the angular measurement range of the auxiliary base station.

[0083] Obviously, when the auxiliary base station moves to region A, the auxiliary base station and the two UWB base stations (i.e., UWB base station 1 and UWB base station 2) satisfy the constraint conditions, and region A is taken as the target region.

[0084] Step 603: After setting the current area of ​​the auxiliary base station as the target area, prompt the auxiliary base station to stop in the target area and obtain the target angle measurement data of at least two UWB base stations corresponding to the target area.

[0085] For example, after designating the current area of ​​the auxiliary base station as the target area, the auxiliary base station can issue a prompt message in the target area. This prompt message may include, but is not limited to, vibration, flashing lights, etc., to keep the user stationary in the target area. After the auxiliary base station stops, it can acquire target angle measurement data corresponding to at least two UWB base stations in the target area. After the target angle measurement data is acquired, the auxiliary base station reissues the prompt message to encourage the user to continue moving within the target scene while holding the auxiliary base station.

[0086] In one possible implementation, for each UWB base station corresponding to the target area, the target angle measurement data corresponding to the UWB base station may include a first target angle obtained by the auxiliary base station when measuring the angle of the UWB base station and a second target angle obtained by the UWB base station when measuring the angle of the auxiliary base station.

[0087] For example, see Figure 7 As shown, when the target area is area A, the at least two UWB base stations corresponding to the target area can be UWB base station 1 and UWB base station 2. The target angle measurement data corresponding to UWB base station 1 can include a first target angle B11 obtained when the auxiliary base station measures the angle of UWB base station 1, and a second target angle B12 obtained when UWB base station 1 measures the angle of the auxiliary base station. The target angle measurement data corresponding to UWB base station 2 can include a first target angle B21 obtained when the auxiliary base station measures the angle of UWB base station 2, and a second target angle B22 obtained when UWB base station 2 measures the angle of the auxiliary base station.

[0088] Among them, the auxiliary base station can measure the angle of UWB base station 1 multiple times, obtain multiple angle measurement results, and can...

[0089] The average value (or maximum value, or minimum value, etc.) of multiple angle measurement results is used as the first target angle B11. This average value is then used to eliminate random errors in the angle measurement. The auxiliary base station can perform multiple angle measurements on the UWB base station 2 to obtain...

[0090] The average value of multiple angle measurements can be used as the first target angle B21.

[0091] Among them, UWB base station 1 can measure the angle of the auxiliary base station multiple times to obtain multiple angle measurement results. The average value of the multiple angle measurement results can be used as the second target angle B12. After obtaining the second target angle B12,

[0092] The second target angle B12 can be sent to the auxiliary base station. UWB base station 2 can measure the 0-degree angle multiple times from the auxiliary base station, obtaining multiple angle measurement results. The average of these multiple angle measurement results can be used as the second target angle B22.

[0093] After obtaining the second target angle B22, the second target angle B22 can be sent to the auxiliary base station.

[0094] In one possible implementation, for UWB base station 1, the first target angle B11 is the angle between the normal of the auxiliary base station and the line connecting the target, and the second target angle B12 is the normal of UWB base station 1.

[0095] The first target angle B21 is the angle between the normal of the auxiliary base station and the target line, and the second target angle B22 is the angle between the normal of the UWB base station 2 and the target line, which is the line connecting the center point of the auxiliary base station and the center point of the UWB base station 2.

[0096] Step 604: Determine whether the angle measurement data collection process has been completed. If so, end the data collection process.

[0097] If the collection process is not completed, the subsequent calibration process will be executed. Otherwise, when the auxiliary base station moves to another target area, 0 will continue to collect target angle measurement data corresponding to at least two UWB base stations in that target area.

[0098] For example, if target angle measurement data corresponding to all UWB base stations in the target scene has been obtained, it indicates that the angle measurement data collection process has been completed. If target angle measurement data corresponding to all UWB base stations in the target scene has not been obtained, it indicates that the angle measurement data collection process has not been completed, and steps 601-603 need to be repeated to continue collecting target angle measurement data corresponding to at least two UWB base stations in the target area. 5. Second, calibration process. In the calibration process, the target angle measurement data corresponding to the UWB base stations can be used as a reference.

[0099] To calibrate the azimuth angles of multiple UWB base stations in the target scenario, for example, see... Figure 8 As shown, the following steps can be used to calibrate the azimuth angles of multiple UWB base stations in the target scene during the calibration process:

[0100] Step 801: For each target area in the target scenario, determine the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the first target angle and the second target angle corresponding to each UWB base station in that target area. For example, determine the angular difference between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the angular difference between the first target angle and the second target angle.

[0101] In one possible implementation, the azimuth angle of the auxiliary base station can be the angle between the horizontal axis of the auxiliary base station's coordinate system and the horizontal axis of the world coordinate system, and the vertical axis of the auxiliary base station's coordinate system can be the normal of the auxiliary base station. The azimuth angle of the UWB base station can be the angle between the horizontal axis of the UWB base station's coordinate system and the horizontal axis of the world coordinate system, and the vertical axis of the UWB base station's coordinate system can be the normal of the UWB base station.

[0102] Assuming the target area corresponds to UWB base station 1 and UWB base station 2, the relative angle relationship between the azimuth angle of UWB base station 1 and the azimuth angle of the auxiliary base station is determined based on the first target angle B11 and the second target angle B12 of UWB base station 1. The relative angle relationship between the azimuth angle of UWB base station 2 and the azimuth angle of the auxiliary base station is determined based on the first target angle B21 and the second target angle B22 of UWB base station 2.

[0103] Based on the first and second target angles corresponding to the UWB base station, to determine the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station, please refer to... Figure 9 As shown. A represents the azimuth angle of UWB base station 1, B represents the angle between the normal of UWB base station 1 and the line connecting the target (the line connecting UWB base station 1 and the auxiliary base station), i.e., the second target angle, C represents the angle between the normal of the auxiliary base station and the line connecting the target, i.e., the first target angle, D represents the azimuth angle of the auxiliary base station, and E represents the azimuth angle of UWB base station 1. According to Figure 9 From the geometric relationships shown, the relative angles of azimuth A and azimuth D are: AD = CB. Since C and B are known, the relative angles of azimuth A and azimuth D can be obtained. Similarly, the relative angles of azimuth E and azimuth D can be obtained.

[0104] In summary, based on the first target angle and the second target angle corresponding to each UWB base station in the target area, the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station can be obtained.

[0105] It is important to note that Figure 9 The geometric relationship shown is just an example, and all angles in this example are positive values. When the geometric relationship changes, the relative angle relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station can be obtained based on the first target angle and the second target angle corresponding to the UWB base station.

[0106] Step 802: For each target area in the target scenario, based on the relative angle relationship between the azimuth angle of each UWB base station corresponding to the target area and the azimuth angle of the auxiliary base station, determine the relative angle relationship between the azimuth angles of at least two UWB base stations (e.g., two UWB base stations) corresponding to the target area.

[0107] For example, assuming the target area corresponds to UWB base station 1 and UWB base station 2, the relative angular relationship between the azimuth angle of UWB base station 1 and the azimuth angle of the auxiliary base station, and the azimuth angle of UWB base station 2, can be used as a basis.

[0108] The relative angular relationship between the azimuth angle of UWB base station 1 and the azimuth angle of UWB base station 2 is determined by the relative angular relationship between the azimuth angle A of UWB base station 1 and the azimuth angle D of the auxiliary base station. For example, if the relative angular relationship between the azimuth angle A of UWB base station 1 and the azimuth angle D of the auxiliary base station is AD = S1, and the relative angular relationship between the azimuth angle E of UWB base station 2 and the azimuth angle D of the auxiliary base station is ED = S2, then the relative angular relationship between the azimuth angle A of UWB base station 1 and the azimuth angle E of UWB base station 2 is AE = S1 - S2.

[0109] In summary, for each target area in the target scenario, the relative angular relationship between the azimuth angles of the two UWB base stations corresponding to that target area can be determined by using a relay method with auxiliary base stations.

[0110] Step 803: Based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, calibrate the azimuth angles of all UWB base stations in the target scene.

[0111] In one possible implementation, one UWB base station can be selected from all UWB base stations in the target scenario as the reference UWB base station. For example, any UWB base station can be used as the reference UWB base station, and a reference azimuth angle can be calibrated for the reference UWB base station. For example, a default azimuth angle can be used as the reference azimuth angle of the reference UWB base station, or a randomly generated azimuth angle can be used as the reference azimuth angle of the reference UWB base station, or an azimuth angle can be configured by the user as the reference azimuth angle of the reference UWB base station. There are no restrictions on this.

[0112] Based on the relative angular relationship between the reference azimuth and the azimuth of at least two UWB base stations corresponding to each target area, the azimuth of each UWB base station other than the reference UWB base station can be calibrated.

[0113] For example, assuming target area 1 corresponds to UWB base station 1 and UWB base station 2, we can obtain the relative angle relationship between the azimuth angles of UWB base station 1 and UWB base station 2; target area 2 corresponds to UWB base station 1 and UWB base station 3, and we can obtain the relative angle relationship between the azimuth angles of UWB base station 1 and UWB base station 3; target area 3 corresponds to UWB base station 2 and UWB base station 4.

[0114] The relative angular relationship between the azimuth angles of UWB base station 2 and UWB base station 4 can be obtained. Based on this, a UWB base station (such as UWB base station 1) can be selected as the reference UWB base station, and a reference azimuth angle, such as 30 degrees, can be calibrated for the reference UWB base station. Thus, based on the relative angular relationship between the azimuth angles of UWB base station 1 and UWB base station 2, the azimuth angle of UWB base station 2 can be determined after obtaining the reference azimuth angle of UWB base station 1. Similarly, based on the relative angular relationship between the azimuth angles of UWB base station 1 and UWB base station 3, the azimuth angle of UWB base station 3 can be determined after obtaining the reference azimuth angle of UWB base station 1. Likewise, based on the relative angular relationship between the azimuth angles of UWB base station 2 and UWB base station 4, the azimuth angle of UWB base station 4 can be determined after obtaining the azimuth angle of UWB base station 2. In summary, the azimuth angles of all UWB base stations can be obtained.

[0115] For each UWB base station, the azimuth angle of that UWB base station can be provided to that UWB base station so that the UWB base station can store this azimuth angle, thereby completing the azimuth angle calibration.

[0116] In one possible implementation, due to the complexity of the target scenario, all UWB base stations in the target scenario may be divided into one or more calibration sets, with each calibration set containing at least one UWB base station. (See [link to relevant documentation]). Figure 10 As shown, all UWB base stations in the target scenario are divided into two calibration sets.

[0117] Based on this, all UWB base stations in the target scenario can be divided into one or more calibration sets based on the relative angular relationships between their azimuth angles. Within the same calibration set, there are relative angular relationships between the azimuth angles of different UWB base stations; however, there are no relative angular relationships between the azimuth angles of UWB base stations in different calibration sets. For example, assuming all UWB base stations in the target scenario are divided into calibration set 1 and calibration set 2, then there are relative angular relationships between the azimuth angles of different UWB base stations within calibration set 1. That is, for each UWB base station in calibration set 1, its azimuth angle has a relative angular relationship with the azimuth angles of all other UWB base stations (at least one) within calibration set 1. Similarly, there are relative angular relationships between the azimuth angles of different UWB base stations within calibration set 2. However, there is no relative angular relationship between the azimuth angle of any UWB base station in calibration set 1 and the azimuth angle of any UWB base station in calibration set 2. There is no relative angular relationship between the azimuth angle of the UWB base station in calibration set 2 and the azimuth angle of each UWB base station in calibration set 1.

[0118] For each calibration set, the azimuth angle of each UWB base station within that set can be calibrated based on the relative angular relationships between the azimuth angles of all UWB base stations within that set. For example, one UWB base station can be selected from all UWB base stations in the calibration set as a reference UWB base station, and its reference azimuth angle can be calibrated. Based on the relative angular relationships between the reference azimuth angle of the reference UWB base station and the azimuth angles of all UWB base stations within the calibration set, the azimuth angles of all UWB base stations within the calibration set, excluding the reference UWB base station, can be calibrated. This process will not be elaborated further.

[0119] As can be seen from the above technical solutions, this application proposes a method for azimuth angle calibration of UWB base stations based on auxiliary base stations. This method automatically calibrates the azimuth angles of multiple UWB base stations in a multi-UWB base station deployment scenario, achieving automatic azimuth angle calibration of UWB base stations under large-scale deployment. The calibration operation is simple, with high accuracy and efficiency, and eliminates the need for manual azimuth angle calibration of multiple UWB base stations. The auxiliary base station acts as a relay point for angle measurement, enabling rapid azimuth angle calibration through relay calibration.

[0120] Based on the same concept as the above method, this application proposes a UWB base station azimuth calibration device based on an auxiliary base station, used to calibrate the azimuth angles of multiple UWB base stations in a target scene. See [link to relevant documentation]. Figure 11 The diagram shown is a structural schematic of the device, which may include:

[0121] The determining module 1101 is used to determine multiple target areas of the target scene during the movement of the auxiliary base station, wherein the auxiliary base station satisfies the constraint conditions with at least two UWB base stations when it is in the target area; the acquiring module 1102 is used to acquire target angle measurement data corresponding to at least two UWB base stations for each target area of ​​the target scene, and determine the relative angle relationship between the azimuth angles of the at least two UWB base stations based on the target angle measurement data; the processing module 1103 is used to calibrate the azimuth angles of the multiple UWB base stations in the target scene based on the relative angle relationship between the azimuth angles of the at least two UWB base stations corresponding to each target area.

[0122] For example, when the acquisition module 1102 determines the relative angle relationship between the azimuth angles of the at least two UWB base stations based on the target angle measurement data corresponding to the at least two UWB base stations, it is specifically used as follows: for each UWB base station, the target angle measurement data may include a first target angle obtained by the auxiliary base station measuring the angle of the UWB base station and a second target angle obtained by the UWB base station measuring the angle of the auxiliary base station. The relative angle relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station may be determined based on the first target angle and the second target angle. Based on the relative angle relationship between the azimuth angle of each UWB base station and the azimuth angle of the auxiliary base station, the relative angle relationship between the azimuth angles of the at least two UWB base stations is determined.

[0123] For example, when the acquisition module 1102 determines the relative angle relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the first target angle and the second target angle, it is specifically used to: determine the angle difference between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the angle difference between the first target angle and the second target angle; the first target angle is the angle between the normal of the auxiliary base station and the target line, the second target angle is the angle between the normal of the UWB base station and the target line, and the target line is the line connecting the center point of the auxiliary base station and the center point of the UWB base station; the azimuth angle of the auxiliary base station is the angle between the horizontal axis of the coordinate system of the auxiliary base station and the horizontal axis of the world coordinate system, and the vertical axis of the coordinate system of the auxiliary base station is the normal of the auxiliary base station; the azimuth angle of the UWB base station is the angle between the horizontal axis of the coordinate system of the UWB base station and the horizontal axis of the world coordinate system, and the vertical axis of the coordinate system of the UWB base station is the normal of the UWB base station.

[0124] For example, when the processing module 1103 calibrates the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, it specifically performs the following: selecting one UWB base station from the plurality of UWB base stations in the target scene as a reference UWB base station, and calibrating a reference azimuth angle for the reference UWB base station; and calibrating the azimuth angle of each UWB base station other than the reference UWB base station based on the relative angular relationship between the reference azimuth angle and the azimuth angles of at least two UWB base stations corresponding to each target area.

[0125] For example, when the auxiliary base station is in the target area, it satisfies the constraint conditions with at least two UWB base stations, including: the auxiliary base station is within the line-of-sight range of at least two UWB base stations; and / or, the auxiliary base station is within the angular measurement range of the at least two UWB base stations, and both of the at least two UWB base stations are within the angular measurement range of the auxiliary base station.

[0126] For example, the determining module 1101 is further configured to acquire multiple historical angles obtained by the UWB base station when measuring the angle of the auxiliary base station during the movement of the auxiliary base station; if the multiple historical angles change linearly, then the auxiliary base station is determined to be within the line-of-sight range of the UWB base station; if the last historical angle among the multiple historical angles is within the angle measurement range of the UWB base station, then the auxiliary base station is determined to be within the angle measurement range of the UWB base station.

[0127] For example, when the processing module 1103 calibrates the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angle relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, it specifically performs the following: based on the relative angle relationship between the azimuth angles of the UWB base stations, it divides the plurality of UWB base stations into a plurality of calibration sets; wherein, there is a relative angle relationship between the azimuth angles of different UWB base stations within the same calibration set, and there is no relative angle relationship between the azimuth angles of UWB base stations within different calibration sets; for each calibration set, based on the relative angle relationship between the azimuth angles of the UWB base stations within the calibration set, it calibrates the azimuth angle of each UWB base station within the calibration set.

[0128] Based on the same application concept as the method described above, this application proposes an electronic device (such as the auxiliary device in the above embodiments), see [link to relevant documentation]. Figure 12 As shown, the electronic device includes a processor 1201 and a machine-readable storage medium 1202, wherein the machine-readable storage medium 1202 stores machine-executable instructions that can be executed by the processor 1201; the processor 1201 is used to execute the machine-executable instructions to implement the UWB base station azimuth calibration method based on auxiliary base stations disclosed in the above example of this application.

[0129] Based on the same concept as the above method, this application also provides a machine-readable storage medium storing a plurality of computer instructions (such as UWB base station azimuth calibration instructions based on auxiliary base stations). When the computer instructions are executed by a processor, they can implement the UWB base station azimuth calibration method based on auxiliary base stations disclosed in the above examples of this application.

[0130] The aforementioned machine-readable storage medium can be any electronic, magnetic, optical, or other physical storage device that can contain or store information, such as executable instructions, data, etc. For example, machine-readable storage media can be: RAM (Random Access Memory), volatile memory, non-volatile memory, flash memory, storage drives (such as hard disk drives), solid-state drives, any type of storage disk (such as optical discs, DVDs, etc.), or similar storage media, or combinations thereof.

[0131] The systems, devices, modules, or units described in the above embodiments can be implemented by a computer entity or by a product with a certain function. A typical implementation device is a computer, which can be a personal computer, laptop computer, cellular phone, camera phone, smartphone, personal digital assistant, media player, navigation device, email sending and receiving device, game console, tablet computer, wearable device, or any combination of these devices.

[0132] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0133] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, embodiments of this application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0134] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0135] Furthermore, these computer program instructions can also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in the process. Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0136] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0137] The above description is merely an embodiment of this application and is not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for azimuth calibration of a UWB base station based on an auxiliary base station, characterized in that, The method for calibrating the azimuth angles of multiple ultra-wideband (UWB) base stations in a target scene includes: During the movement of the auxiliary base station, multiple target areas of the target scene are determined, and the auxiliary base station satisfies the constraint conditions with at least two UWB base stations when it is in the target area. For each target area in the target scenario, target angle measurement data corresponding to at least two UWB base stations corresponding to the target area are acquired. Based on the target angle measurement data corresponding to the at least two UWB base stations, the relative angle relationship between the azimuth angles of the at least two UWB base stations is determined. Specifically, for each UWB base station, the target angle measurement data includes a first target angle obtained by the auxiliary base station measuring the angle of the UWB base station and a second target angle obtained by the UWB base station measuring the angle of the auxiliary base station. Based on the first target angle and the second target angle, the relative angle relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station is determined. Based on the relative angle relationship between the azimuth angle of each UWB base station and the azimuth angle of the auxiliary base station, the relative angle relationship between the azimuth angles of the at least two UWB base stations is determined. Based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, the azimuth angles of the plurality of UWB base stations in the target scene are calibrated.

2. The method according to claim 1, characterized in that, Determining the relative angular relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the first target angle and the second target angle includes: The angle difference between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station is determined based on the angle difference between the first target angle and the second target angle. Wherein, the first target angle is the angle between the normal of the auxiliary base station and the target line, the second target angle is the angle between the normal of the UWB base station and the target line, and the target line is the line connecting the center point of the auxiliary base station and the center point of the UWB base station. The azimuth angle of the auxiliary base station is the angle between the horizontal axis of the coordinate system of the auxiliary base station and the horizontal axis of the world coordinate system, and the vertical axis of the coordinate system of the auxiliary base station is the normal of the auxiliary base station. The azimuth angle of the UWB base station is the angle between the horizontal axis of the UWB base station's coordinate system and the horizontal axis of the world coordinate system, and the vertical axis of the UWB base station's coordinate system is the normal of the UWB base station.

3. The method according to claim 1, characterized in that, The step of calibrating the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area includes: Select one UWB base station from the plurality of UWB base stations in the target scenario as a reference UWB base station, and calibrate the reference azimuth angle for the reference UWB base station; Based on the relative angular relationship between the reference azimuth and the azimuth of at least two UWB base stations corresponding to each target area, the azimuth of each UWB base station other than the reference UWB base station is calibrated.

4. The method according to any one of claims 1-3, characterized in that, When the auxiliary base station is in the target area, it satisfies constraints with at least two UWB base stations, including: The auxiliary base station is within line-of-sight of at least two UWB base stations; and / or, The auxiliary base station is within the angle measurement range of the at least two UWB base stations, and both of the at least two UWB base stations are within the angle measurement range of the auxiliary base station.

5. The method according to claim 4, characterized in that, The method further includes: During the movement of the auxiliary base station, multiple historical angles obtained by the UWB base station when measuring the angle of the auxiliary base station are acquired; if the multiple historical angles change linearly, it is determined that the auxiliary base station is within the line-of-sight range of the UWB base station. If the last historical angle among the plurality of historical angles is within the angle measurement range of the UWB base station, then the auxiliary base station is determined to be within the angle measurement range of the UWB base station.

6. The method according to any one of claims 1-3, characterized in that, The step of calibrating the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area includes: Based on the relative angular relationship between the azimuth angles of UWB base stations, the multiple UWB base stations are divided into multiple calibration sets; wherein, there is a relative angular relationship between the azimuth angles of different UWB base stations within the same calibration set, and there is no relative angular relationship between the azimuth angles of UWB base stations within different calibration sets. For each calibration set, the azimuth angle of each UWB base station in the calibration set is calibrated based on the relative angular relationship between the azimuth angles of the UWB base stations in the calibration set.

7. A UWB base station azimuth calibration device based on an auxiliary base station, characterized in that, The device is used to calibrate the azimuth angles of multiple ultra-wideband (UWB) base stations in a target scene, and includes: The determination module is used to determine multiple target areas of the target scene during the movement of the auxiliary base station, wherein the auxiliary base station satisfies the constraint conditions with at least two UWB base stations when it is in the target area; The acquisition module is configured to acquire target angle measurement data corresponding to at least two UWB base stations for each target area of ​​the target scene, and determine the relative angle relationship between the azimuth angles of the at least two UWB base stations based on the target angle measurement data. Specifically, when determining the relative angle relationship between the azimuth angles of the at least two UWB base stations based on the target angle measurement data, the acquisition module is configured to: for each UWB base station, the target angle measurement data includes a first target angle obtained by the auxiliary base station measuring the angle of the UWB base station and a second target angle obtained by the UWB base station measuring the angle of the auxiliary base station; determine the relative angle relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the first target angle and the second target angle; and determine the relative angle relationship between the azimuth angles of the at least two UWB base stations based on the relative angle relationship between the azimuth angle of each UWB base station and the azimuth angle of the auxiliary base station. The processing module is used to calibrate the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area.

8. The apparatus according to claim 7, Its features are, in, When the acquisition module determines the relative angle relationship between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the first target angle and the second target angle, it is specifically used to: determine the angle difference between the azimuth angle of the UWB base station and the azimuth angle of the auxiliary base station based on the angle difference between the first target angle and the second target angle; wherein, the first target angle is the angle between the normal of the auxiliary base station and the line connecting the target, the second target angle is the angle between the normal of the UWB base station and the line connecting the target, and the line connecting the target is the line connecting the center point of the auxiliary base station and the center point of the UWB base station; the azimuth angle of the auxiliary base station is the angle between the horizontal axis of the coordinate system of the auxiliary base station and the horizontal axis of the world coordinate system, and the vertical axis of the coordinate system of the auxiliary base station is the normal of the auxiliary base station; the azimuth angle of the UWB base station is the angle between the horizontal axis of the coordinate system of the UWB base station and the horizontal axis of the world coordinate system, and the vertical axis of the coordinate system of the UWB base station is the normal of the UWB base station; Specifically, when the processing module calibrates the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, it performs the following: selecting one UWB base station from the plurality of UWB base stations in the target scene as a reference UWB base station, and calibrating the reference azimuth angle for the reference UWB base station; and calibrating the azimuth angle for each UWB base station other than the reference UWB base station based on the relative angular relationship between the reference azimuth angle and the azimuth angles of at least two UWB base stations corresponding to each target area. Wherein, when the auxiliary base station is in the target area, it satisfies the constraint conditions with at least two UWB base stations, including: the auxiliary base station is within the line-of-sight range of at least two UWB base stations; and / or, the auxiliary base station is within the angular measurement range of the at least two UWB base stations, and both of the at least two UWB base stations are within the angular measurement range of the auxiliary base station. The determining module is further configured to acquire multiple historical angles obtained by the UWB base station when measuring the angle of the auxiliary base station during the movement of the auxiliary base station; if the multiple historical angles change linearly, the auxiliary base station is determined to be within the line-of-sight range of the UWB base station; if the last historical angle among the multiple historical angles is within the angle measurement range of the UWB base station, the auxiliary base station is determined to be within the angle measurement range of the UWB base station. Specifically, when the processing module calibrates the azimuth angles of the plurality of UWB base stations in the target scene based on the relative angular relationship between the azimuth angles of at least two UWB base stations corresponding to each target area, it performs the following: Based on the relative angular relationship between the azimuth angles of the UWB base stations, it divides the plurality of UWB base stations into multiple calibration sets; wherein, there is a relative angular relationship between the azimuth angles of different UWB base stations within the same calibration set, and there is no relative angular relationship between the azimuth angles of UWB base stations within different calibration sets; for each calibration set, based on the relative angular relationship between the azimuth angles of the UWB base stations within the calibration set, it calibrates the azimuth angle of each UWB base station within the calibration set.

9. An electronic device, characterized in that, include: A processor and a machine-readable storage medium storing machine-executable instructions that can be executed by the processor; wherein the processor is configured to execute the machine-executable instructions to implement the method of any one of claims 1-6.

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