A method for determining a base station offset, a self-moving device, and a storage medium

Abstract

The application provides a base station offset determination method, a self-moving device and a storage medium. The method is applied to a self-moving device in communication with the base station and includes: acquiring a pre-constructed map and acquiring pose information of the base station, wherein the map includes initial position information of the base station; the pose information includes real-time position information and real-time attitude information of the base station; comparing the real-time position information of the base station with the initial position information of the base station and comparing the real-time attitude information of the base station with a preset attitude change threshold; and if the real-time position information of the base station is inconsistent with the initial position information of the base station and / or the real-time attitude information of the base station is greater than the preset attitude change threshold, it is determined that the base station has deviated. The method can accurately determine whether the base station has deviated in multiple dimensions, thereby reducing the probability of task abnormalities caused by inaccurate positioning of the self-moving device due to the deviation of the base station.

Description

Technical Field

[0001] The present application relates to the field of computer technology, and in particular to a method for determining a base station offset, a mobile device, and a computer-readable storage medium. Background Art

[0002] Autonomous mobile devices that operate based on maps need to communicate with a base station in real time to determine their path and location during mission execution. However, if the base station drifts, it can easily cause the autonomous mobile device to wander into other areas during operation, potentially leading to safety incidents. Therefore, it is necessary to determine whether the base station has drifted. Therefore, a method for determining base station drift is urgently needed. Summary of the Invention

[0003] The present application provides a method for determining base station offset, a mobile device, and a computer-readable storage medium, aiming to more accurately determine whether a base station offset occurs in multiple dimensions, thereby reducing the probability of task abnormalities caused by inaccurate positioning of the mobile device after the base station offset.

[0004] In a first aspect, the present application provides a method for determining a base station offset, the method comprising:

[0005] Obtaining a pre-built map and obtaining the position information of the base station, wherein the map includes the initial position information of the base station; the position information includes the real-time position information of the base station and the real-time posture information of the base station;

[0006] Comparing the real-time position information of the base station with the initial position information of the base station, and comparing the real-time posture information of the base station with a preset posture change threshold;

[0007] If the real-time location information of the base station is inconsistent with the initial location information of the base station, and / or the real-time posture information of the base station is greater than the preset posture change threshold, it is determined that the base station is offset.

[0008] In a second aspect, the present application provides a self-moving device, the self-moving device comprising:

[0009] memory and processor;

[0010] Wherein, the memory is connected to the processor and is used to store programs;

[0011] The processor is configured to implement the steps of any one of the above-mentioned methods for determining a base station offset by running the program stored in the memory.

[0012] In a third aspect, the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the processor implements the steps of the method for determining the base station offset as described in any one of the above items.

[0013] The method for determining the base station offset, the device for determining the base station offset, the self-mobile device, and the computer storage medium disclosed in the present application can obtain a pre-built map containing the initial position information of the base station, and obtain the posture information of the base station, wherein the posture information includes the real-time position information of the base station and the real-time posture information of the base station. Furthermore, the initial position information of the base station can be compared with the real-time position information of the base station, and the real-time posture information of the base station can be compared with the preset posture change threshold. Then, it is determined whether the base station has shifted based on the comparison result. In this way, it is possible to judge whether the base station has shifted in a multi-dimensional and relatively accurate manner, reducing the probability of task abnormality caused by inaccurate positioning of the self-mobile device after the base station shifts.

[0014] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0016] Figure 1 This is a schematic diagram of the steps of a method for determining a base station offset provided in an embodiment of the present application;

[0017] Figure 2 This is a schematic diagram of specific steps for comparing the real-time location information of a base station with the initial location information of the base station provided in an embodiment of the present application;

[0018] Figure 3 This is a schematic diagram of the specific steps for obtaining a new map provided in an embodiment of the present application;

[0019] Figure 4 is a schematic diagram of a self-moving device provided in an embodiment of the present application;

[0020] Figure 5 It is a structural diagram of the computer-readable storage medium provided by this application.

[0021] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0023] The flowcharts shown in the accompanying drawings are for illustrative purposes only and do not necessarily include all contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps may be decomposed, combined, or partially merged, so the actual execution order may vary depending on the actual situation.

[0024] It should be understood that the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms unless the context clearly indicates otherwise.

[0025] It should be understood that, in order to facilitate a clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. For example, the first recognition model and the second recognition model are merely used to distinguish between different callback functions, and do not limit their order. Those skilled in the art will understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0026] It should be further understood that the term “and / or” used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] To facilitate understanding of the embodiments of the present application, some background and nouns involved in the embodiments of the present application are briefly explained below.

[0028] A self-propelled device is a device that has a moving device, a working device, and a control device, capable of autonomously moving and operating within a certain range. Common self-propelled devices include sweeping robots, transport robots, food delivery robots, and self-propelled gardening equipment. Self-propelled gardening equipment includes robotic lawn mowers. These mowers can automatically mow lawns without human supervision or control, reducing the user's time and effort.

[0029] Autonomous devices, such as robotic lawn mowers, rely on maps to perform tasks and need to communicate with a base station in real time to determine their path and location. Because autonomous devices rely on base station positioning information to build maps, a base station offset could cause the device to wander off-site, potentially leading to safety incidents. Therefore, it's crucial to determine whether the base station has deviated.

[0030] The following describes some embodiments of the present application in detail with reference to the accompanying drawings. In the absence of conflict, the following embodiments and features therein may be combined with each other.

[0031] See also Figure 1 , Figure 1 This is a schematic diagram of the steps of a method for determining base station offset provided in an embodiment of the present application. This method can be applied to a self-moving device, thereby accurately determining whether a base station has offset in multiple dimensions, thereby reducing the probability of task anomalies caused by inaccurate positioning of the self-moving device due to base station offset.

[0032] like Figure 1 As shown, the method for determining the base station offset includes steps S11 to S13.

[0033] Step S11: Obtain a pre-built map and obtain the position information of the base station, wherein the map includes the initial position information of the base station; the position information includes the real-time position information of the base station and the real-time posture information of the base station.

[0034] It should be noted that this application does not limit the method for obtaining a pre-built map. For example, by providing a driver or interface, the driver or interface can be directly called to transmit the pre-built map. Thus, the pre-built map can be obtained through the driver or interface. Furthermore, since the initial location information of the base station is saved when the map is built, the initial location information of the base station can be obtained based on the pre-built map. It can be understood that the initial location information of the base station is the location information of the base station before the mobile device is working.

[0035] Furthermore, since the mobile device communicates with the base station in real time during operation and thus determines the operating path, the real-time location information of the base station can also be obtained. In addition, the real-time attitude information of the base station, such as the acceleration information and velocity information of the base station, can also be obtained through corresponding sensors, but this application is not limited to this. In this way, the real-time attitude information of the base station can be obtained.

[0036] Step S12: comparing the real-time position information of the base station with the initial position information of the base station, and comparing the real-time posture information of the base station with a preset posture change threshold.

[0037] It should be noted that the present application does not limit the preset posture change threshold, for example, the posture change threshold may be 0.

[0038] Furthermore, since the base station's real-time location information and the base station's real-time posture information are respectively information obtained while the mobile device is operating, and the base station's initial location information is information obtained before the mobile device is operating, the base station's real-time location information can be compared with the base station's initial location information, and the base station's real-time posture information can be compared with a preset posture change threshold to determine whether the base station's location information and posture information have changed.

[0039] Step S13: If the real-time location information of the base station is inconsistent with the initial location information of the base station, and / or the real-time posture information of the base station is greater than a preset posture change threshold, it is determined that the base station is offset.

[0040] Specifically, when the base station's real-time location information is inconsistent with its initial location information, it indicates that the base station's location information has changed, and the base station can be determined to have drifted. Additionally, when the base station's real-time attitude information is greater than a preset attitude change threshold, for example, when the base station's acceleration information or velocity information is greater than 0, it indicates that the base station has drifted.

[0041] The method for determining the base station offset disclosed in the present application can obtain a pre-built map containing the initial position information of the base station, and obtain the posture information of the base station, wherein the posture information includes the real-time position information of the base station and the real-time posture information of the base station. Furthermore, the initial position information of the base station can be compared with the real-time position information of the base station, and the real-time posture information of the base station can be compared with the preset posture change threshold. Then, it is determined whether the base station has offset based on the comparison result. In this way, it is possible to judge whether the base station has offset in a multi-dimensional and relatively accurate manner, reducing the probability of task abnormality caused by inaccurate positioning of the mobile device after the base station offset.

[0042] Optionally, the real-time location information of the base station is compared with the initial location information of the base station, including: comparing the real-time location information of the base station with the initial location information of the base station to obtain a base station offset; if the base station offset is greater than a preset offset threshold, it is determined that the real-time location information of the base station is inconsistent with the initial location information of the base station.

[0043] It should be noted that the present application does not limit the preset offset threshold, for example, it can be 5 cm, 10 cm, etc.

[0044] It is understandable that when the base station offset is greater than the preset offset threshold, it can be determined that the base station's real-time location information is inconsistent with the base station's initial location information, that is, the base station has offset. In this case, it is very likely that the mobile device will move to other areas while working, and thus cause a safety accident. If the base station offset is less than the preset threshold, it means that the base station offset is small and has no impact on the mobile device. In this case, the base station offset can be ignored, and the base station's real-time location information is determined to be consistent with the base station's initial location information.

[0045] In this embodiment of the present application, the base station offset can be compared with a preset offset threshold to determine whether the base station's real-time location is consistent with the base station's initial location. This allows for a more accurate determination of whether the base station's offset is affecting the self-mobile device based on the comparison result. Furthermore, if the base station offset is greater than the preset offset threshold, indicating that the base station's offset is affecting the self-mobile device, the base station's real-time location information is determined to be inconsistent with the base station's initial location information.

[0046] Optionally, the base station is provided with a gyroscope, and the real-time posture information of the base station is compared with a preset posture change threshold, including: obtaining the acceleration of the base station through the gyroscope, and using the acceleration as the real-time posture information of the base station; if the acceleration is not equal to 0, it is determined that the real-time posture information of the base station is greater than the preset posture change threshold.

[0047] It is understandable that since the base station is equipped with a gyroscope, when the base station shakes, tilts, or falls, the acceleration data of the gyroscope will jump abnormally, and the acceleration is not equal to 0. Therefore, it can be determined that the real-time attitude information of the base station is greater than the preset attitude change threshold.

[0048] Optionally, see Figure 2 , Figure 2 This is a schematic diagram of the specific steps of comparing the real-time location information of a base station with the initial location information of the base station provided in the embodiment of the present application. Figure 2 As shown, the map also includes the initial location information of the charging pile. The above comparison of the real-time location information of the base station with the initial location information of the base station includes:

[0049] Step S121: If the initial location information of the charging pile is the same as the initial location information of the base station, the real-time location information of the mobile device is obtained when the mobile device is charging.

[0050] Specifically, when the initial location information of the charging pile is the same as the initial location information of the base station, it means that the charging pile and the base station are fixedly connected. Therefore, whether the base station is offset can be determined by judging whether the location information of the charging pile is offset.

[0051] It is understandable that when charging a mobile device, its corresponding real-time location information is the real-time location information of the charging pile.

[0052] Step S122: Compare the real-time location information with the initial location information of the charging pile to obtain the charging pile offset data.

[0053] Since the real-time location information of the mobile device is the real-time location information of the charging pile, the real-time location information can be compared with the charging pile location information to obtain the charging pile offset data.

[0054] Step S123: When the charging pile offset data is greater than the preset offset threshold, it is determined that the real-time location information of the base station is inconsistent with the initial location information of the base station.

[0055] It should be noted that the present application does not limit the preset offset threshold, for example, it can be 5 cm, 10 cm, etc.

[0056] It is understandable that when the charging pile offset data is greater than the preset offset threshold, it can be determined that the base station's real-time location information is inconsistent with the base station's initial location information, that is, the base station has offset. In this case, it is very likely that the mobile device will move to other areas while working, and thus cause a safety accident. If the charging pile offset data is less than the preset threshold, it means that the offset of the charging pile offset data is small and has no impact on the mobile device. In this case, the charging pile offset data can be ignored, and the base station's real-time location information is determined to be consistent with the base station's initial location information.

[0057] In this embodiment of the present application, the map also includes the initial location information of the charging pile. If the initial location information of the charging pile is the same as the initial location information of the base station, that is, if the charging pile and the base station are fixedly connected, the charging pile offset data can be compared with a preset offset threshold to determine whether the real-time location information of the base station is consistent with the initial location information of the base station. This can increase the accuracy of the determination result and reduce the probability of task anomalies caused by inaccurate positioning of the mobile device due to base station offset.

[0058] Optionally, after determining the base station offset, the above method also includes: sending a prompt message of the base station offset to the terminal device, the prompt message is used to instruct the user to restore the base station to its initial position or initial posture, or to build a new map based on the offset base station.

[0059] It should be noted that the present application does not limit the method of sending prompt information to the terminal device, for example, it can be through an application or text message.

[0060] It is understandable that after determining that the base station has moved, a prompt message indicating the base station offset can be sent to the terminal device. This allows the user to obtain base station offset information in a timely manner and determine whether the base station offset is obtained by moving the base station itself. If the base station offset is not obtained by moving the base station itself, the base station can be restored to its initial position or initial posture; if the base station offset is obtained by moving the base station itself, a new map must be constructed based on the offset base station so that the mobile device can operate based on the new map.

[0061] Optionally, after sending the prompt information of the base station offset to the terminal device, the above method further includes: in response to the user's control, correcting the map based on the offset base station location information to obtain a new map.

[0062] Specifically, when the base station offset is obtained by the user's own mobile base station, a new map needs to be constructed based on the offset base station. The map can be corrected based on the offset base station position information in response to user control to obtain a new map.

[0063] See also Figure 3 , Figure 3 This is a schematic diagram of the specific steps for obtaining a new map provided in the embodiment of the present application. Figure 3 As shown, the map can be corrected through steps S21 to S22 to obtain a new map.

[0064] Step S21: Generate map correction information based on the offset base station location information and the base station initial location information.

[0065] It should be noted that the present application does not limit the method for generating map correction information. For example, a coordinate system XY can be established based on the relative positions between base stations, and the first position coordinates (x1, y1) of the base station in the preset coordinate system XY can be determined based on the offset base station position information, and the second position coordinates (x2, y2) of the base station in the coordinate system XY can be determined based on the initial position information of the base station, and then the map correction information can be generated based on the relative position change between the first position coordinates (x1, y1) and the second position coordinates (x2, y2).

[0066] Step S22: using the map correction information to correct the pre-built map to obtain a new map.

[0067] Specifically, the position vector of each point in the map before the update in the coordinate system XY and the map correction information can be vector-superimposed to obtain the position vector of each point in the updated map, so as to correct the pre-built map based on the position vector of each point to obtain a new map.

[0068] In the embodiments of the present application, map correction information can be generated using the offset base station location information and the initial base station location information. The pre-built map can then be corrected based on the map correction information to generate a new map. This eliminates the need for the mobile device to re-generate the map by moving along the work area boundary when a base station shifts, simplifying the process.

[0069] Optionally, after sending the base station offset information to the terminal device in a preset manner, the above method also includes: in response to the user's control, using the offset base station location information as the new base station initial position; constructing a map based on the new base station initial position to obtain a new map.

[0070] Specifically, the shifted base station location information can be used as the new initial base station location. The mobile device can then communicate with the base station's new initial base station location in real time to build a map, ultimately generating a new map. This allows the mobile device to operate based on the new map, minimizing the risk of mission anomalies caused by inaccurate positioning after a base station shift.

[0071] See also Figure 4 , Figure 4 Schematic diagram of a self-moving device provided in an embodiment of the present application. The self-moving device 200 may be a server or a terminal. Figure 3 As shown, the electronic device 200 includes a processor 201, a memory 202 and a network interface connected via a system bus, wherein the memory 202 may include a volatile storage medium, a non-volatile storage medium and an internal memory.

[0072] The non-volatile storage medium may store an operating system and a computer program. The computer program includes program instructions, which, when executed, may cause the processor 201 to perform any of the steps of the method for determining a base station offset.

[0073] The processor 201 is used to provide computing and control capabilities to support the operation of the entire electronic device 200.

[0074] The internal memory provides an environment for the operation of the computer program in the non-volatile storage medium. When the computer program is executed by the processor 201, the processor 201 can execute the steps of the method for determining the base station offset in any of the above embodiments.

[0075] The network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that the structure of the electronic device 200 is merely a block diagram of a portion of the structure related to the solution of the present application, and does not constitute a limitation on the electronic device 200 to which the solution of the present application is applied. The specific electronic device 200 may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0076] It should be understood that the processor 201 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0077] In some embodiments, the processor 201 is used to run a computer program stored in the memory 202 to implement the following steps: obtaining a pre-constructed map and obtaining the posture information of the base station, wherein the map includes the initial position information of the base station; the posture information includes the real-time position information of the base station and the real-time posture information of the base station; comparing the real-time position information of the base station with the initial position information of the base station, and comparing the real-time posture information of the base station with a preset posture change threshold; if the real-time position information of the base station is inconsistent with the initial position information of the base station, and / or the real-time posture information of the base station is greater than the preset posture change threshold, it is determined that the base station has shifted.

[0078] In some embodiments, the processor 201 is further used to compare the real-time location information of the base station with the initial location information of the base station to obtain a base station offset; if the base station offset is greater than a preset offset threshold, it is determined that the real-time location information of the base station is inconsistent with the initial location information of the base station.

[0079] In some embodiments, the processor 201 is further configured to obtain the acceleration of the base station through the gyroscope and use the acceleration as the real-time posture information of the base station; if the acceleration is not equal to 0, it is determined that the real-time posture information of the base station is greater than the preset posture change threshold.

[0080] In some embodiments, the processor 201 is also used to obtain the real-time location information of the self-mobile device when the self-mobile device is charging if the initial location information of the charging pile is the same as the initial location information of the base station; compare the real-time location information with the initial location information of the charging pile to obtain charging pile offset data; and when the charging pile offset data is greater than a preset offset threshold, determine that the real-time location information of the base station is inconsistent with the initial location information of the base station.

[0081] In some embodiments, the processor 201 is further configured to send a prompt message of base station offset to the terminal device, wherein the prompt message is configured to instruct the user to restore the base station to its initial position or initial posture, or to construct a new map based on the offset base station.

[0082] In some implementations, the processor 201 is further configured to, in response to user control, modify the map based on the offset base station location information to obtain a new map.

[0083] In some embodiments, the processor 201 is further configured to generate map correction information based on the offset base station location information and the base station initial location information; and use the map correction information to correct the pre-built map to obtain a new map.

[0084] In some implementations, the processor 201 is further configured to, in response to user control, use the offset base station location information as a new base station initial location; and construct a map based on the new base station initial location to obtain a new map.

[0085] See also Figure 5 , Figure 5 is a schematic diagram of the structure of the computer-readable storage medium provided in this application. The computer-readable storage medium 50 of this application stores a computer program 51 capable of implementing all of the aforementioned methods for determining base station offsets. The computer program 51 may be stored in the computer-readable storage medium 50 in the form of a software product, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) or a processor to execute all or part of the steps of the methods of various embodiments of this application.

[0086] The computer-readable storage medium 50 may be an internal storage unit of the mobile device 200 described in any of the aforementioned embodiments, such as a hard disk or memory of the mobile device 200. The computer-readable storage medium 50 may also be an external storage device of the mobile device 200, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the mobile device 200.

[0087] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A method for determining a base station offset, characterized in that: Applied to a mobile device communicating with the base station, the method comprises: Obtaining a pre-built map and obtaining the position information of the base station, wherein the map includes the initial position information of the base station; the position information includes the real-time position information of the base station and the real-time posture information of the base station; Comparing the real-time position information of the base station with the initial position information of the base station, and comparing the real-time posture information of the base station with a preset posture change threshold; If the real-time location information of the base station is inconsistent with the initial location information of the base station, and / or the real-time posture information of the base station is greater than the preset posture change threshold, it is determined that the base station has shifted; The map further includes initial location information of the charging pile, and comparing the real-time location information of the base station with the initial location information of the base station includes: If the initial location information of the charging pile is the same as the initial location information of the base station, obtaining the real-time location information of the mobile device when the mobile device is charging; Comparing the real-time location information of the mobile device with the initial location information of the charging pile to obtain charging pile offset data; When the charging pile offset data is greater than a preset offset threshold, it is determined that the real-time location information of the base station is inconsistent with the initial location information of the base station.

2. The method according to claim 1, characterized in that The comparing the real-time location information of the base station with the initial location information of the base station includes: Comparing the real-time position information of the base station with the initial position information of the base station to obtain a base station offset; If the base station offset is greater than a preset offset threshold, it is determined that the real-time location information of the base station is inconsistent with the initial location information of the base station.

3. The method according to claim 1, characterized in that The base station is provided with a gyroscope; and comparing the real-time posture information of the base station with a preset posture change threshold comprises: Acquiring the acceleration of the base station through the gyroscope, and using the acceleration as the real-time attitude information of the base station; If the acceleration is not equal to 0, it is determined that the real-time posture information of the base station is greater than the preset posture change threshold.

4. The method according to any one of claims 1 to 3, characterized in that After determining the base station offset, the method further includes: A prompt message of the base station offset is sent to the terminal device, where the prompt message is used to instruct the user to restore the base station to its initial position or initial posture, or to build a new map based on the offset base station.

5. The method according to claim 4, characterized in that After sending the prompt information of the base station offset to the terminal device, the method further includes: In response to user control, the map is modified based on the offset base station location information to obtain a new map.

6. The method according to claim 5, characterized in that The step of correcting the map based on the offset base station location information to obtain a new map includes: generating map correction information based on the offset base station location information and the base station initial location information; The pre-built map is corrected using the map correction information to obtain a new map.

7. The method according to claim 4, characterized in that After sending the prompt information of the base station offset to the terminal device, the method further includes: In response to user control, using the shifted base station location information as a new base station initial location; A map is constructed according to the new initial positions of the base stations to obtain a new map.

8. A self-propelled device, characterized in that: The self-moving device includes: memory and processor; Wherein, the memory is connected to the processor and is used to store programs; The processor is configured to implement the steps of the method for determining a base station offset according to any one of claims 1 to 7 by running the program stored in the memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, enables the processor to implement the steps of the method for determining a base station offset according to any one of claims 1 to 7.

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