Signal calibration method, device, equipment and storage medium

Abstract

The present application relates to the field of wireless signal processing technology, and in particular to a signal calibration method, device, equipment and storage medium, wherein the method comprises: performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature; mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result; calculating the sampling switching phase difference generated when the sampling is performed, and calculating the zero phase inherent deviation based on the trigonometric mapping result and the sampling switching phase difference; generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal. The present application facilitates improving the accuracy of the determined electronic price tag position.

Description

Technical Field

[0001] The present application relates to the field of wireless signal processing technology, and in particular to a signal calibration method, device, equipment and storage medium. Background Art

[0002] In the process of digital upgrading and transformation, large supermarkets will use electronic price tags instead of traditional paper price tags. Electronic price tags can not only display the product information that paper price tags can display, but also send location signals (a simple carrier signal) to the preset AOA positioning base station, so that the AOA positioning base station can determine the location information of the electronic price tag based on the location signal, which makes it easier to improve the digitalization level of large supermarkets.

[0003] The AOA positioning base station is equipped with multiple antennas, which are used to sample the location signal received by the AOA positioning base station to obtain corresponding signal samples, and each signal sample includes a corresponding phase. In theory, if the location signal reaches each antenna at the same time, and each antenna samples the location signal at the same time, the difference between the phases corresponding to the signal samples collected by each antenna is 0. In this case, the AOA positioning base station can obtain the accurate electronic price tag location by processing the received location signal.

[0004] However, due to the differences in the physical properties of different antennas in the AOA positioning base station, the difference between the phases corresponding to the signal samples collected by each antenna is generally not 0. Therefore, the AOA positioning base station needs to calibrate the location signal sent by the electronic price tag to improve the accuracy of the determined electronic price tag location. Summary of the invention

[0005] In order to improve the accuracy of the determined electronic price tag position, the present application provides a signal calibration method, device, equipment and storage medium.

[0006] In a first aspect, the present application provides a signal calibration method, comprising:

[0007] Perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature;

[0008] Mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result;

[0009] Calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference;

[0010] A zero phase calibration vector is generated based on the zero phase inherent deviation, and the zero phase calibration vector is processed to obtain a zero phase calibration matrix; and the price tag position signal is processed based on the zero phase calibration matrix to obtain a phase calibration signal.

[0011] In a second aspect, the present application provides an AOA positioning base station signal calibration device, comprising:

[0012] A sampling module, used to perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature;

[0013] A mapping module, used for mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result;

[0014] A calculation module, used for calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference;

[0015] A calibration module is used to generate a zero-phase calibration vector based on the zero-phase inherent deviation, process the zero-phase calibration vector to obtain a zero-phase calibration matrix; and process the price tag position signal based on the zero-phase calibration matrix to obtain a phase calibration signal.

[0016] In a third aspect, the present application provides a computer device, the computer device comprising a memory and a processor, the memory storing a computer program, and the processor implementing the steps in the above method when executing the computer program.

[0017] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the steps in the above method when executed by a processor.

[0018] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps in any of the above method embodiments are implemented.

[0019] The above signal calibration method, device, equipment and storage medium obtain phase difference characteristics by performing multiple rounds of sampling on the acquired price tag position signal; map each element in the phase difference characteristic to the trigonometric function domain to obtain a trigonometric mapping result; calculate the sampling switching phase difference generated when the sampling is performed, and calculate the zero phase inherent deviation based on the trigonometric mapping result and the sampling switching phase difference; generate a zero phase calibration vector based on the zero phase inherent deviation, process the zero phase calibration vector to obtain a zero phase calibration matrix; process the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal. Through the above implementation, the position signal sent by the electronic price tag can be calibrated, thereby improving the accuracy of the determined electronic price tag position.

[0020] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 A flow chart of a signal calibration method provided in an embodiment of the present application;

[0023] Figure 2 This is a schematic diagram of the structure of the first AOA positioning base station signal calibration device provided in an embodiment of the present application;

[0024] Figure 3 This is a schematic diagram of the structure of a second AOA positioning base station signal calibration device provided in an embodiment of the present application;

[0025] Figure 4 This is a schematic diagram of the structure of a third AOA positioning base station signal calibration device provided in an embodiment of the present application;

[0026] Figure 5 This is a structural diagram of a fourth AOA positioning base station signal calibration device provided in an embodiment of the present application;

[0027] Figure 6 A schematic diagram of the structure of a computer device provided in an embodiment of the present application;

[0028] Figure 7 This is a diagram of the internal structure of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the present disclosure more clear, the present disclosure is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present disclosure and are not used to limit the present disclosure.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of this article and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of this article described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0031] In this article, the term "and / or" is only a description of the association relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the related objects before and after are in an "or" relationship.

[0032] Embodiment 1

[0033] Figure 1 A flow chart of a signal calibration method provided in Example 1 of the present application, refer to Figure 1 The method may be performed by a device for performing the method, and the device may be implemented by software and / or hardware. The method includes:

[0034] S110, performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0035] Among them, the price tag location signal is obtained by a preset AOA positioning base station. The AOA positioning base station is used to locate the electronic price tag. The AOA positioning base station is set above the ground, and the height from the ground is at least 10 times the wavelength of the price tag location signal; the price tag location signal is sent by the electronic price tag, and the AOA positioning base station can determine the location of the electronic price tag by receiving and processing the price tag location signal; in this embodiment, the location of the electronic price tag is located at the projection point of the AOA positioning base station on the ground; the AOA positioning base station is provided with multiple antennas, and the multiple antennas can perform multiple rounds of sampling on the price tag location signal In each round of sampling, multiple antennas sample the price tag position signal in sequence, thereby obtaining sampling points corresponding to each antenna, and each sampling point has its corresponding sampling phase; and the first antenna preset in the AOA positioning base station is recorded as the reference antenna, and the other antennas in the AOA positioning base station are recorded as the remaining antennas, and the phase of the sampling point collected by the reference antenna is recorded as the reference phase, and the phase of the sampling point collected by the remaining antennas is recorded as the remaining phase; taking one round of sampling as an example, the difference between each remaining phase and the reference phase is calculated to obtain a single-round phase difference value group, and the phase difference feature It is the set of single-round phase difference value groups corresponding to each round of sampling.

[0036] Specifically, the price tag position signal obtained by each antenna in the AOA positioning base station is sampled multiple times. Taking one round of sampling as an example, sampling points corresponding to each antenna are obtained by sampling, and the phase of each sampling point is calculated to obtain a reference phase and multiple remaining phases. The difference between each remaining phase and the reference phase is calculated to obtain a single-round phase difference value group, and the single-round phase difference value groups corresponding to each round of sampling are collected to obtain the phase difference feature. ,in, Characterizes the nth round of sampling.

[0037] S120, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0038] Among them, each element in the phase difference feature represents the difference between the remaining phases corresponding to a round of sampling and the reference phase; it should be noted that since the calculated phase may be 0 and 2π, that is, the phase difference feature is prone to phase flipping. In order to avoid this problem, each element in the phase difference feature can be mapped to the trigonometric function domain, that is, first calculate the mean of each element in the phase difference feature corresponding to each round of sampling , then calculate The sine value of , and then calculate the sine value corresponding to each round of sampling The mean , recorded as the result of sine mapping

[0039] ,in, Characterize the total number of sampling rounds; similarly calculate the cosine mapping result

[0040] , ; Further, calculate the sine mapping result The result of cosine mapping The ratio of the triangle mapping result is .

[0041] Specifically, first calculate the mean of each element in the phase difference feature that corresponds to each round of sampling

[0042] , and then calculate each The sine value of

[0043] , then calculate the sine values The mean , recorded as the result of sine mapping

[0044] Furthermore, each The cosine value of , then calculate the cosine values The mean , recorded as the cosine mapping result

[0045] ; Then, calculate the sine mapping result The result of cosine mapping The ratio of the triangle mapping result is ,

[0046] .

[0047] S130, calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0048] It should be noted that each antenna in the AOA positioning base station samples the price tag position signal in a sequential order. The sampling switch is a process in which one antenna completes the sampling of the price tag position signal and then switches to the next adjacent antenna to sample the price tag position signal. The sampling switch will cause a phase difference between the sampling points collected by the corresponding two adjacent antennas, which is recorded as the sampling switch phase difference. ,in, , ; It should be noted that M is the number of antennas in the AOA positioning base station; Characterizes the phase difference between two adjacent sampling points; before the antenna samples, an 8us reference time slot is preset. The reference time slot is used to pre-sample the price tag position signal 8 times in a row. represents the number of times the price tag position signal is continuously pre-sampled in the reference time slot. In this embodiment, =8. By triangular mapping results Performing inverse trigonometric operations can obtain the corresponding tangent phase difference , tangent phase difference

[0049] Switching phase difference for sampling Intrinsic deviation from zero phase The sum of the values, where the zero phase inherent deviation Without considering the sampling switching phase difference In the case of , there is a phase difference between different sampling points in a single round of sampling; .

[0050] Specifically, according to the phase difference between two adjacent sampling points , the number of consecutive pre-sampling of the price tag position signal in the reference time slot And the number of antennas M in the AOA positioning base station calculates the sampling switching phase difference ; Calculate the triangulation result The inverse tangent function value of the corresponding tangent phase difference , then calculate the tangent phase difference Phase difference with sampling switching The difference between the two gives the zero phase intrinsic deviation .

[0051] S140, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0052] Among them, zero phase inherent deviation The above-mentioned phase reversal problem may still exist. In order to avoid this problem, it is necessary to further reduce the zero phase inherent deviation Mapping to the trigonometric domain yields the zero-phase calibration vector ; By processing the zero phase calibration vector The zero phase calibration matrix can be obtained ,

[0053] , zero phase calibration matrix It is used to process the price tag position signal to obtain the price tag position signal after zero phase calibration, that is, the phase calibration signal.

[0054] Specifically, the zero phase inherent deviation Mapping to the trigonometric function domain, we get the zero phase calibration vector , and then process the zero phase calibration vector to obtain the zero phase calibration matrix Finally, the phase calibration signal is obtained by left-multiplying the received price tag position signal by the zero-phase calibration matrix.

[0055] It should be noted that this embodiment obtains phase difference features by performing multiple rounds of sampling on the acquired price tag position signal; maps each element in the phase difference feature to the trigonometric function domain to obtain a trigonometric mapping result; calculates the sampling switching phase difference generated when the sampling is performed, and calculates the zero phase inherent deviation based on the trigonometric mapping result and the sampling switching phase difference; generates a zero phase calibration vector based on the zero phase inherent deviation, processes the zero phase calibration vector to obtain a zero phase calibration matrix; processes the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal. Through the above implementation, the position signal sent by the electronic price tag can be calibrated, thereby improving the accuracy of the determined electronic price tag position.

[0056] Embodiment 2

[0057] A signal calibration method provided in the second embodiment of the present application optimizes the "mapping each element in the phase difference feature to the trigonometric function domain to obtain a trigonometric mapping result" in the first embodiment; it should be noted that for the part not described in detail in this embodiment, reference can be made to the description of other embodiments, and the method includes:

[0058] S210 , performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0059] S221. Obtain the average value of the elements in the phase difference feature corresponding to each round of sampling to obtain a single round sampling phase difference average value.

[0060] Among them, each round of sampling can obtain several sampling phases corresponding to the round of sampling. The number of sampling phases is consistent with the number of antennas in the AOA positioning base station. The corresponding phase difference can be calculated between the adjacent sampling phases in the sampling phases corresponding to each round of sampling. Therefore, after each round of sampling, the multiple phase differences corresponding to the round of sampling can be calculated. The multiple phase differences corresponding to each round of sampling are also the corresponding elements in the phase difference feature of the round of sampling; the average phase difference of a single round of sampling is the average of multiple phase differences corresponding to one round of sampling.

[0061] Specifically, the elements corresponding to each round of sampling in the phase difference feature are obtained, and then the mean of the elements corresponding to each round of sampling is calculated to obtain the mean phase difference of a single round of sampling. .

[0062] S222: Process the average value of the phase difference in a single round of sampling based on a preset sine function to obtain a sine value, and also process the average value of the phase difference in a single round of sampling based on a preset cosine function to obtain a cosine value.

[0063] The default sine function is sin(), the default cosine function is cos(), and the sine value is , the cosine value is .

[0064] Specifically, the average phase difference of a single round of sampling Input to the preset sine function sin() to process and get the sine value , and the single round sampling phase difference mean Input to the preset cosine function cos() to get the cosine value .

[0065] S223. Obtain a mean sine value based on the sine values ​​corresponding to the sampling in each round, and obtain a mean cosine value based on the cosine values ​​corresponding to the sampling in each round.

[0066] It should be noted that each round of sampling has its corresponding sine value and cosine , the mean sine value is the mean of the sine values ​​corresponding to each round of sampling, and the mean cosine value is the mean of the cosine values ​​corresponding to each round of sampling.

[0067] Specifically, calculate the sine value corresponding to each round of sampling The mean , recorded as the mean of the sine values; the cosine values ​​corresponding to each round of sampling are also calculated The mean , recorded as the mean cosine value.

[0068] S224. Obtain a triangular mapping result based on the mean of the sine values ​​and the mean of the cosine values.

[0069] The triangular mapping result is the ratio of the mean of the sine value to the mean of the cosine value, and the triangular mapping result is recorded as .

[0070] Specifically, calculate the mean of the sine values and cosine mean The ratio of , we get the triangular mapping result .

[0071] S230: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0072] S240, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0073] Embodiment 3

[0074] A signal calibration method is provided in Embodiment 3 of the present application. The method optimizes the “generating a zero-phase calibration vector based on the zero-phase inherent deviation” in Embodiment 1. It should be noted that, for the part not described in detail in this embodiment, reference may be made to the description of other embodiments. The method includes:

[0075] S310, performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0076] S320, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0077] S330: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0078] S341. Obtain an average of the phase inherent deviations based on the zero phase inherent deviations of the plurality of price tag position information.

[0079] Among them, the mean of the inherent phase deviation is the average of the zero-phase inherent deviations of the plurality of price tag position information obtained by the AOA positioning base station, Represents the location information of the nth price tag.

[0080] Specifically, the mean of the zero-phase inherent deviations of the obtained multiple price tag position information is calculated to obtain the mean of the phase inherent deviations. .

[0081] S342. Map the phase intrinsic deviation mean to the trigonometric function domain to obtain a tangent domain mean.

[0082] In this embodiment, the mean of the phase inherent deviation is first calculated. The sine domain mean ,

[0083] ,in, Indicates the first Price tag position signal, Indicates the total number of price tag location signals received by the AOA positioning base station; also calculates the zero phase inherent deviation The cosine domain mean of ,

[0084] ; Then calculate the sine domain mean and cosine domain mean The ratio of tangent domain mean , .

[0085] Specifically, first calculate the mean of the phase inherent deviation The sine domain mean , and also calculate the mean of the phase intrinsic deviation The cosine domain mean of , further, calculate the sine domain mean and cosine domain mean The ratio of the tangent domain mean .

[0086] S343, processing the tangent domain mean value to obtain a zero phase calibration vector.

[0087] Among them, the tangent domain mean is processed by the inverse tangent function The zero phase calibration vector can be obtained , .

[0088] Specifically, the tangent domain mean Input to the inverse tangent function for processing to obtain the zero phase calibration vector .

[0089] S344, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0090] Embodiment 4

[0091] A signal calibration method is provided in a fourth embodiment of the present application. The method optimizes the "processing of the zero-phase calibration vector to obtain the zero-phase calibration matrix" in the first embodiment. It should be noted that for the parts not described in detail in this embodiment, reference may be made to the descriptions of other embodiments. The method includes:

[0092] S410, performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature;

[0093] S420, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result;

[0094] S430, calculating the sampling switching phase difference generated when the sampling is performed, and calculating the zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference;

[0095] S441. Generate a zero-phase calibration vector based on the zero-phase inherent deviation.

[0096] S442: Process the zero-phase calibration vector based on a preset rotation factor to obtain a rotated calibration vector.

[0097] The preset rotation factor is -j, which is used to calibrate the zero phase vector Rotate to obtain the rotated calibration vector .

[0098] Specifically, calculate the rotation factor With zero phase calibration vector The product of gets the rotated calibration vector .

[0099] S443: Process the rotated calibration vector based on a preset exponential function to obtain an exponential function result.

[0100] The preset exponential function is the natural exponential function exp(), which can be used to calibrate the rotated vector Processing to obtain the exponential function result .

[0101] Specifically, the calibration vector is rotated Input into the preset natural exponential function exp() for calculation to get the exponential function result .

[0102] S444. Process the exponential function result based on a preset matrix constructor to obtain a zero-phase calibration matrix.

[0103] The default matrix constructor is the diag() function, which is used to convert the result of the exponential function into Processing into a zero phase calibration matrix .

[0104] Specifically, the exponential function result Input to the diag() function for processing to obtain the zero-phase calibration matrix ,

[0105] .

[0106] S445. Process the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0107] Embodiment 5

[0108] A signal calibration method provided in Embodiment 5 of the present application may be performed by a device for performing the method, and the device may be implemented by software and / or hardware. The method includes:

[0109] S510: Perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0110] S520, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0111] S530: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0112] S540, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0113] S550: Convert the angular coordinates obtained by processing the phase calibration signal into a rectangular coordinate system to obtain rectangular conversion coordinates.

[0114] Among them, the AOA positioning base station can solve the phase calibration signal to generate angle coordinates, which include azimuth angle θ and pitch angle φ, and the angle coordinates are marked as It should be noted that the AOA positioning base station may be installed tilted. In this case, the accuracy of the angle coordinates calculated by the AOA positioning base station is poor. Therefore, it is necessary to calibrate the angle coordinates calculated by the AOA positioning base station. In order to facilitate the correction of the angle coordinates, it is necessary to first convert the angle coordinates from the spherical coordinate system to the rectangular coordinate system and obtain the corresponding rectangular conversion coordinates; in order to make the angle coordinates constitute a complete spherical coordinate, the angle coordinates can be modulated, and since the angle coordinates are independent of the modulus length, the modulus length can be set to 1, thereby obtaining the spherical coordinates. , further, the spherical coordinates are converted to the rectangular coordinate system to obtain the rectangular conversion coordinates

[0115] .

[0116] Specifically, the angle coordinates obtained by the AOA positioning base station's preliminary solution of the phase calibration signal Perform the modulus processing to obtain the corresponding spherical coordinates , and then transform the spherical coordinates into the rectangular coordinate system to obtain the corresponding rectangular transformation coordinates

[0117] .

[0118] S560: Process the acquired base station acceleration to obtain three-axis acceleration components, and process the rectangular transformation coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates.

[0119] Among them, the AOA positioning base station is equipped with an accelerometer, which can measure the acceleration g when the AOA positioning base station is installed tilted. When the AOA positioning base station is installed tilted, it has three rectangular coordinate axes when the position is tilted, namely the x-axis, y-axis and z-axis. The acceleration g on the x-axis is calculated, and the acceleration is normalized to obtain the normalized x-axis acceleration , and similarly obtain the normalized y-axis acceleration , and the normalized z-axis acceleration , the three-axis acceleration components are , as well as The above-mentioned rectangular conversion coordinates can be further processed through the three-axis acceleration components to obtain the rectangular correction coordinates ; It should be noted that the above rectangular conversion coordinates

[0120] The corresponding coordinates are the rectangular coordinates in the rectangular coordinate system established when the AOA positioning base station is tilted. The rectangular correction coordinates are the rectangular coordinates in the rectangular coordinate system established when the AOA positioning base station position is corrected. .

[0121] Specifically, the acceleration g obtained by the accelerometer is decomposed and normalized along the three axes (x-axis, y-axis and z-axis) of the rectangular coordinate system established when the AOA positioning base station is tilted, so as to obtain the three-axis acceleration component, that is, the normalized x-axis acceleration , normalized y-axis acceleration and the normalized z-axis acceleration ; Further, the rectangular conversion coordinates are processed by the three-axis acceleration components , thus obtaining the rectangular correction coordinates .

[0122] S570: Normalize the rectangular correction coordinates to obtain a tilt correction matrix.

[0123] Among them, the rectangular correction coordinates are normalized, that is, each element in the rectangular correction coordinates is normalized. Normalization is performed, and the corresponding correction matrix elements can be obtained by normalizing each element in the rectangular correction coordinate. For example, After normalization, we can get The corresponding first correction matrix element , , Similarly, After normalization, we can get The corresponding second correction matrix element , , ,right After normalization, we can get The corresponding third correction matrix element , , , the tilt correction matrix C can be obtained by combining the first correction matrix element, the second correction matrix element and the third correction matrix element, .

[0124] Specifically, the three elements in the rectangular correction coordinates are Normalize to obtain the correction matrix element corresponding to each element, that is, the first correction matrix element , , , the second correction matrix element , , , and the third correction matrix element , , ; The tilt correction matrix C can be obtained by combining the first correction matrix elements, the second correction matrix elements and the third correction matrix elements.

[0125] S580: Process the rectangular conversion coordinates based on the tilt correction matrix to obtain an angle correction signal.

[0126] Among them, the rectangular transformation coordinates are calculated The product of the tilt correction matrix C is the rectangular coordinate after rotation. , and then further convert the rectangular coordinates Converting to spherical coordinates gives the calibrated angular coordinates , which is the angle correction signal.

[0127] Specifically, calculate the rectangular conversion coordinates The product of the tilt correction matrix C is the rectangular coordinate after rotation. , and then convert the rectangular coordinates Convert to spherical coordinates to get angle correction signal .

[0128] Embodiment 6

[0129] A signal calibration method is provided in Embodiment 6 of the present application. The method optimizes the “converting the angular coordinates obtained by processing the phase calibration signal into a rectangular coordinate system to obtain a rectangular conversion coordinate” in Embodiment 5. It should be noted that for the parts not described in detail in this embodiment, reference may be made to the descriptions of other embodiments. The method includes:

[0130] S610: Perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0131] S620, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0132] S630: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0133] S640, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0134] S651, performing a modulus process on the angle coordinates to obtain spherical coordinates.

[0135] Among them, the angular coordinate is a two-dimensional coordinate, which includes the azimuth angle θ and the pitch angle φ. The angular coordinate is marked as ; In order to convert the angular coordinates into coordinates in the rectangular coordinate system, the angular coordinates need to be converted into three-dimensional spherical coordinates first. The spherical coordinates need to add a modulus length on the basis of the angular coordinates. Since the angular coordinates are independent of the modulus length, the modulus length can be set to 1; the modulus addition process is to add a modulus length on the basis of the angular coordinates to form a three-dimensional spherical coordinate. .

[0136] Specifically, in the angle coordinate Add a modulus of 1 to get the spherical coordinates .

[0137] S652: Convert the spherical coordinates into a rectangular coordinate system to obtain rectangular conversion coordinates.

[0138] It should be noted that the spherical coordinates can be converted to the rectangular coordinate system through the corresponding mathematical conversion formula, and the corresponding rectangular conversion coordinates can be obtained. If the spherical coordinates are , then the corresponding rectangular transformation coordinates are .

[0139] Specifically, the spherical coordinates are Convert to the rectangular coordinate system and get the rectangular conversion coordinates as follows: .

[0140] S660: Process the acquired base station acceleration to obtain three-axis acceleration components, and process the rectangular transformation coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates.

[0141] S670: Normalize the rectangular correction coordinates to obtain a tilt correction matrix.

[0142] S680: Process the rectangular conversion coordinates based on the tilt correction matrix to obtain an angle correction signal.

[0143] Embodiment 7

[0144] A signal calibration method provided in Embodiment 7 of the present application optimizes the "processing the rectangular conversion coordinates based on the three-axis acceleration components to obtain the rectangular correction coordinates" in Embodiment 5; it should be noted that for the parts not described in detail in this embodiment, reference may be made to the descriptions of other embodiments, and the method includes:

[0145] S710 , performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0146] S720, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0147] S730: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0148] S740, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0149] S750, converting the angular coordinates obtained by processing the phase calibration signal into a rectangular coordinate system to obtain rectangular conversion coordinates.

[0150] S761. Process the acquired base station acceleration to obtain three-axis acceleration components.

[0151] S762: Process the rectangular transformation coordinate based on the three-axis acceleration components to obtain a first corrected coordinate element.

[0152] Among them, the three-axis acceleration components are calculated ( , as well as ) are respectively converted to rectangular coordinates

[0153] The products of the corresponding elements in are x、 y and z, and then calculate the negative numbers corresponding to the three values , get the first correction coordinate element , .

[0154] Specifically, calculate the three-axis acceleration components The product of x in the rectangular transformation coordinates is , calculate the three-axis acceleration components The product of y in the rectangular transformation coordinates is , and also calculate the three-axis acceleration components The product of z in the rectangular transformation coordinates is , further calculation x y, and The negative number corresponding to the three z values , which is the first correction coordinate element .

[0155] S763: Obtain a second correction coordinate element based on the first correction coordinate element and the rectangular conversion coordinate.

[0156] Among them, the rectangular coordinate can be converted by the first correction coordinate element Orthogonalize x in the equation to get the second corrected coordinate element ,in, .

[0157] Specifically, , and rectangular coordinate conversion Substitute x in Calculate to achieve the rectangular conversion coordinates Orthogonalize x in and calculate the second corrected coordinate element .

[0158] S764. Obtain a third corrected coordinate element based on the first corrected coordinate element and the second corrected coordinate element.

[0159] Among them, the third correction coordinate element is the first correction coordinate element With the second correction coordinate element The product of .

[0160] Specifically, calculate the first correction coordinate element With the second correction coordinate element The product of , gets the third correction coordinate element .

[0161] S765. Obtain rectangular correction coordinates based on the first correction coordinate element, the second correction coordinate element, and the third correction coordinate element.

[0162] The rectangular correction coordinates are: .

[0163] S770: Normalize the rectangular correction coordinates to obtain a tilt correction matrix.

[0164] S780: Process the rectangular conversion coordinates based on the tilt correction matrix to obtain an angle correction signal.

[0165] Embodiment 8

[0166] Embodiment 8 of the present application provides a signal calibration method, which can be performed by a device for performing the method, and the device can be implemented by software and / or hardware. The method includes:

[0167] S810, performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0168] S820, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0169] S830: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0170] S840, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0171] S850: Process the price tag position signal corresponding to the preset position to obtain an angle signal, and obtain a delay vector based on the angle signal and the antenna coordinates.

[0172] It should be noted that there are certain differences in the reception quality of the price tag location signals sent by the antennas in the AOA positioning base station at different locations, and there are certain differences in the coupling effects between the antennas in the AOA positioning base station. This can easily lead to the AOA positioning base station being difficult to accurately determine the position of the corresponding electronic price tag based on the price tag location signal. Therefore, it is necessary to further calibrate the price tag location signal sent by the electronic price tag received by the AOA positioning base station.

[0173] Among them, with the projection point of the AOA positioning base station on the ground as the center, several electronic price tags are evenly arranged around the center. The position of each electronic price tag is the preset position. Each electronic price tag at the preset position is controlled to send a price tag position signal to the AOA positioning base station. Each electronic price tag has a corresponding rectangular coordinate in the rectangular coordinate system ( , , ), the coordinates of the AOA positioning base station in the rectangular coordinate system are ( , ), the AOA positioning base station can process the angular coordinates corresponding to the received price tag position signal into a corresponding angle signal, where the angle signal includes the azimuth With pitch angle , Characterization An electronic price tag is in a preset position, and: , Each antenna in the AOA positioning base station has its corresponding coordinates , and the number of antennas in the AOA positioning base station is M, Represents the mth antenna in the AOA positioning base station; the M antennas are distributed around the central axis of the AOA and form a circular array with a radius of r; and

[0174] ; and the delay vector is recorded as τ, .

[0175] Specifically, the AOA positioning base station processes the rectangular coordinates of the electronic price tag Get the corresponding angle signal , further, obtain the coordinates of each antenna in the AOA positioning base station , , then, according to the coordinates of each antenna Angle signal corresponding to the electronic price tag

[0176] Calculate the time delay vector τ corresponding to the electronic price tag.

[0177] S860. Calculate the phase difference between the reference antenna and the remaining antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector.

[0178] The reference antenna is the first antenna preset in the AOA positioning base station, and the other antennas are the other antennas in the AOA base station except the reference antenna. There is a phase difference between the sampling points collected by the reference antenna and the sampling points collected by the other antennas. The phase difference vector Δ is the set of phase differences between the reference antenna and the sampling points of the remaining antennas, ,in is the first element in τ, and f is the signal frequency of the price tag position signal after FSK modulation.

[0179] Specifically, the phase difference between the reference antenna and the sampling points of the remaining antennas is calculated, and the phase differences are combined to obtain the phase difference vector Δ .

[0180] S870: Use the phase difference vector as the new phase difference feature to execute the step of generating the zero phase calibration vector to obtain a calibrated phase difference vector.

[0181] The step of generating the zero phase calibration vector is also the step of generating the zero phase calibration vector in steps S520-S540, taking the phase difference vector as the new phase difference feature, and executing the step of generating the zero phase calibration vector in steps S520-S540, the calibrated phase difference vector can be obtained. , by calculating the calibrated phase difference vector This can prevent the phase flip from causing adverse effects on the phase difference vector.

[0182] Specifically, the phase difference vector is used as a new phase difference feature to execute the steps for generating a zero phase calibration vector in steps S520-S540, thereby obtaining a calibrated phase difference vector .

[0183] S880: Generate an average compensation matrix based on the calibrated phase difference vector, and process the price tag position signal based on the average compensation matrix to obtain a multi-point calibration signal.

[0184] Among them, by calibrating the phase difference vector The average compensation matrix can be obtained by processing , the average compensation matrix Used to left-multiply the price tag position signal received by the AOA base station to obtain the corresponding multi-point calibration signal.

[0185] Specifically, the calibrated phase difference vector Processing to obtain the average compensation matrix , further, the average compensation matrix Multiply the price tag position signal received by the AOA base station on the left to obtain the multi-point calibration signal.

[0186] Embodiment 9

[0187] A signal calibration method is provided in Embodiment 9 of the present application. The method optimizes the “obtaining a delay vector based on the angle signal and the antenna coordinates” in Embodiment 8. It should be noted that, for the part not described in detail in this embodiment, reference may be made to the description of other embodiments. The method includes:

[0188] S910 , performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0189] S920, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0190] S930: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0191] S940, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0192] S951, processing the price tag position signal corresponding to the preset position to obtain an angle signal.

[0193] S952. Acquire the coordinates of each antenna in the AOA positioning base station to obtain antenna coordinates.

[0194] Among them, the AOA positioning base station presets the coordinates of each antenna, which are all two-dimensional coordinates in the plane, recorded as ;in, Represents the mth antenna in the AOA base station, and the AOA base station has a total of M antennas.

[0195] Specifically, obtain the coordinates of each antenna in the AOA positioning base station

[0196] .

[0197] S953: Process the angle signal and the antenna coordinates based on a preset delay vector calculation formula to obtain a delay vector.

[0198] Among them, the preset delay vector calculation formula is:

[0199] ; Angle signal includes azimuth With pitch angle , Characterization An electronic price tag is in a preset position, and: ;

[0200] Specifically, the azimuth in the angle signal With pitch angle , and the antenna coordinates of each antenna are substituted into the preset delay vector calculation formula for processing, so as to obtain the delay vector τ.

[0201] S960. Calculate the phase difference between the reference antenna and the remaining antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector.

[0202] S970, using the phase difference vector as the new phase difference feature to execute the step of generating the zero phase calibration vector, to obtain a calibrated phase difference vector.

[0203] S980: Generate an average compensation matrix based on the calibrated phase difference vector, and process the price tag position signal based on the average compensation matrix to obtain a multi-point calibration signal.

[0204] Embodiment 10

[0205] A signal calibration method provided in the tenth embodiment of the present application optimizes the "generating an average compensation matrix based on the calibrated phase difference vector" in the eighth embodiment; it should be noted that for the part not described in detail in this embodiment, reference may be made to the description of other embodiments, and the method includes:

[0206] S1010, performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0207] S1020, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0208] S1030: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0209] S1040, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0210] S1050: Process the price tag position signal corresponding to the preset position to obtain an angle signal, and obtain a delay vector based on the angle signal and the antenna coordinates.

[0211] S1060. Calculate the phase difference between the reference antenna and other antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector.

[0212] S1070, using the phase difference vector as the new phase difference feature to execute the step of generating the zero phase calibration vector, to obtain a calibrated phase difference vector.

[0213] S1081, based on the calibrated phase difference vector and the zero phase inherent deviation Get the overall phase error.

[0214] The overall phase error is is the phase difference vector after calibration Intrinsic deviation from zero phase The difference, .

[0215] Specifically, calculate the phase difference vector after calibration Intrinsic deviation from zero phase The difference between .

[0216] S1082: Process the overall phase error to obtain a single-point compensation matrix.

[0217] Among them, each price tag position signal at the preset position has its corresponding compensation matrix, which is recorded as the single-point compensation matrix , and the single-point compensation matrix .

[0218] Specifically, the overall phase error Δ corresponding to each price tag position signal is Substitute into

[0219] , thereby calculating the single-point compensation matrix corresponding to each price tag position signal .

[0220] S1083: Obtain an average compensation matrix based on the single-point compensation matrices corresponding to the price tag position signals at different preset positions.

[0221] Among them, the average compensation matrix is the sum of the single-point compensation matrices corresponding to the price tag position signals corresponding to different preset positions, and .

[0222] Specifically, the sum of the single-point compensation matrices corresponding to the price tag position signals corresponding to different preset positions is calculated to obtain the average compensation matrix .

[0223] S1084. Process the price tag position signal based on the average compensation matrix to obtain a multi-point calibration signal.

[0224] Embodiment 11

[0225] A signal calibration method is provided in the eleventh embodiment of the present application. The method may be performed by a device for performing the method. The device may be implemented by software and / or hardware. It should be noted that for the parts not described in detail in the present embodiment, reference may be made to the descriptions of other embodiments. The method includes:

[0226] S1101, performing multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature.

[0227] S1102, mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result.

[0228] S1103: Calculate a sampling switching phase difference generated when the sampling is performed, and calculate a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference.

[0229] S1104, generating a zero phase calibration vector based on the zero phase inherent deviation, processing the zero phase calibration vector to obtain a zero phase calibration matrix; and processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal.

[0230] S1105 , converting the angular coordinates obtained by processing the phase calibration signal into a rectangular coordinate system to obtain rectangular conversion coordinates.

[0231] S1106: Process the acquired base station acceleration to obtain three-axis acceleration components, and process the rectangular transformation coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates.

[0232] S1107: Normalize the rectangular correction coordinates to obtain a tilt correction matrix.

[0233] S1108. Process the rectangular conversion coordinates based on the tilt correction matrix to obtain an angle correction signal.

[0234] S1109, processing the price tag position signal corresponding to the preset position to obtain an angle signal, and obtaining a delay vector based on the angle signal and the antenna coordinates;

[0235] S1110, calculating the phase difference between the reference antenna and the remaining antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector;

[0236] S1111, using the phase difference vector as the new phase difference feature to execute the step of generating the zero phase calibration vector, to obtain a calibrated phase difference vector;

[0237] S1112: Generate an average compensation matrix based on the calibrated phase difference vector, and process the price tag position signal based on the average compensation matrix to obtain a multi-point calibration signal.

[0238] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0239] Embodiment 12

[0240] Based on the same inventive concept, the embodiment of the present disclosure also provides an AOA positioning base station signal calibration device for implementing the signal calibration method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more AOA positioning base station signal calibration device embodiments provided below can refer to the limitations on the signal calibration method above, and will not be repeated here.

[0241] In this embodiment, Figure 2 As shown, an AOA positioning base station signal calibration device is provided, comprising:

[0242] A sampling module, used to perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature;

[0243] A mapping module, used for mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result;

[0244] A calculation module, used for calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference;

[0245] A calibration module is used to generate a zero-phase calibration vector based on the zero-phase inherent deviation, process the zero-phase calibration vector to obtain a zero-phase calibration matrix; and process the price tag position signal based on the zero-phase calibration matrix to obtain a phase calibration signal.

[0246] Each module in the above-mentioned AOA positioning base station signal calibration device can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0247] It should be noted that this embodiment obtains phase difference features by performing multiple rounds of sampling on the acquired price tag position signal; maps each element in the phase difference feature to the trigonometric function domain to obtain a trigonometric mapping result; calculates the sampling switching phase difference generated when the sampling is performed, and calculates the zero phase inherent deviation based on the trigonometric mapping result and the sampling switching phase difference; generates a zero phase calibration vector based on the zero phase inherent deviation, processes the zero phase calibration vector to obtain a zero phase calibration matrix; processes the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal. Through the above implementation, the position signal sent by the electronic price tag can be calibrated, thereby improving the accuracy of the determined electronic price tag position.

[0248] In one embodiment, the mapping module in the above embodiment 12 specifically includes:

[0249] A single round sampling phase difference mean value acquisition unit, used to acquire the mean value of the elements corresponding to each round of sampling in the phase difference feature to obtain the single round sampling phase difference mean value;

[0250] A cosine value acquisition unit, configured to process the single-round sampling phase difference average value based on a preset sine function to obtain a sine value, and also process the single-round sampling phase difference average value based on a preset cosine function to obtain a cosine value;

[0251] A cosine value mean acquisition unit, used to obtain a sine value mean based on the sine values ​​corresponding to the sampling in each round, and to obtain a cosine value mean based on the cosine values ​​corresponding to the sampling in each round;

[0252] The triangular mapping result obtaining unit is used to obtain a triangular mapping result based on the mean of the sine values ​​and the mean of the cosine values.

[0253] In one embodiment, the calibration module in the above embodiment 12 specifically includes:

[0254] A phase inherent deviation mean value acquisition unit, used to obtain a phase inherent deviation mean value based on the zero phase inherent deviations of the plurality of price tag position information;

[0255] A tangent domain mean value acquisition unit, used for mapping the phase intrinsic deviation mean value to a trigonometric function domain to obtain a tangent domain mean value;

[0256] The zero phase calibration vector acquisition unit is used to process the tangent domain mean value to obtain a zero phase calibration vector.

[0257] In one embodiment, the calibration module in the above embodiment 12 further includes:

[0258] A rotated calibration vector acquisition unit, configured to process the zero-phase calibration vector based on a preset rotation factor to obtain a rotated calibration vector;

[0259] An exponential function result obtaining unit, used for processing the rotated calibration vector based on a preset exponential function to obtain an exponential function result;

[0260] The zero-phase calibration matrix acquisition unit is used to process the exponential function result based on a preset matrix constructor to obtain a zero-phase calibration matrix.

[0261] In one embodiment, referring to Figure 3 The AOA positioning base station signal calibration device described in the above embodiment 12 further includes:

[0262] A rectangular conversion coordinate acquisition module, used for converting the angular coordinate obtained by processing the phase calibration signal into a rectangular coordinate system to obtain a rectangular conversion coordinate;

[0263] A rectangular correction coordinate acquisition module, used for processing the acquired base station acceleration to obtain three-axis acceleration components, and processing the rectangular conversion coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates;

[0264] A tilt correction matrix acquisition module, used for normalizing the rectangular correction coordinates to obtain a tilt correction matrix;

[0265] The angle correction signal acquisition module is used to process the rectangular conversion coordinates based on the tilt correction matrix to obtain an angle correction signal.

[0266] In one embodiment, the rectangular conversion coordinate acquisition module specifically includes:

[0267] A spherical coordinate acquisition unit, used for performing a modulus process on the angular coordinate to obtain a spherical coordinate;

[0268] The rectangular conversion coordinate acquisition unit is used to convert the spherical coordinates into a rectangular coordinate system to obtain rectangular conversion coordinates.

[0269] In one embodiment, the rectangular correction coordinate acquisition module specifically includes:

[0270] A first correction coordinate element acquisition unit, configured to process the rectangular conversion coordinate based on the three-axis acceleration component to obtain a first correction coordinate element;

[0271] A second correction coordinate element acquisition unit, configured to obtain a second correction coordinate element based on the first correction coordinate element and the rectangular conversion coordinate;

[0272] A third correction coordinate element acquisition unit, configured to obtain a third correction coordinate element based on the first correction coordinate element and the second correction coordinate element;

[0273] The rectangular correction coordinate acquisition unit is used to obtain the rectangular correction coordinate based on the first correction coordinate element, the second correction coordinate element and the third correction coordinate element.

[0274] In one embodiment, referring to Figure 4 The AOA positioning base station signal calibration device described in the above embodiment 12 further includes:

[0275] A delay vector acquisition module, used for processing the price tag position signal corresponding to the preset position to obtain an angle signal, and obtaining a delay vector based on the angle signal and the antenna coordinates;

[0276] A phase difference vector acquisition module is used to calculate the phase difference between the reference antenna and the remaining antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector;

[0277] A calibrated phase difference vector acquisition module, used to use the phase difference vector as the new phase difference feature to execute the step of generating the zero phase calibration vector, so as to obtain a calibrated phase difference vector;

[0278] The multi-point calibration signal acquisition module is used to generate an average compensation matrix based on the calibrated phase difference vector, and process the price tag position signal based on the average compensation matrix to obtain a multi-point calibration signal.

[0279] In one embodiment, the delay vector acquisition module specifically includes:

[0280] The antenna coordinate acquisition unit is used to acquire the coordinates of each antenna in the AOA positioning base station to obtain the antenna coordinates;

[0281] The delay vector acquisition unit is used to process the angle signal and the antenna coordinates based on a preset delay vector calculation formula to obtain a delay vector.

[0282] In one embodiment, the multi-point calibration signal acquisition module specifically includes:

[0283] An overall phase error acquisition unit, configured to obtain an overall phase error based on the calibrated phase difference vector and the zero phase inherent deviation;

[0284] A single-point compensation matrix acquisition unit, used for processing the overall phase error to obtain a single-point compensation matrix;

[0285] The average compensation matrix acquisition unit is used to obtain an average compensation matrix based on the single-point compensation matrices corresponding to the price tag position signals at different preset positions.

[0286] In one embodiment, referring to Figure 5 , provides an AOA positioning base station signal calibration device, comprising:

[0287] A sampling module, used to perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature;

[0288] A mapping module, used for mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result;

[0289] A calculation module, used for calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference;

[0290] A calibration module, configured to generate a zero-phase calibration vector based on the zero-phase inherent deviation, process the zero-phase calibration vector to obtain a zero-phase calibration matrix; and process the price tag position signal based on the zero-phase calibration matrix to obtain a phase calibration signal;

[0291] A rectangular conversion coordinate acquisition module, used for converting the angular coordinate obtained by processing the phase calibration signal into a rectangular coordinate system to obtain a rectangular conversion coordinate;

[0292] A rectangular correction coordinate acquisition module, used for processing the acquired base station acceleration to obtain three-axis acceleration components, and processing the rectangular conversion coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates;

[0293] A tilt correction matrix acquisition module, used for normalizing the rectangular correction coordinates to obtain a tilt correction matrix;

[0294] An angle correction signal acquisition module, used for processing the rectangular conversion coordinates based on the tilt correction matrix to obtain an angle correction signal;

[0295] A delay vector acquisition module, used for processing the price tag position signal corresponding to the preset position to obtain an angle signal, and obtaining a delay vector based on the angle signal and the antenna coordinates;

[0296] A phase difference vector acquisition module is used to calculate the phase difference between the reference antenna and the remaining antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector;

[0297] A calibrated phase difference vector acquisition module, used to use the phase difference vector as the new phase difference feature to execute the step of generating the zero phase calibration vector, so as to obtain a calibrated phase difference vector;

[0298] The multi-point calibration signal acquisition module is used to generate an average compensation matrix based on the calibrated phase difference vector, and process the price tag position signal based on the average compensation matrix to obtain a multi-point calibration signal.

[0299] Embodiment 13

[0300] In this embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 6 As shown. The computer device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a signal calibration method is implemented.

[0301] Those skilled in the art will understand that Figure 6The structure shown in the figure is only a block diagram of a part of the structure related to the scheme of the present disclosure, and does not constitute a limitation on the computer device to which the scheme of the present disclosure is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0302] Embodiment 14

[0303] In this embodiment, a computer readable storage medium is provided. Figure 7 As shown, a computer program is stored thereon, and when the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0304] Embodiment 15

[0305] In this embodiment, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0306] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties.

[0307] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided by the present disclosure can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided by the present disclosure may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided by the present disclosure may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, etc., but are not limited to this.

[0308] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0309] The above-described embodiments only express several implementation methods of the present disclosure, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several modifications and improvements can be made without departing from the concept of the present disclosure, and these all belong to the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the attached claims.

Claims

1. A signal calibration method, characterized in that: include: Perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature; Mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result; Calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference; Generate a zero phase calibration vector based on the zero phase inherent deviation, and process the zero phase calibration vector to obtain a zero phase calibration matrix; Processing the price tag position signal based on the zero phase calibration matrix to obtain a phase calibration signal; Wherein, generating a zero-phase calibration vector based on the zero-phase inherent deviation includes: Based on the zero phase inherent deviations of the plurality of price tag position signals, a phase inherent deviation mean is obtained; the phase inherent deviation mean is mapped to the trigonometric function domain to obtain a tangent domain mean; and the tangent domain mean is processed to obtain a zero phase calibration vector; The processing of the zero-phase calibration vector to obtain a zero-phase calibration matrix includes: processing the zero-phase calibration vector based on a preset rotation factor to obtain a rotated calibration vector; processing the rotated calibration vector based on a preset exponential function to obtain an exponential function result; processing the exponential function result based on a preset matrix constructor to obtain a zero-phase calibration matrix.

2. The method according to claim 1, characterized in that Mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result includes: Obtaining the average value of the elements in the phase difference feature corresponding to each round of sampling to obtain the average phase difference of a single round of sampling; Processing the average value of the phase difference of the single round of sampling based on a preset sine function to obtain a sine value, and also processing the average value of the phase difference of the single round of sampling based on a preset cosine function to obtain a cosine value; Obtain a mean sine value based on the sine values ​​corresponding to the sampling in each round, and obtain a mean cosine value based on the cosine values ​​corresponding to the sampling in each round; A triangular mapping result is obtained based on the mean of the sine values ​​and the mean of the cosine values.

3. The method according to claim 1, characterized in that Also includes: Converting the angular coordinates obtained by processing the phase calibration signal into a rectangular coordinate system to obtain a rectangular conversion coordinate; Processing the acquired base station acceleration to obtain three-axis acceleration components, and processing the rectangular conversion coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates; Normalizing the rectangular correction coordinates to obtain a tilt correction matrix; The rectangular conversion coordinates are processed based on the tilt correction matrix to obtain an angle correction signal.

4. The method according to claim 3, characterized in that The step of converting the angular coordinates obtained by processing the phase calibration signal into a rectangular coordinate system to obtain a rectangular conversion coordinate comprises: Performing a modulo process on the angle coordinates to obtain spherical coordinates; The spherical coordinates are converted into a rectangular coordinate system to obtain rectangular conversion coordinates.

5. The method according to claim 3, characterized in that: The processing of the rectangular conversion coordinates based on the three-axis acceleration components to obtain rectangular correction coordinates includes: Processing the rectangular transformation coordinate based on the three-axis acceleration component to obtain a first corrected coordinate element; Obtain a second corrected coordinate element based on the first corrected coordinate element and the rectangular conversion coordinate; Obtaining a third corrected coordinate element based on the first corrected coordinate element and the second corrected coordinate element; A rectangular correction coordinate is obtained based on the first correction coordinate element, the second correction coordinate element and the third correction coordinate element.

6. The method according to claim 1, characterized in that Also includes: Processing the price tag position signal corresponding to the preset position to obtain an angle signal, and obtaining a delay vector based on the angle signal and the antenna coordinates; Calculate the phase difference between the reference antenna and the remaining antennas in the AOA positioning base station based on the delay vector to obtain a phase difference vector; The phase difference vector is used as a new phase difference feature to perform the step of generating the zero phase calibration vector to obtain a calibrated phase difference vector; An average compensation matrix is ​​generated based on the calibrated phase difference vector, and the price tag position signal is processed based on the average compensation matrix to obtain a multi-point calibration signal.

7. The method according to claim 6, characterized in that The obtaining of a delay vector based on the angle signal and the antenna coordinates includes: Obtain the coordinates of each antenna in the AOA positioning base station to obtain the antenna coordinates; The angle signal and the antenna coordinates are processed based on a preset delay vector calculation formula to obtain a delay vector.

8. The method according to claim 6, characterized in that The generating an average compensation matrix based on the calibrated phase difference vector comprises: Obtaining an overall phase error based on the calibrated phase difference vector and the zero phase inherent deviation; Processing the overall phase error to obtain a single-point position compensation matrix; An average compensation matrix is ​​obtained based on the single-point compensation matrices corresponding to the price tag position signals at different preset positions.

9. An AOA positioning base station signal calibration device, characterized in that: The device comprises: A sampling module, used to perform multiple rounds of sampling on the acquired price tag position signal to obtain a phase difference feature; A mapping module, used for mapping each element in the phase difference feature to a trigonometric function domain to obtain a trigonometric mapping result; A calculation module, used for calculating a sampling switching phase difference generated when the sampling is performed, and calculating a zero phase inherent deviation based on the triangular mapping result and the sampling switching phase difference; A calibration module, configured to generate a zero-phase calibration vector based on the zero-phase inherent deviation, process the zero-phase calibration vector to obtain a zero-phase calibration matrix; and process the price tag position signal based on the zero-phase calibration matrix to obtain a phase calibration signal; The calibration module is specifically used to generate a zero phase calibration vector based on the zero phase inherent deviation: obtain a phase inherent deviation mean based on the zero phase inherent deviations of the multiple price tag position signals; map the phase inherent deviation mean to the trigonometric function domain to obtain a tangent domain mean; process the tangent domain mean to obtain a zero phase calibration vector; Among them, the calibration module is specifically used for processing the zero-phase calibration vector to obtain the zero-phase calibration matrix: processing the zero-phase calibration vector based on a preset rotation factor to obtain a rotated calibration vector; processing the rotated calibration vector based on a preset exponential function to obtain an exponential function result; processing the exponential function result based on a preset matrix constructor to obtain a zero-phase calibration matrix.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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