Position parameter acquisition method, storage medium, chip and electronic equipment

Abstract

The invention discloses a position parameter acquisition method, a storage medium, a chip and electronic equipment, and the method comprises the steps: obtaining n pieces of first position information of a robot, and obtaining first distances corresponding to the n pieces of first position information; acquiring a (k-1) th reference position parameter of the target base station; (k-1) th reference position error information is determined according to the (k-1) th reference position parameter, the n pieces of first position information and the first distances corresponding to the n pieces of first position information; determining a first increment parameter of the position parameter according to the (k-1) th reference position error information; determining the sum of the (k-1) th reference position parameter and the first increment parameter of the position parameter as the kth reference position parameter of the target base station; if the first increment parameter of the position parameters is smaller than the preset parameter, the kth reference position parameter is determined as the target position parameter of the target base station, and the problem that the efficiency is low when an existing robot determines the position information of the uwb base station can be solved.

Description

Technical Field

[0001] The present application relates to the field of data processing, and specifically to a method for obtaining position parameters, a storage medium, a chip, and an electronic device. Background Art

[0002] With the development of robot-related technologies, service robots are increasingly used in various commercial scenarios. In the application process of service robots, ultra-wideband technology is also gradually applied in the field of robots, such as positioning or assisting service robots with positioning through ultra-wideband base stations (UWB base stations). However, before using UWB base stations, service robots need to determine the location of UWB base stations.

[0003] In existing solutions, manual marking and measurement methods are usually used to enable service robots to determine the location information of UWB base stations. However, when manually measuring the location of UWB base stations, it is necessary to use measuring instruments such as laser rangefinders, construction maps, etc. to determine the location of base stations, resulting in low efficiency in determining the location information of UWB base stations. Summary of the invention

[0004] One purpose of the embodiments of the present application is to provide a method for obtaining position parameters, a storage medium, a chip and an electronic device, aiming to improve the technical problem of low efficiency when existing robots determine the position information of UWB base stations.

[0005] In a first aspect, an embodiment of the present application provides a method for obtaining a position parameter, the method comprising:

[0006] Acquire n first position information of the robot, and acquire first distances respectively corresponding to the n first position information, where the first distance is the distance between the robot and a target base station, and n is a positive integer;

[0007] Obtain the k-1th reference position parameter of the target base station, where k is an integer greater than 1;

[0008] determining a k-1th reference position error information according to the k-1th reference position parameter, the n first position information, and the first distances respectively corresponding to the n first position information;

[0009] Determining a first incremental parameter of a position parameter according to the k-1th reference position error information;

[0010] Determine the sum of the k-1th reference location parameter and the first incremental parameter of the location parameter as the kth reference location parameter of the target base station;

[0011] If the first incremental parameter of the location parameter is less than a preset parameter and / or k is greater than or equal to a preset value, the kth reference location parameter is determined as the target location parameter of the target base station.

[0012] In a possible implementation, if k is equal to 2, obtaining the k-1th reference location parameter of the target base station includes:

[0013] Determine a two-dimensional initial position parameter of the target base station according to the n first position information and the first distances respectively corresponding to the n first position information;

[0014] Acquire a first installation height of the target base station and a second height of the robot;

[0015] Determining a three-dimensional initial position parameter of the target base station according to the first installation height, the second height and the two-dimensional initial position parameter;

[0016] The three-dimensional initial position parameter is determined as a first reference position parameter of the target base station.

[0017] In a possible implementation manner, determining the k-1th reference position error information according to the k-1th reference position parameter, n pieces of the first position information, and first distances respectively corresponding to the n pieces of the first position information includes:

[0018] Determine n second distances according to the k-1th reference position parameter and the n first position information;

[0019] Determine n sub-error information according to the n second distances and the corresponding first distances;

[0020] The k-1th reference position error information is determined according to the n sub-error information.

[0021] In a possible implementation, determining a first incremental parameter of a position parameter according to the k-1th reference position error information includes:

[0022] Determine a Jacobian matrix according to the k-1th reference position error information;

[0023] A first incremental parameter of the position parameter is determined according to the Jacobian matrix and the k-1th reference position error information, wherein the first incremental parameter of the position parameter minimizes a function value of an error function corresponding to the k-1th reference position error information.

[0024] In a possible implementation, determining a Jacobian matrix according to the k-1th reference position error information includes:

[0025] The Jacobian matrix is ​​determined according to the k-1th reference position error information by the method shown in the following formula:

[0026]

[0027] Among them, J(x k-1 ) is the Jacobian matrix, f(x k-1 ) is the k-1th reference position error information, x bs is the horizontal coordinate of the reference position parameter, y bs is the ordinate of the reference position parameter, z bs The vertical coordinate of the reference position parameter.

[0028] In a possible implementation, obtaining n first position information of the robot, and obtaining first distances respectively corresponding to the n first position information, includes:

[0029] Obtain n second position information of the robot;

[0030] Determine third position information and fourth position information from the n second position information, wherein the distance between the position indicated by the third position information and the position indicated by the fourth position information is the longest;

[0031] Obtaining the distance between the position information in the first position information set and the straight line where the position indicated by the third position information and the position indicated by the fourth position information are located, to obtain a first distance set, wherein the elements in the first position information set are the position information in the n second position information except the third position information and the fourth position information;

[0032] If all the distances in the first distance set are not less than the preset distance, the n pieces of the second position information are determined as the first position information, and the distances corresponding to the n pieces of the second position information are determined as the first distance.

[0033] In a possible implementation, if k is equal to 2, obtaining the k-1th reference location parameter of the target base station includes:

[0034] The preset reference location parameter is determined as the first reference location parameter of the target base station.

[0035] In a second aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes a position parameter acquisition method as described in any one of the first aspects.

[0036] In a third aspect, an embodiment of the present application provides a chip, including:

[0037] at least one processor; and,

[0038] a memory communicatively connected to the at least one processor; wherein,

[0039] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the position parameter acquisition method as described in any one of the first aspects.

[0040] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0041] Ultra-wideband tags;

[0042] at least one processor, communicatively connected to the ultra-wideband tag; and

[0043] a memory communicatively connected to the at least one processor; wherein,

[0044] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the position parameter acquisition method as described in any one of the first aspects.

[0045] In the position parameter acquisition method provided in the embodiment of the present application, n first position information of the robot are acquired, and first distances corresponding to the n first position information are acquired, wherein the first distance is the distance between the robot and the target base station, and n is a positive integer; the k-1th reference position parameter of the target base station is acquired, and k is an integer greater than 1; the k-1th reference position error information is determined according to the k-1th reference position parameter, the n first position information, and the first distances corresponding to the n first position information; the first incremental parameter of the position parameter is determined according to the k-1th reference position error information; the k-1th reference position parameter and the first incremental parameter of the position parameter are added together; The sum of the numbers is determined as the kth reference location parameter of the target base station. If the first incremental parameter of the location parameter is less than the preset parameter and / or k is greater than or equal to the preset value, the kth reference location parameter is determined as the target location parameter of the target base station, so that the k-1th reference location parameter of the target base station can be obtained, and the first incremental parameter of the location parameter corresponding to the reference location parameter is obtained. Finally, when the first incremental parameter of the location parameter is less than the preset parameter and / or k is greater than or equal to the preset value, the sum of the k-1 reference location parameters and the first incremental parameter of the location parameter is determined as the target location parameter, so that the target location information can be automatically determined, which improves the efficiency of obtaining the target location parameter. At the same time, the target location information of the target base station can be optimized in an iterative manner, and the accuracy of obtaining the target location parameter can also be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] One or more embodiments are exemplarily described by pictures in the corresponding drawings, and these exemplified descriptions do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0047] Figure 1 A schematic diagram of the structure of a wireless communication system provided in an embodiment of the present application;

[0048] Figure 2A A schematic diagram of a flow chart of a method for obtaining position parameters provided in an embodiment of the present application;

[0049] Figure 2B A schematic diagram of the movement of a robot provided in an embodiment of the present application;

[0050] Figure 3 A schematic diagram of the circuit structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0051] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application 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 application and are not intended to limit the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0052] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other, all within the scope of protection of the present application. In addition, although the functional module division is performed in the device schematic diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a sequence different from the module division in the device or the flow chart. Furthermore, the words "first", "second", "third", etc. used in this application do not limit the data and execution order, but only distinguish the same items or similar items with basically the same functions and effects.

[0053] In order to better understand a method for obtaining a position parameter provided in an embodiment of the present application, the following first briefly introduces a method for determining the position information of a uwb base station by an existing robot. In the existing scheme, the position information of the uwb base station is usually measured by manual marking, and then marked on the map and sent to the robot. When manually marking, a rangefinder and a construction map of the scene of the application robot and the uwb base station are required to determine the position of the uwb base station. Therefore, the efficiency in determining the position information of the uwb base station is low. At the same time, in the existing scheme, another method for determining the position information of the uwb base station is to communicate between multiple uwb base stations and obtain the relative positions between multiple base stations, so as to finally obtain the position information of each uwb base station. However, when obtaining the position information by the above method, it is required that there is no obstruction between the uwb base stations, so that the position information needs to be obtained in an unobstructed environment or a hypothetical unobstructed environment is created, which also leads to low efficiency in obtaining the position information.

[0054] The present application aims to solve the above problems and proposes a method for obtaining position parameters. The method can obtain the k-1th reference position parameter of the target base station and obtain the first incremental parameter of the position parameter corresponding to the reference position parameter. Finally, when the first incremental parameter of the position parameter is less than the preset parameter and / or k is greater than or equal to the preset value, the sum of the k-1 reference position parameters and the first incremental parameter of the position parameter is determined as the target position parameter, so that the target position information can be automatically determined, which improves the efficiency of obtaining the target position parameter. At the same time, the target position information of the target base station can be optimized through iteration, and the accuracy of obtaining the target position parameter can also be improved.

[0055] The embodiment of the present application provides a wireless communication system, which includes a target base station and an electronic device. The target base station and the robot can be connected via WIFI, or can be connected wirelessly via other frequency bands such as 2.4 GHz, or can be other wireless connection methods, such as connection based on other IoT wireless protocols. Among them, the target base station can be a UWB base station, etc., the electronic device can be a robot, etc., and the robot can be a service robot, etc.

[0056] See also Figure 1 , the wireless communication system 100 includes a target base station 2 and an electronic device 1. The electronic device 1 includes an ultra-wideband tag 11, a first processor 12 and a first memory 13, at least one first processor 12 is respectively connected to the ultra-wideband tag 11 and the first memory 13 in communication, wherein the first memory 13 stores instructions that can be executed by at least one first processor 12, and the instructions are executed by the at least one first processor 12 so that the at least one first processor 12 can execute the location parameter acquisition method described below. Among them, the ultra-wideband tag 11 can be used to obtain the spatial distance between the electronic device 1 and the target base station 2, etc.

[0057] Please continue reading Figure 1 The target base station 2 includes a second processor 21, a second antenna 22 and a second memory 23. At least one second processor 21 is communicatively connected to the second memory 23 and the second antenna 22. The second memory 23 stores instructions that can be executed by at least one second processor 21. The instructions are executed by the at least one second processor 21 so that the at least one second processor 21 can execute the location parameter acquisition method described below.

[0058] As another aspect of the embodiment of the present application, the embodiment of the present application provides a method for obtaining position parameters, which is applied to an electronic device, and the electronic device includes an ultra-wideband tag 11. Figure 2A In the embodiment of the present application, the electronic device is described as a robot, and the method for obtaining the position parameter includes:

[0059] S201. Obtain n first position information of the robot, and obtain first distances respectively corresponding to the n first position information, where the first distance is the distance between the robot and a target base station, and n is a positive integer.

[0060] When the robot determines the location information of the target base station, the robot can move. Figure 2B As shown, when the robot moves, it may move in one direction from the initial position for a period of time, and then continue to move in a second direction for a period of time. For example, Figure 2BAs shown, the robot may move around the target base station. When the robot moves, it may move periodically according to the time interval between moments, for example, it may move in the time period between the first moment and the second moment, specifically from the position corresponding to the first position information at the first moment, to the position corresponding to the second position information at the second moment, and finally to the position corresponding to the nth position information at the nth moment. The robot may obtain its own position information at each moment and obtain the spatial distance between the robot and the target base station through the ultra-wideband tag. After obtaining the spatial distance between the robot and the target base station, the spatial distance is determined as the first distance.

[0061] Among them, at each information collection moment (for example, the i-th moment), the robot can obtain its own position information, as well as the spatial distance between the robot and the target base station, etc.

[0062] Specifically, after obtaining the position information, the position information can also be screened to ensure that the motion trajectory constituted by the robot's position information is a non-linear motion trajectory. If the motion trajectory constituted by the position information is a straight line, it will take more time to determine the position parameters, thereby further improving the efficiency of subsequent determination of the position parameters of the target base station.

[0063] S202. Obtain a k-1th reference location parameter of the target base station, where k is an integer greater than 1.

[0064] When k=2, the first reference position parameter of the target base station may be a preset initial reference position parameter, for example, may be expressed as: (0, 0, 0).

[0065] Alternatively, when k=2, the three-dimensional initial position parameter of the target base station can also be determined based on the n first position information and the first distances respectively corresponding to the n first position information, and the three-dimensional initial position parameter is determined as the first reference position parameter. Although there is an error between the three-dimensional initial position parameter and the target position parameter of the target base station, the error is usually smaller than the preset initial reference position parameter, thereby reducing the number of subsequent iterations, reducing the amount of calculation, and improving the efficiency of finally obtaining the target position parameter.

[0066] When k is greater than 2, the k-1th reference location parameter can be obtained by the subsequent method of obtaining the kth reference location information. Specifically, for example, the k-1th reference location parameter can be obtained through the k-2th reference location information, and the k-2th reference location error information is determined according to the k-2th reference location parameter, the n first location information, and the first distances respectively corresponding to the n first location information, and the first incremental parameter of the location parameter is determined according to the k-2th reference location error information, and the sum of the k-2th reference location parameter and the first incremental parameter of the location parameter is determined as the k-1th reference location parameter of the target base station.

[0067] At this time, the first incremental parameter of the position parameter determined by the k-2th reference position error information when determining the k-1th reference position parameter is less than the preset parameter. Therefore, it is necessary to iterate again to obtain the first incremental parameter of the position parameter determined according to the k-1th reference position error information to improve the accuracy of subsequent acquisition of the target position parameter of the target base station.

[0068] S203: Determine k-1th reference position error information according to the k-1th reference position parameter, n pieces of the first position information, and first distances respectively corresponding to the n pieces of the first position information.

[0069] Among them, n second distances can be determined according to the k-1th reference position parameter and n first position information, and the k-1th reference position error information can be determined according to the n second distances and the corresponding first distances. Specifically, it can be understood that since the n second distances determined by the k-1th reference position parameter and n first position information can be the distances determined by the reference position parameters obtained by characterization optimization, and the first distance is the distance obtained by actual measurement, therefore, the error information can be determined according to the distance determined by the optimized reference position parameters and the actual measured distance, and at this time, the accuracy of the error information determination can be improved.

[0070] S204. Determine a first incremental parameter of a position parameter according to the k-1th reference position error information.

[0071] The first incremental parameter of the position parameter may be determined based on the Jacobian matrix determined by the k-1th reference position error information and the k-1th reference position error information, and the first incremental parameter minimizes the function value of the error function corresponding to the k-1th reference position error information.

[0072] The error function corresponding to the k-1th reference position error information can be understood as the function corresponding to the method for obtaining the k-1th reference position error information. Specifically, it can be expressed as:

[0073]

[0074] Where f(x) is the error function, x bs is the horizontal coordinate of the reference position parameter, y bs is the ordinate of the reference position parameter, z bs is the vertical coordinate of the reference position parameter, x i is the horizontal coordinate of the i-th first position information, y i is the ordinate in the i-th first position information, z i is the vertical coordinate in the i-th first position information, r i is the first distance corresponding to the i-th first position information, and ||*||2 is the binary norm operation.

[0075] S205. Determine the sum of the k-1th reference location parameter and the first incremental parameter of the location parameter as the kth reference location parameter of the target base station.

[0076] At this time, the sum of the k-1th reference position parameter and the first incremental parameter of the position parameter is determined as the kth reference position parameter of the target base station. The kth reference position parameter can be determined by optimizing iteratively to improve the accuracy of determining the kth reference position parameter.

[0077] S206. If the first incremental parameter of the location parameter is less than a preset parameter and / or k is greater than or equal to a preset value, determine the kth reference location parameter as the target location parameter of the target base station.

[0078] Among them, if the first incremental parameter of the position parameter is less than the preset parameter and / or k is greater than or equal to the preset value, it can be indicated that the kth reference position parameter obtained by iteration meets the preset accuracy requirement, which improves the accuracy of determining the kth reference position parameter. The preset parameter and preset value are set by experience value or historical data.

[0079] In this example, the k-1th reference location parameter of the target base station can be obtained, and the first incremental parameter of the location parameter corresponding to the reference location parameter can be obtained. Finally, when the first incremental parameter of the location parameter is less than the preset parameter and / or k is greater than or equal to the preset value, the sum of the k-1 reference location parameters and the first incremental parameter of the location parameter is determined as the target location parameter, so that the target location information can be automatically determined, which improves the efficiency of obtaining the target location parameter. At the same time, the target location information of the target base station can be optimized through iteration, and the accuracy of obtaining the target location parameter can also be improved.

[0080] In a possible implementation, if k is equal to 2, a method for obtaining a k-1th reference location parameter of a target base station includes:

[0081] A1. determining a two-dimensional initial position parameter of the target base station according to n pieces of the first position information and first distances respectively corresponding to the n pieces of the first position information;

[0082] A2. Obtain a first installation height of the target base station and a second height of the robot;

[0083] A3. Determine the three-dimensional initial position parameters of the target base station according to the first installation height, the second height and the two-dimensional initial position parameters;

[0084] A4. Determine the three-dimensional initial position parameter as the first reference position parameter of the target base station.

[0085] Among them, a corresponding two-dimensional initial parameter can be determined by a general method of determining the two-dimensional initial position parameter of the target base station according to the first position information and the corresponding first distance, and finally n two-dimensional initial parameters are obtained, and then the mean of the n two-dimensional initial parameters is determined as the two-dimensional initial position parameter of the target base station. The two-dimensional initial position parameter can be the two-dimensional coordinate of the target base station, and the two-dimensional coordinate includes a horizontal coordinate and a vertical coordinate. Among them, of course, it is also possible to use a position parameter with a relatively concentrated position among the n two-dimensional initial parameters to determine it as the two-dimensional initial position parameter, which can be specifically understood as: a clustered position parameter can be obtained from the n two-dimensional initial parameters through a general clustering method, and then the clustered position parameter is determined as the two-dimensional initial position parameter. The first distance can be a two-dimensional distance, or a three-dimensional distance, etc.

[0086] The first installation height of the target base station and the second height of the robot can be obtained respectively. The first installation height can be a fixed value after the target base station is installed, and the first installation height can be obtained from the parameter information of the target base station, and the first receiving height is a fixed parameter of the robot, so the first receiving height can also be obtained from the parameter information of the robot. The second height of the robot can be the installation height of the ultra-wideband tag 301, etc.

[0087] The relative height between the target base station and the robot can be determined based on the first installation height and the second height. At the same time, since the position information of the robot includes the vertical coordinate corresponding to the height, the vertical coordinate and the relative height can be converted to obtain the vertical coordinate in the three-dimensional coordinate of the target base station. Finally, the two-dimensional initial position parameter and the vertical coordinate are combined to form the three-dimensional initial position parameter of the target base station.

[0088] In a possible implementation, a method for determining k-1th reference position error information according to the k-1th reference position parameter, n first position information, and first distances respectively corresponding to the n first position information includes:

[0089] B1. determining n second distances according to the k-1th reference position parameter and the n first position information;

[0090] B2. determining n sub-error information according to the n second distances and the corresponding first distances;

[0091] B3. Determine the k-1th reference position error information based on the n sub-error information.

[0092] Among them, the k-1th reference position parameter and the n first position information can be determined by a general position calculation method to determine the n second distances.

[0093] The difference between the n second distances and the corresponding first distance may be determined as sub-error information, and the sum of the n sub-error information may be determined as the k-1th reference position error information.

[0094] Of course, the k-1th reference position error information can also be determined by the method shown in the following formula, as follows:

[0095]

[0096] Among them, f(x k-1 ) is the k-1th reference position error information, x bs，k-1 is the horizontal coordinate of the k-1th reference position parameter, y bs，k-1 is the ordinate of the k-1th reference position parameter, z bs，k-1 is the vertical coordinate of the k-1th reference position parameter, x i is the horizontal coordinate of the i-th first position information, y i is the ordinate in the i-th first position information, z i is the vertical coordinate in the i-th first position information, r i is the first distance corresponding to the i-th first position information, and ||*||2 is the binary norm operation.

[0097] In this example, the k-1th reference position error information is error information determined by the k-1th reference position parameter and the second distance determined by n first position information, so the error information can be expressed from a global perspective, thereby improving the accuracy of error information determination.

[0098] In a possible implementation, determining a first incremental parameter of a position parameter according to the k-1th reference position error information includes:

[0099] C1. Determine a Jacobian matrix according to the k-1th reference position error information;

[0100] C2. Determine a first incremental parameter of the position parameter according to the Jacobian matrix and the k-1th reference position error information, wherein the first incremental parameter of the position parameter minimizes the function value of the error function corresponding to the k-1th reference position error information.

[0101] The Jacobian matrix can be determined according to the partial derivative of each coordinate variable of the reference position information with respect to the k-1th reference position error information. Specifically, the Jacobian matrix can be determined according to the k-1th reference position error information by the method shown in the following formula:

[0102]

[0103] Among them, J(x k-1 ) is the Jacobian matrix, f(x k-1 ) is the k-1th reference position error information, x bs is the horizontal coordinate of the reference position parameter, y bs is the ordinate of the reference position parameter, z bs The vertical coordinate of the reference position parameter.

[0104] After obtaining the Jacobian matrix, the first incremental parameter can be determined by the method shown in the following formula, as follows:

[0105] Δx k-1 =-(J(x k-1 ) T J(x k-1 )) -1 J(x k-1 )f(x k-1 ),

[0106] Δx k-1 is the first incremental parameter, J(x k-1 ) is the Jacobian matrix, f(x k-1 ) is the k-1th reference position error information.

[0107] The principle of the above formula can be:

[0108]

[0109] Here, argmin(f(x)) finds an x ​​that minimizes the function value of f(x). Therefore, we can use it to minimize the function value of f(x) at x.k-1 Perform a first-order Taylor expansion around to obtain:

[0110] F(x k-1 +Δx k-1 )≈f(x k-1 )+J(x k -1) T Δx k-1 ,

[0111] make:

[0112]

[0113] Then, the aforementioned formula for determining the first incremental parameter can be obtained.

[0114] Thus, the first incremental parameter obtained can minimize the function value of the error function corresponding to the k-1th reference position error information, thereby improving the accuracy of subsequent acquisition of the kth reference position parameter.

[0115] In a possible implementation, obtaining n first position information of the robot, and obtaining first distances respectively corresponding to the n first position information, includes:

[0116] D1, obtain n second position information of the robot;

[0117] D2. determining third location information and fourth location information from the n second location information, wherein the distance between the location indicated by the third location information and the location indicated by the fourth location information is the maximum value of the distances between the locations indicated by any two of the n second location information;

[0118] D3. Obtain the distance between the position information in the first position information set and the straight line where the position indicated by the third position information and the position indicated by the fourth position information are located, to obtain a first distance set, where the elements in the first position information set are the position information in the n second position information except the third position information and the fourth position information;

[0119] D4. If all distances in the first distance set are not less than a preset distance, the n pieces of the second position information are determined as first position information, and the distances corresponding to the n pieces of the second position information are determined as first distances.

[0120] The n second position information may be obtained by referring to the method for obtaining position information in the aforementioned embodiment.

[0121] The longest distance between the position indicated by the third position information and the position indicated by the fourth position information can be understood as respectively obtaining the distance between the positions indicated by each two position information in the n second position information, and determining the position information corresponding to the longest distance as the third position information and the fourth position information.

[0122] The method for obtaining the distance between the position information in the first position information set and the straight line where the position indicated by the third position information and the position indicated by the fourth position information are located to obtain the first distance set may be to adopt a general distance acquisition method. Since the distance between the position information in the first position information set and the position indicated by the third position information, the position indicated by the fourth position information, and the distance between the position indicated by the third position information and the position indicated by the fourth position information can be obtained, then, through the triangle principle, if the lengths of the three sides of the triangle are known, the distance between any vertex and the opposite side can be obtained, thereby obtaining the distance in the first distance set.

[0123] If the distances in the first distance set are not all less than the preset distance, it can be specifically understood that the motion curve formed by the n second position information is a non-straight line.

[0124] In this example, if the motion trajectory formed by the position information is a straight line, it will take more time to determine the position parameters. In this application, a non-linear running differential is used to determine the target position parameters of the target base station, which can further improve the efficiency of subsequent determination of the position parameters of the target base station.

[0125] It should be noted that, in each of the above-mentioned embodiments, there is not necessarily a certain order between the above-mentioned steps. A person skilled in the art can understand, based on the description of the embodiments of the present application, that in different embodiments, the above-mentioned steps may have different execution orders, that is, they may be executed in parallel, may be executed interchangeably, and so on.

[0126] See also Figure 3 , Figure 3 The following is a schematic diagram of the circuit structure of an electronic device provided in an embodiment of the present application. Figure 3 As shown, the electronic device 300 includes an ultra-wideband tag 301, one or more processors 302, a memory 303, and an antenna 304. The processor 302 is in communication connection with the memory 303, the ultra-wideband tag 301, and the antenna 304.

[0127] The memory 303 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules corresponding to the method for obtaining position parameters in the embodiment of the present application. The processor 303 executes the functions of the method for obtaining position parameters provided in the above method embodiment by running the non-volatile software programs, instructions and modules stored in the memory 303.

[0128] The memory 303 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage devices. In some embodiments, the memory 303 may optionally include a memory remotely arranged relative to the processor 302, and these remote memories may be connected to the processor 302 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0129] The program instructions / modules are stored in the memory 303, and when executed by the one or more processors 302, the position parameter acquisition method in any of the above method embodiments is executed.

[0130] The present application also provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors, for example Figure 3 A processor 302 in the embodiment may enable the one or more processors to execute the location parameter acquisition method in any of the above method embodiments.

[0131] An embodiment of the present application also provides a chip, which includes at least one processor and a memory communicatively connected to the at least one processor, wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the position parameter acquisition method in any of the above method embodiments.

[0132] An embodiment of the present application also provides a computer program product, which includes a computer program stored on a non-volatile computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by an electronic device, the electronic device executes any one of the position parameter acquisition methods.

[0133] The above described device or equipment embodiments are merely illustrative, wherein the unit modules described as separate components may or may not be physically separated, and the components displayed as module units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network module units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0134] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0135] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as described above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for obtaining position parameters, characterized in that: The method comprises: Acquire n first position information of the robot, and acquire first distances respectively corresponding to the n first position information, where the first distance is the distance between the robot and a target base station, and n is a positive integer; Obtain the k-1th reference position parameter of the target base station, where k is an integer greater than 1; determining a k-1th reference position error information according to the k-1th reference position parameter, the n first position information, and the first distances respectively corresponding to the n first position information; Determining a first incremental parameter of a position parameter according to the k-1th reference position error information; Determine the sum of the k-1th reference location parameter and the first incremental parameter of the location parameter as the kth reference location parameter of the target base station; If the first incremental parameter of the location parameter is less than a preset parameter and / or k is greater than or equal to a preset value, the kth reference location parameter is determined as the target location parameter of the target base station.

2. The method for obtaining position parameters according to claim 1, characterized in that: If k is equal to 2, the step of obtaining the k-1th reference location parameter of the target base station includes: Determine a two-dimensional initial position parameter of the target base station according to the n first position information and the first distances respectively corresponding to the n first position information; Acquire a first installation height of the target base station and a second height of the robot; Determining a three-dimensional initial position parameter of the target base station according to the first installation height, the second height and the two-dimensional initial position parameter; The three-dimensional initial position parameter is determined as a first reference position parameter of the target base station.

3. The method for obtaining position parameters according to claim 1, characterized in that: If k is equal to 2, the step of obtaining the k-1th reference location parameter of the target base station includes: The preset reference location parameter is determined as the first reference location parameter of the target base station.

4. The method for obtaining position parameters according to any one of claims 1 to 3, characterized in that: The determining the k-1th reference position error information according to the k-1th reference position parameter, the n first position information, and the first distances respectively corresponding to the n first position information includes: Determine n second distances according to the k-1th reference position parameter and the n first position information; Determine n sub-error information according to the n second distances and the corresponding first distances; The k-1th reference position error information is determined according to the n sub-error information.

5. The method for obtaining position parameters according to claim 4, characterized in that: The determining, according to the k-1th reference position error information, a first incremental parameter of the position parameter comprises: Determine a Jacobian matrix according to the k-1th reference position error information; A first incremental parameter of the position parameter is determined according to the Jacobian matrix and the k-1th reference position error information, wherein the first incremental parameter of the position parameter minimizes a function value of an error function corresponding to the k-1th reference position error information.

6. The method for obtaining position parameters according to claim 5, characterized in that: The determining of the Jacobian matrix according to the k-1th reference position error information comprises: The Jacobian matrix is ​​determined according to the k-1th reference position error information by the method shown in the following formula: Among them, J(x k-1 ) is the Jacobian matrix, f(x k-1 ) is the k-1th reference position error information, x bs is the horizontal coordinate of the reference position parameter, y bs is the ordinate of the reference position parameter, z bs The vertical coordinate of the reference position parameter.

7. The method for obtaining position parameters according to claim 6, characterized in that: Acquiring n first position information of the robot, and acquiring first distances respectively corresponding to the n first position information, comprising: Obtain n second position information of the robot; Determine third position information and fourth position information from the n second position information, wherein the distance between the position indicated by the third position information and the position indicated by the fourth position information is the longest; Obtaining the distance between the position information in the first position information set and the straight line where the position indicated by the third position information and the position indicated by the fourth position information are located, to obtain a first distance set, wherein the elements in the first position information set are the position information in the n second position information except the third position information and the fourth position information; If the distances in the first distance set are not all smaller than the preset distance, the n pieces of the second position information are determined as the first position information, and the distances corresponding to the n pieces of the second position information are determined as the first distance.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, wherein the computer program includes program instructions, and when the program instructions are executed by a processor, the processor executes the position parameter acquisition method according to any one of claims 1 to 7.

9. A chip, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the position parameter acquisition method according to any one of claims 1 to 7.

10. An electronic device, characterized in that: include: Ultra-wideband tags; at least one processor, communicatively connected to the ultra-wideband tag; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the position parameter acquisition method according to any one of claims 1 to 7.

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