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

Abstract

The invention discloses a position information acquisition method, a storage medium, a chip and electronic equipment, and the method comprises the steps: obtaining first position information and second position information of a robot at the kth moment and the k-1 moment, and obtaining a first distance and a second distance between the robot and a target base station at the kth moment and the k-1 moment; acquiring first relative position information between the robot and the target base station at the (k-1) th moment; determining a first displacement according to the first position information and the second position information; determining target error information according to the first distance, the second distance, the first displacement and the first relative position information; determining second relative position information between the robot and the target base station at the kth moment according to the first relative position information, the first displacement and the target error information; and determining the target position information of the target base station according to the first position information and the second relative position information, so that the technical problem that the efficiency is relatively low when an existing robot determines the position information of the uwb base station can be improved.

Description

Technical Field

[0001] The present application relates to the field of data processing, and specifically to a method for obtaining location information, 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 location information, a storage medium, a chip and an electronic device, aiming to improve the technical problem of low efficiency when existing robots determine the location information of UWB base stations.

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

[0006] Acquire the first position information of the robot at the kth moment, and acquire the first distance between the robot and the target base station at the kth moment, where k is an integer greater than 1;

[0007] Acquire the second position information of the robot at the k-1th moment, and acquire the second distance between the robot and the target base station at the k-1th moment, where the k-1th moment is a sampling moment before the kth moment;

[0008] Acquire first relative position information between the robot and the target base station at time k-1, wherein a first error value of base station position information corresponding to the first relative position information is greater than a preset error value;

[0009] determining a first displacement according to the first position information and the second position information;

[0010] Determine target error information according to the first distance, the second distance, the first displacement and the first relative position;

[0011] Determine the second relative position information between the robot and the target base station at the kth moment according to the first relative position information, the first displacement and the target error information;

[0012] The target position information of the target base station is determined according to the first position information and the second relative position information, and the second error value corresponding to the target position information is smaller than a preset error value.

[0013] In a possible implementation manner, determining target error information according to the first distance, the second distance, the first displacement, and the first relative position information includes:

[0014] determining a first observation parameter according to the first distance, the second distance and the first displacement;

[0015] Determine a first estimation parameter according to the first displacement and the first relative position information;

[0016] The difference between the first observed parameter and the first estimated parameter is determined as the target error information.

[0017] In a possible implementation, determining the second relative position information between the robot and the target base station at the kth moment according to the first relative position information, the first displacement and the target error information includes:

[0018] determining reference relative position information according to the first relative position information and the first displacement;

[0019] determining position adjustment information according to the first displacement and the target error information;

[0020] The reference relative position information is adjusted according to the position adjustment information to obtain the second relative position information.

[0021] In a possible implementation manner, determining the target location information of the target base station according to the first location information and the second relative location information includes:

[0022] Determine reference location information of the target base station according to the first location information and the second relative location information;

[0023] Acquire a second error value corresponding to the reference position information;

[0024] If the second error value is smaller than a preset error value, the reference location information is determined as the target location information of the target base station.

[0025] In a possible implementation manner, the acquiring a second error value corresponding to the reference position information includes:

[0026] determining a first reference distance according to the target position information and the first position information;

[0027] determining a first sub-error value according to a difference between the first reference distance and the first distance;

[0028] Obtain the position information of the robot collected at all sampling moments between the first moment and the k-1th moment to obtain k-1 third position information, and obtain the distance between the robot and the target base station collected at all sampling moments between the first moment and the k-1th moment to obtain k-1 third distances;

[0029] Determine a sub-error value according to the third distances corresponding to the k-1 third position information, the k-1 third position information, and the reference position information to obtain k-1 second sub-error values;

[0030] The sum of the first sub-error value and k-1 second sub-error values ​​is determined as the second error value corresponding to the reference position information.

[0031] In a possible implementation, when k is equal to 2, obtaining the first relative position information between the robot and the target base station at the k-1th moment includes:

[0032] The preset initial relative position information is determined as the first relative position information between the robot and the target base station at the first moment.

[0033] In a possible implementation, obtaining a first distance between the robot and the target base station at the kth moment includes:

[0034] receiving a first signal sent by the target base station;

[0035] Determine a first spatial distance between the robot and the target base station according to the first signal;

[0036] Acquire a first installation height of the target base station and a first receiving height of the robot for receiving the first signal;

[0037] The two-dimensional distance between the robot and the target base station is determined according to the first installation height, the first receiving height and the first spatial distance to obtain the first distance.

[0038] 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 location information acquisition method as described in any one of the first aspects.

[0039] In a third aspect, an embodiment of the present application provides a chip, including:

[0040] at least one processor; and,

[0041] a memory communicatively connected to the at least one processor; wherein,

[0042] 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 location information acquisition method as described in any one of the first aspects.

[0043] In a fourth aspect, an embodiment of the present application provides an electronic device, including:

[0044] Ultra-wideband tags;

[0045] at least one processor, communicatively connected to the ultra-wideband tag; and

[0046] a memory communicatively connected to the at least one processor; wherein,

[0047] 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 location information acquisition method as described in any one of the first aspects.

[0048] In the position information acquisition method provided in the embodiment of the present application, the first position information of the robot at the kth moment is acquired, and the first distance between the robot and the target base station at the kth moment is acquired, where k is an integer greater than 1, the second position information of the robot at the k-1th moment is acquired, and the second distance between the robot and the target base station at the k-1th moment is acquired, the k-1th moment is a sampling moment before the kth moment, the first relative position information between the robot and the target base station at the k-1th moment is acquired, the first error value of the base station position information corresponding to the first relative position information is greater than a preset error value, a first displacement is determined according to the first position information and the second position information, and the target error is determined according to the first distance, the second distance, the first displacement and the first relative position. The difference information is determined according to the first relative position information, the first displacement and the target error information, and the second relative position information between the robot and the target base station at the kth moment is determined according to the first position information and the second relative position information. The target position information of the target base station is determined, and the second error value corresponding to the target position information is less than the preset error value, so that the relative position information of the robot and the target base station at the kth moment can be determined by obtaining the position information of the robot at the kth moment and the k-1th moment and the distance between the robot and the target base station, as well as the relative position information between the robot and the target base station at the k-1th moment, and finally the target position information of the target base station is determined according to the relative position information, so that the target position information can be automatically determined, which improves the efficiency of obtaining the target position information. At the same time, the target position information of the target base station can be estimated in an iterative manner, which can also improve the accuracy of obtaining the target position information. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] 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.

[0050] Figure 1 A schematic diagram of the structure of a wireless communication system provided in an embodiment of the present application;

[0051] Figure 2A A flowchart of a method for obtaining location information provided in an embodiment of the present application;

[0052] Figure 2B A schematic diagram of the movement of a robot provided in an embodiment of the present application;

[0053] Figure 3 A schematic diagram of the circuit structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0054] 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.

[0055] 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.

[0056] In order to better understand a method for obtaining location information provided by an embodiment of the present application, the following first briefly introduces the method for determining the location information of a uwb base station by an existing robot. In the existing scheme, the location 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 location of the uwb base station. Therefore, the efficiency in determining the location information of the uwb base station is low. At the same time, in the existing scheme, another method for determining the location 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 location information of each uwb base station. However, when obtaining the location information by the above method, it is required that there is no obstruction between the uwb base stations, so that the location 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 location information.

[0057] This application aims to solve the above problems and proposes a method for obtaining position information. The relative position information between the robot and the target base station at the kth moment can be determined by obtaining the position information of the robot at the kth moment and the k-1th moment and the distance between the robot and the target base station, as well as the relative position information between the robot and the target base station at the k-1th moment. Finally, the target position information of the target base station can be determined based on the relative position information, so that the target position information can be automatically determined, which improves the efficiency of obtaining the target position information. At the same time, the target position information of the target base station can be estimated in an iterative manner, which can also improve the accuracy of obtaining the target position information.

[0058] 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.

[0059] 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 information 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.

[0060] 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 information acquisition method described below.

[0061] As another aspect of the embodiment of the present application, the embodiment of the present application provides a method for obtaining location information, 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 position information includes:

[0062] S201. Obtain first position information of the robot at the kth moment, and obtain a first distance between the robot and a target base station at the kth moment, where k is an integer greater than 1.

[0063] 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 2B As 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. When the robot moves to the second moment, it may obtain its own position information 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 two-dimensional distance between the robot and the target base station may be determined according to the height of the robot, the height of the target base station and the spatial distance, and the two-dimensional distance may be determined as the first distance.

[0064] The kth moment may be any information collection moment in the process of the robot determining the position information of the target base station. At this information collection moment, the robot can obtain its own position information and the spatial distance between the robot and the target base station. The k-1th moment is the previous sampling moment of the kth moment. For example, when k=2, the kth moment is the second moment, the k-1th moment is the first moment, and there is a collection interval between the first moment and the second moment.

[0065] S202, obtaining the second position information of the robot at the k-1th moment, and obtaining the second distance between the robot and the target base station at the k-1th moment, where the k-1th moment is a sampling moment before the kth moment.

[0066] Among them, the method for obtaining the second position information and the second distance of the robot at the k-1th moment can refer to the method for obtaining the first position information and the first distance at the kth moment in the aforementioned embodiment, which will not be repeated here.

[0067] S203, obtaining first relative position information between the robot and the target base station at the k-1th moment, wherein a first error value of the base station position information corresponding to the first relative position information is greater than a preset error value.

[0068] When k=2, the first relative position information between the robot and the target base station can be the preset initial relative position information, for example, it can be expressed as: in, is the initial relative position information.

[0069] When k is greater than 2, the first relative position information can be obtained by the subsequent method of obtaining the second relative position information at the kth moment. For example, the first relative position information at the k-1th moment can be obtained by the relative position information between the robot and the target base station at the k-2th moment, the position information of the robot at the k-2th moment, the distance between the robot and the target base station at the k-2th moment, the position information of the robot at the k-1th moment, and the distance between the robot and the target base station at the k-1th moment to determine the first relative position information at the k-1th moment. Therefore, the second relative position information at the kth moment can be determined by multiple iterations based on the preset initial relative position information.

[0070] The first error value of the base station location information corresponding to the first relative position information is greater than the preset error value, which can be understood as the error of the base station location information obtained at the k-1th moment is large, and the next round of calculation is still needed, that is, the base station location information at the kth moment needs to be determined.

[0071] S204: Determine a first displacement according to the first position information and the second position information.

[0072] The first displacement may be determined according to the first position information and the second position information by a general displacement calculation method.

[0073] S205: Determine target error information according to the first distance, the second distance, the first displacement and the first relative position information.

[0074] The first observation parameter may be determined based on the first distance, the second distance and the first displacement, and the observation parameter may be understood as a parameter obtained through a measurement value.

[0075] A first estimated parameter can be determined based on the first displacement and the first relative position information. The estimated parameter can be understood as a parameter estimated by the first relative position information calculated at the k-1th moment. The parameter can be used to subsequently obtain error information between the parameter obtained by the measured value and the parameter obtained by the estimated value.

[0076] Finally, the difference between the first observed parameter and the first estimated parameter is determined as target error information.

[0077] In this example, the subsequent second relative position information can be determined more accurately by introducing the target error information.

[0078] S206. Determine the second relative position information between the robot and the target base station at the kth moment according to the first relative position information, the first displacement and the target error information.

[0079] Among them, a reference relative position information can be determined based on the first relative position information and the first displacement, and a position adjustment information can be determined based on the first displacement and the target error information, and finally the reference relative position information is adjusted by the position adjustment information to obtain the second relative position information. Thus, the second relative position information can be determined by introducing an error correction method, thereby improving the accuracy of determining the second relative position information.

[0080] S207. Determine target position information of the target base station according to the first position information and the second relative position information, wherein a second error value corresponding to the target position information is smaller than a preset error value.

[0081] Of course, when determining the target location information of the target base station, the reference location information can be first determined based on the first location information and the second relative location information. If the second error value corresponding to the reference location information is less than the preset error value, the reference location information is determined as the target location information of the target base station. Therefore, the target base station location information can be accurately obtained.

[0082] In this example, the relative position information of the robot and the target base station at the kth moment can be determined by obtaining the position information of the robot at the kth moment and the k-1th moment, the distance between the robot and the target base station, and the relative position information between the robot and the target base station at the k-1th moment, and finally the target position information of the target base station can be determined based on the relative position information, so that the target position information can be automatically determined, which improves the efficiency of obtaining the target position information. At the same time, the target position information of the target base station can be estimated in an iterative manner, which can also improve the accuracy of obtaining the target position information.

[0083] In a possible implementation, a method for determining target error information according to the first distance, the second distance, the first displacement, and the first relative position information includes:

[0084] A1. determining a first observation parameter according to the first distance, the second distance and the first displacement;

[0085] A2. determining a first estimation parameter according to the first displacement and the first relative position information;

[0086] A3. Determine the difference between the first observed parameter and the first estimated parameter as the target error information.

[0087] The first observation parameter can be determined by the method shown in the following formula, as follows:

[0088]

[0089] Among them, zata k is the first observation parameter, r k is the first distance, r k-1 is the second distance, d k，k-1 is the first shift, and ||*||2 is the 2-norm.

[0090] The first estimation parameter can be determined by the method shown in the following formula, which is as follows:

[0091]

[0092] Among them, M is the first estimated parameter, d k，k-1 is the first displacement, is a position parameter in the first relative position information. The position parameter in the first relative position information may represent the position indicated by the first relative position information, and the position parameter may be a position coordinate or the like.

[0093] The difference between the first observed parameter and the first estimated parameter may be determined as target error information, which may be:

[0094] e k =·zata k -M,

[0095] Among them, e k is the target error information, zata k is the first observed parameter, and M is the first estimated parameter.

[0096] In a possible implementation, a method for determining second relative position information between the robot and the target base station at the kth time according to the first relative position information, the first displacement and the target error information includes:

[0097] B1. determining reference relative position information according to the first relative position information and the first displacement;

[0098] B2. determining position adjustment information according to the first displacement and the target error information;

[0099] B3. Adjust the reference relative position information according to the position adjustment information to obtain the second relative position information.

[0100] The reference relative position information may be determined according to the first relative position information and the first displacement by the method shown in the following formula, which is as follows:

[0101]

[0102] H is the position parameter in the reference relative position information, is the position parameter in the first relative position information, d k，k-1 is the first displacement.

[0103] The position adjustment information may be determined according to the first displacement and the target error information by the method shown in the following formula, which is as follows:

[0104] G=gamma*d k，k-1 *e k ,

[0105] Among them, G is the position adjustment information, gamma is a positive definite matrix, d k，k-1 is the first displacement, e k is the target error information.

[0106] The sum of the position adjustment information and the reference relative position information may be determined as the second relative position information, which may be specifically:

[0107]

[0108] in, is the second relative position indicated by the second relative position information, H is the position indicated by the reference relative position information, and G is the position adjustment information.

[0109] In a possible implementation, a method of determining target location information of the target base station according to the first location information and the second relative location information includes:

[0110] C1. determining reference location information of the target base station according to the first location information and the second relative location information;

[0111] C2. Obtaining a second error value corresponding to the reference position information;

[0112] C3. If the second error value is less than a preset error value, the reference location information is determined as the target location information of the target base station.

[0113] The preset error value is set by empirical value or historical data. When the second error value is less than the preset error value, it can be shown that the accuracy requirement can be met, and the accuracy of obtaining the target position information is improved.

[0114] When determining the second error value corresponding to the reference position information, the first sub-error value can be determined based on the reference position information, the first position information, and the first distance, and then the position information of the robot collected at all sampling moments between the first moment to the k-1th moment and the corresponding distance and reference position information are taken to determine k-1 second sub-error values. Finally, the sum of the k-1 second sub-error values ​​and the first sub-error value is determined as the second error value. Thus, the second error value can be determined based on the first position information and the first distance at the kth moment, as well as the historical position information and distance, thereby improving the accuracy of determining the second error value.

[0115] In a possible implementation, a method for obtaining a second error value corresponding to the reference position information includes:

[0116] D1. determining a first reference distance according to the reference position information and the first position information;

[0117] D2. determining the first sub-error value according to the difference between the first reference distance and the first distance;

[0118] D3, obtaining the position information of the robot collected at all sampling moments between the first moment to the k-1th moment to obtain k-1 third position information, and obtaining the distance between the robot and the target base station collected at all sampling moments between the first moment to the k-1th moment to obtain k-1 third distances;

[0119] D4. Determine a sub-error value according to the third distances corresponding to the k-1 third position information, the k-1 third position information, and the reference position information to obtain k-1 second sub-error values;

[0120] D5. Determine the sum of the first sub-error value and k-1 second sub-error values ​​as the second error value corresponding to the reference position information.

[0121] The sum of the position parameters in the first position information and the position parameters in the second relative position information may be determined as the position parameters in the reference position information. Therefore, the reference position information at this time may be global position information, which may be position information marked on a map, and the first position information is position information obtained by the robot, which may also be position information marked on a map. The map may be a map existing between the robot and the base station.

[0122] Since, if the determined reference location information is the same as the actual location of the target base station, the reference location information and the first location information determine a reference distance, and the reference distance is compared with the actual measurement value (first distance), then the error value can be determined, for example:

[0123] The first reference distance may be determined based on the reference position information and the first position information, for example, the first spatial distance may be determined based on the reference position information and the first position information, a two-dimensional distance may be determined based on the first spatial distance, and the two-dimensional distance may be determined as the first reference distance. Finally, the difference between the first reference distance and the first distance may be determined as the first sub-error value.

[0124] The method for determining the first reference distance based on the reference position information and the first position information may be: a norm operation may be performed on the difference between the position parameter in the reference position information and the position parameter in the first position information to obtain the first reference distance. The first reference distance may be determined by the method shown in the following formula, specifically as follows:

[0125] L=||p bs -p k ||,

[0126] Where L is the first reference distance, p bs is the position parameter in the reference position information, p k is the position parameter in the first position information, and ||*|| is the norm operation.

[0127] An absolute value of a difference between the first reference distance and the first distance may be determined as a first sub-error value.

[0128] The method for obtaining the second sub-error value determined according to the third distance corresponding to the third position information, the third position information and the reference position information may refer to the method for determining the first sub-error value in the aforementioned embodiment, which will not be repeated here.

[0129] In a possible implementation, when k is equal to 2, a method for obtaining first relative position information between the robot and the target base station at the k-1th moment includes:

[0130] The preset initial relative position information is determined as the first relative position information between the robot and the target base station at the first moment.

[0131] The preset initial relative position information may be pre-set, which may be an initial value, for example, may be expressed as: in, is the initial relative position information.

[0132] In a possible implementation, a method for obtaining a first distance between the robot and a target base station at a kth time includes:

[0133] E1. Receive a first signal sent by the target base station;

[0134] E2. Determine a first spatial distance between the robot and the target base station according to the first signal;

[0135] E3. Acquire a first installation height of the target base station and a first receiving height of the robot for receiving the first signal;

[0136] E4. Determine the two-dimensional distance between the robot and the target base station according to the first installation height, the first receiving height and the first spatial distance to obtain the first distance.

[0137] The first signal sent by the target base station may be received by the ultra-wideband tag. The first signal may be a signal for distance measurement, and may be other signals, which are not specifically limited here.

[0138] The first spatial distance between the robot and the target base station may be determined by a common method of obtaining the distance by using signal strength attenuation.

[0139] The first installation height of the target base station and the first receiving height at which the robot receives the first signal can be obtained respectively. The first installation height can be a fixed value after the target base station is installed, so the first installation height can be obtained from the parameter information of the target base station, and since the first receiving height is a fixed parameter of the robot, the first receiving height can also be obtained from the parameter information of the robot.

[0140] The first distance can be determined by the method shown in the following formula, as follows:

[0141]

[0142] Among them, r curr is the first distance, r raw is the first spatial distance, z a is the first installation height, z t is the first receiving height. Therefore, the first distance can be quickly acquired.

[0143] 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.

[0144] 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 3As 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.

[0145] 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 location information in the embodiment of the present application. The processor 303 executes the functions of the method for obtaining location information provided in the above method embodiment by running the non-volatile software programs, instructions and modules stored in the memory 303.

[0146] 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.

[0147] The program instructions / modules are stored in the memory 303, and when executed by the one or more processors 302, the location information acquisition method in any of the above method embodiments is executed.

[0148] 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 information acquisition method in any of the above method embodiments.

[0149] 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 location information acquisition method in any of the above method embodiments.

[0150] 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 location information acquisition methods.

[0151] 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.

[0152] 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.

[0153] 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 location information, characterized in that: The method comprises: Acquire the first position information of the robot at the kth moment, and acquire the first distance between the robot and the target base station at the kth moment, where k is an integer greater than 1; Acquire the second position information of the robot at the k-1th moment, and acquire the second distance between the robot and the target base station at the k-1th moment, where the k-1th moment is a sampling moment before the kth moment; Acquire first relative position information between the robot and the target base station at time k-1, wherein a first error value of base station position information corresponding to the first relative position information is greater than a preset error value; determining a first displacement according to the first position information and the second position information; Determine target error information according to the first distance, the second distance, the first displacement and the first relative position information; Determine the second relative position information between the robot and the target base station at the kth moment according to the first relative position information, the first displacement and the target error information; The target position information of the target base station is determined according to the first position information and the second relative position information, and the second error value corresponding to the target position information is smaller than a preset error value.

2. The method for obtaining location information according to claim 1, characterized in that: The determining target error information according to the first distance, the second distance, the first displacement and the first relative position information includes: determining a first observation parameter according to the first distance, the second distance and the first displacement; Determine a first estimation parameter according to the first displacement and the first relative position information; The difference between the first observed parameter and the first estimated parameter is determined as the target error information.

3. The method for obtaining location information according to claim 2, characterized in that: The determining the second relative position information between the robot and the target base station at the kth moment according to the first relative position information, the first displacement and the target error information comprises: determining reference relative position information according to the first relative position information and the first displacement; determining position adjustment information according to the first displacement and the target error information; The reference relative position information is adjusted according to the position adjustment information to obtain the second relative position information.

4. The method for obtaining location information according to any one of claims 1 to 3, characterized in that: The determining, according to the first location information and the second relative location information, the target location information of the target base station includes: Determine reference location information of the target base station according to the first location information and the second relative location information; Acquire a second error value corresponding to the reference position information; If the second error value is smaller than a preset error value, the reference location information is determined as the target location information of the target base station.

5. The method for obtaining location information according to claim 4, characterized in that: The obtaining a second error value corresponding to the reference position information includes: determining a first reference distance according to the target position information and the first position information; determining a first sub-error value according to a difference between the first reference distance and the first distance; Obtain the position information of the robot collected at all sampling moments between the first moment and the k-1th moment to obtain k-1 third position information, and obtain the distance between the robot and the target base station collected at all sampling moments between the first moment and the k-1th moment to obtain k-1 third distances; Determine a sub-error value according to the third distances corresponding to the k-1 third position information, the k-1 third position information, and the reference position information to obtain k-1 second sub-error values; The sum of the first sub-error value and k-1 second sub-error values ​​is determined as the second error value corresponding to the reference position information.

6. The method for obtaining location information according to claim 5, characterized in that: When k is equal to 2, obtaining the first relative position information between the robot and the target base station at the k-1th moment includes: The preset initial relative position information is determined as the first relative position information between the robot and the target base station at the first moment.

7. The method for obtaining location information according to claim 6, characterized in that: The obtaining of a first distance between the robot and the target base station at the kth moment includes: receiving a first signal sent by the target base station; Determine a first spatial distance between the robot and the target base station according to the first signal; Acquire a first installation height of the target base station and a first receiving height of the robot for receiving the first signal; The two-dimensional distance between the robot and the target base station is determined according to the first installation height, the first receiving height and the first spatial distance to obtain 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 location information 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 location information 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 location information acquisition method according to any one of claims 1 to 7.

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