Positioning accuracy correction method and related system, storage medium and computer program

Abstract

The invention provides a positioning precision correction method, a related system, a storage medium and a computer program, and the method comprises the steps: detecting the distances between a plurality of objects and a target ultrasonic sensor through the target ultrasonic sensor, and obtaining a plurality of target distances; acquiring actual distances between the plurality of objects and the target ultrasonic sensor to obtain a plurality of actual distances; determining deviation degrees between the plurality of target distances and the plurality of actual distances to obtain a plurality of deviation degrees; determining a first deviation degree according to the plurality of deviation degrees; determining a first ultrasonic positioning precision value corresponding to the first deviation degree; acquiring a reference ultrasonic positioning precision value of the target ultrasonic sensor; determining a second deviation degree between the first ultrasonic positioning precision value and the reference ultrasonic positioning precision value; determining a target correction factor corresponding to the second deviation degree; and correcting the reference ultrasonic positioning precision value according to the target correction factor to obtain a target ultrasonic positioning precision value.

Description

Technical Field

[0001] The present application relates to the fields of sensor technology and ultrasonic technology, and in particular to an ultrasonic positioning accuracy correction method and related systems, storage media and computer programs. Background Art

[0002] In practical applications, ultrasound is often used for distance measurement and positioning due to its strong directivity and slow energy consumption, and its long propagation distance in the medium. At present, the correction of ultrasound positioning accuracy is also very important, but usually, the correction of ultrasound positioning accuracy is not accurate enough. Therefore, the problem of how to improve the correction accuracy of ultrasound positioning accuracy needs to be solved urgently. Summary of the invention

[0003] The embodiments of the present application provide a method and system for correcting ultrasonic positioning accuracy, which improve the correction accuracy of ultrasonic positioning accuracy.

[0004] In a first aspect, an embodiment of the present application provides a method for correcting ultrasonic positioning accuracy, the method comprising: Detecting the distances between a plurality of objects and the target ultrasonic sensor by a target ultrasonic sensor to obtain a plurality of target distances; Acquire actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances; Determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, one deviation corresponding to each object, and each deviation corresponding to one object; determining a first degree of deviation based on the plurality of degrees of deviation; Determine a first ultrasonic positioning accuracy value corresponding to the first deviation; Obtaining a reference ultrasonic positioning accuracy value of the target ultrasonic sensor; Determining a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value; determining a target correction factor corresponding to the second degree of deviation; The reference ultrasonic positioning accuracy value is corrected according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

[0005] In a second aspect, an embodiment of the present application provides an ultrasonic positioning accuracy correction system, the system comprising: a detection unit, an acquisition unit, a determination unit and a correction unit, wherein: The detection unit is used to detect the distances between a plurality of objects and the target ultrasonic sensor through the target ultrasonic sensor to obtain a plurality of target distances; The acquisition unit is used to acquire the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances; The determination unit is used to determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, one deviation corresponding to each object, and each deviation corresponding to one object; determine a first deviation according to the multiple deviations; determine a first ultrasonic positioning accuracy value corresponding to the first deviation; The acquisition unit is further used to acquire a reference ultrasonic positioning accuracy value of the target ultrasonic sensor; The determining unit is further configured to determine a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value; and determine a target correction factor corresponding to the second deviation; The correction unit is used to correct the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

[0006] In a third aspect, an embodiment of the present application provides an electronic device, comprising a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the embodiment of the present application.

[0007] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps described in the first aspect of the embodiment of the present application.

[0008] In a fifth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product may be a software installation package.

[0009] The implementation of the embodiments of the present application has the following beneficial effects: It can be seen that the ultrasonic positioning accuracy correction method and system described in the embodiment of the present application detects the distances between multiple objects and the target ultrasonic sensor through the target ultrasonic sensor to obtain multiple target distances, obtains the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances, determines the deviations between the multiple target distances and the multiple actual distances, and obtains multiple deviations, each object corresponds to a deviation, and each deviation corresponds to an object. A first deviation is determined according to the multiple deviations, a first ultrasonic positioning accuracy value corresponding to the first deviation is determined, a reference ultrasonic positioning accuracy value of the target ultrasonic sensor is obtained, a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value is determined, and a target correction factor corresponding to the second deviation is determined. The reference ultrasonic positioning accuracy value is corrected according to the target correction factor to obtain a target ultrasonic positioning accuracy value. Not only can the corresponding deviations be determined using multiple objects, but these deviations are used to jointly decide the first deviation, and the reference ultrasonic positioning accuracy value is corrected based on the deviation between the corresponding ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value. Not only can the obtained deviation be ensured to be more in line with the actual situation, but also the accuracy of determining the deviation can be improved, thereby effectively improving the accuracy of correcting the ultrasonic positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0011] Figure 1 It is a flow chart of an ultrasonic positioning accuracy correction method provided in an embodiment of the present application; Figure 2 This is a schematic diagram of a scene demonstration of an ultrasonic positioning accuracy correction method provided in an embodiment of the present application; Figure 3 This is another schematic diagram demonstrating a method for correcting ultrasonic positioning accuracy provided by an embodiment of the present application; Figure 4 is a structural schematic diagram of an electronic device provided in an embodiment of the present application; Figure 5 This is a block diagram of the functional units of an ultrasonic positioning accuracy correction system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0012] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but in a possible example also includes steps or units that are not listed, or in a possible example also includes other steps or units inherent to these processes, methods, products or devices.

[0013] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0014] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0015] The electronic devices involved in the embodiments of the present application may include but are not limited to: smart phones, tablet computers, intelligent robots, vehicle-mounted devices, intelligent ultrasonic sensors, wearable devices, computing devices or other processing devices connected to wireless modems, as well as various forms of user equipment (UE), mobile stations (MS), terminal devices, etc., without limitation here, and the electronic device may also be a server.

[0016] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of an ultrasonic positioning accuracy correction method provided in an embodiment of the present application. As shown in the figure, the ultrasonic positioning accuracy correction method includes: 101. Detect distances between a plurality of objects and the target ultrasonic sensor by using a target ultrasonic sensor to obtain a plurality of target distances.

[0017] In the embodiment of the present application, multiple objects can be set at different positions, the positions of the multiple objects are known quantities, and the position of the target ultrasonic sensor is also a known quantity. Each object corresponds to an object position. The relative angle between each object and the target ultrasonic sensor is also different. Multiple objects can be the same or different. Figure 2 As shown, taking four objects as an example, namely object 1, object 2, object 3 and object 4, the four objects can be set at four different object positions, and the target ultrasonic sensor can detect the distance between the target ultrasonic sensor and each object.

[0018] In a specific implementation, the target ultrasonic sensor can detect the distance between the preset position of each of the multiple objects and the target ultrasonic sensor to obtain multiple target distances. The preset position can be preset or set by system default.

[0019] The target ultrasonic sensor may be an intelligent ultrasonic sensor, or the electronic device may be communicatively connected to the target ultrasonic sensor.

[0020] In a specific implementation, there may be multiple objects, and the objects may be arranged around the target ultrasonic sensor. The multiple objects may be evenly distributed around the target ultrasonic sensor, or the multiple objects may be unevenly distributed.

[0021] 102. Acquire actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances.

[0022] In a specific implementation, the actual distance between the preset position of each of the multiple objects and the target ultrasonic sensor can be obtained to obtain multiple actual distances. The actual distance can be understood as an ideal distance.

[0023] 103. Determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, one deviation corresponding to each object, and each deviation corresponding to one object.

[0024] In a specific implementation, the deviations between multiple target distances and the multiple actual distances can be determined to obtain multiple deviations, one deviation corresponding to each object, and each deviation corresponding to one object, wherein deviation=|target distance-actual distance| / actual distance.

[0025] 104. Determine a first deviation according to the multiple deviations.

[0026] In a specific implementation, the average of multiple deviations may be determined, and the first deviation is determined by the average.

[0027] 105. Determine a first ultrasonic positioning accuracy value corresponding to the first deviation.

[0028] In the embodiment of the present application, a mapping relationship between a preset deviation and an ultrasonic positioning accuracy value may be pre-stored, and then, a first ultrasonic positioning accuracy value corresponding to a first deviation may be determined based on the mapping relationship.

[0029] 106. Obtain a reference ultrasonic positioning accuracy value of the target ultrasonic sensor.

[0030] Among them, different ultrasonic sensors may correspond to different ultrasonic positioning accuracy values, and a mapping relationship between a preset ultrasonic sensor and an ultrasonic positioning accuracy value may be pre-stored, and then a reference ultrasonic positioning accuracy value of a target ultrasonic sensor may be determined based on the mapping relationship. The reference ultrasonic positioning accuracy value may be pre-set or a system default.

[0031] 107. Determine a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value.

[0032] In a specific implementation, the second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value can be determined. The second deviation = (first ultrasonic positioning accuracy value - reference ultrasonic positioning accuracy value) / reference ultrasonic positioning accuracy value, that is, the degree of deviation between the actually measured ultrasonic positioning accuracy value and the default ultrasonic positioning accuracy value of the target ultrasonic sensor can be determined.

[0033] 108. Determine a target correction factor corresponding to the second deviation.

[0034] In a specific implementation, a preset mapping relationship between the deviation degree and the correction factor may be pre-stored, and then, the target correction factor corresponding to the second deviation degree may be determined based on the mapping relationship.

[0035] 109. Correct the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

[0036] In a specific implementation, the reference ultrasonic positioning accuracy value can be corrected according to the target correction factor to obtain the target ultrasonic positioning accuracy value, which is (1+target correction factor)*reference ultrasonic positioning accuracy value. Then, the ultrasonic positioning accuracy value can be corrected to improve the subsequent ultrasonic positioning accuracy.

[0037] Optionally, the above step 104, determining the first deviation according to the multiple deviations, may include the following steps: A41. Obtain a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; A42. Determine weight coefficients corresponding to the multiple relative angles to obtain multiple weight coefficients; A43, normalizing the multiple weight coefficients to obtain multiple normalized weights; A44. Perform a weighted operation on the multiple deviations and the multiple normalized weights to obtain the first deviation.

[0038] In a specific implementation, the relative angle between each of the multiple objects and the target ultrasonic sensor can be obtained to obtain multiple relative angles. The mapping relationship between the preset relative angles and the weight coefficients can also be pre-stored. Then, the weight coefficients corresponding to the multiple relative angles can be determined based on the mapping relationship to obtain multiple weight coefficients. Next, the multiple weight coefficients can be normalized to obtain multiple normalized weights. Specifically, the sum of the multiple weight coefficients can be determined to obtain the total weight coefficients, and then the ratio between each weight coefficient and the total weight coefficients in the multiple weight coefficients is determined to obtain multiple normalized weights. Then, a weighted operation is performed according to the multiple deviations and the multiple normalized weights to obtain a first deviation. In this way, the corresponding weight coefficient can be configured for each relative angle in combination with the relative angles between different objects and the ultrasonic sensor, that is, different relative angles correspond to different weight coefficients. Then, these weight coefficients are normalized so that the proportion of each deviation is related to the relative angle depth. Then, a weighted operation can be performed based on the multiple deviations and the multiple normalized weights to ensure that the obtained deviation is more in line with the actual situation, improve the accuracy of the determination of the deviation, and help to ensure the subsequent correction accuracy that can effectively improve the ultrasonic positioning accuracy.

[0039] Optionally, each of the multiple objects corresponds to an object position; the above step A42, determining weight coefficients corresponding to the multiple relative angles to obtain multiple weight coefficients, may include the following steps: A421. Determine weight coefficients corresponding to the multiple relative angles to obtain multiple reference weight coefficients; A422. Determine the distance between the target interference source and the positions of the multiple objects to obtain multiple interference distances; A423. Determine multiple interference coefficients according to the multiple interference distances; A424. Determine the multiple weight coefficients based on the multiple interference coefficients and the multiple reference weight coefficients.

[0040] Among them, the number of target interference sources is 1, and the target magnetic field interference parameter can be obtained. When the target magnetic field interference parameter is greater than the preset threshold, it means that interference exists, and the position of the target interference source can be detected, and the position of the target interference source is a known quantity. Since the position of the target interference source is known, the position of each object is known, and the distance between the target interference source and the position of each object is also a known quantity.

[0041] In a specific implementation, each of the multiple objects corresponds to an object position. The mapping relationship between the preset relative angle and the weight coefficient can be pre-stored, and then, the weight coefficients corresponding to the multiple relative angles can be determined based on the mapping relationship to obtain multiple reference weight coefficients. Different object positions are affected differently by the target interference source, and then, the distance between the target interference source and the multiple object positions can be determined to obtain multiple interference distances. The mapping relationship between the interference distance and the interference coefficient can also be pre-stored, and then, the interference coefficient corresponding to each of the multiple interference distances can be determined according to the mapping relationship to obtain multiple interference coefficients, and then multiple weight coefficients can be determined according to the multiple interference coefficients and the multiple reference weight coefficients. Specifically, the product between each interference coefficient and the corresponding reference weight coefficient can be used as the weight coefficient. In this way, when there is interference in the environment, the weight coefficient of each relative angle can be dynamically adjusted to ensure that the obtained deviation is more in line with the actual situation, improve the accuracy of the determination of the deviation, and help to ensure the subsequent correction accuracy that can effectively improve the accuracy of ultrasonic positioning.

[0042] For example, Figure 3 As shown, taking four objects as an example, namely object 1, object 2, object 3 and object 4, the four objects can be set at four different object positions, and the target ultrasonic sensor can detect the distance between the target ultrasonic sensor and each object, as well as determine the distance between the target interference source and the positions of the four objects.

[0043] Optionally, the above step 109, correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain the target ultrasonic positioning accuracy value, may include the following steps: A91. Correct the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a second ultrasonic positioning accuracy value; A92. Obtain target attribute parameters of the target ultrasonic sensor; A93. Determine a target optimization parameter corresponding to the target attribute parameter; A94. Optimize the second ultrasonic positioning accuracy value according to the target optimization parameter to obtain the target ultrasonic positioning accuracy value.

[0044] In the embodiment of the present application, the reference ultrasonic positioning accuracy value can be corrected according to the target correction factor to obtain a second ultrasonic positioning accuracy value, which is specifically as follows: Second ultrasonic positioning accuracy value = (1 + target correction factor) * reference ultrasonic positioning accuracy value The target attribute parameter may include at least one of the following: the model of the target ultrasonic sensor, the working parameters of the target ultrasonic sensor, the use time of the target ultrasonic sensor, the use frequency band of the target ultrasonic sensor, etc., which are not limited here. The working parameters of the target ultrasonic sensor may include at least one of the following: the transmission power of the target ultrasonic sensor, the working current of the target ultrasonic sensor, the working voltage of the target ultrasonic sensor, the working power of the target ultrasonic sensor, etc., which are not limited here.

[0045] In a specific implementation, the target attribute parameters of the target ultrasonic sensor can be obtained, and the mapping relationship between the preset attribute parameters and the optimization parameters can be pre-stored. Then, the target optimization parameters corresponding to the target attribute parameters can be determined based on the mapping relationship, and then the second ultrasonic positioning accuracy value can be optimized according to the target optimization parameters to obtain the target ultrasonic positioning accuracy value, as follows: Target ultrasonic positioning accuracy value = (1 + target optimization parameter) * second ultrasonic positioning accuracy value In this way, not only can the precise deviation be used to initially realize the ultrasonic positioning accuracy correction, but the correction result can also be dynamically optimized by considering the situation of the target ultrasonic sensor itself, which helps to deeply improve the correction accuracy of the ultrasonic positioning accuracy.

[0046] Optionally, the above step 104, determining the first deviation according to the multiple deviations, may include the following steps: B41, obtaining a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; B42. constructing a plurality of vectors according to the plurality of relative angles and the plurality of deviations; B43. Determine a resultant vector of the multiple vectors; B44. Determine the first deviation according to the modulus value of the resultant vector.

[0047] In a specific implementation, the relative angle between each of the multiple objects and the target ultrasonic sensor can be obtained to obtain multiple relative angles. Different degrees of deviation correspond to different vector sizes. The larger the degree of deviation, the smaller the vector size. That is, the mapping relationship between the preset degree of deviation and the vector size can be pre-stored. Based on the mapping relationship, the vector size corresponding to each of the multiple degrees of deviation is determined to obtain multiple vector sizes. Each vector size corresponds to a vector direction. The vector direction is pointed by the target ultrasonic sensor to any object among the multiple objects. Thus, it is possible to construct multiple vectors based on multiple relative angles and multiple degrees of deviation, perform vector operations based on the multiple vectors, obtain a resultant vector, and then obtain the modulus value of the resultant vector according to the above-mentioned pre-stored mapping relationship between the preset degree of deviation and the vector size. , determine the first deviation corresponding to the modulus value, so that the field model between each object and the target ultrasonic sensor can be established, and the ultrasonic positioning accuracy deviation corresponding to each relative angle can be deeply considered, and each ultrasonic positioning accuracy deviation can be vectorized to facilitate vector calculation, and the overall deviation effect between multiple ultrasonic positioning accuracy deviations can be determined. Finally, the vector is converted into a scalar to obtain the final deviation. In this way, the final deviation can be evaluated based on the actual application field, so that the deviation is closer to the actual environment, ensuring that the obtained deviation is more in line with the actual situation, improving the accuracy of the deviation determination, and helping to ensure the subsequent correction accuracy that can effectively improve the ultrasonic positioning accuracy.

[0048] Optionally, the above step 109, correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value, includes: B91. Correct the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a third ultrasonic positioning accuracy value; B92. Obtain a first vector direction of the resultant vector; B93, determining a target deviation angle between the first vector direction and a preset direction; B94, determining a target fine-tuning parameter corresponding to the target deviation angle; B95. Adjust the third ultrasonic positioning accuracy value according to the target fine-tuning parameter to obtain the target ultrasonic positioning accuracy value.

[0049] In the embodiment of the present application, the reference ultrasonic positioning accuracy value can be corrected according to the target correction factor to obtain a third ultrasonic positioning accuracy value, which is as follows: The third ultrasonic positioning accuracy value = (1 + target correction factor) * reference ultrasonic positioning accuracy value The preset direction may be preset or set by system default. For example, the preset direction may refer to a designated emission direction of the target ultrasonic sensor. The designated emission direction may be preset or set by system default.

[0050] In a specific implementation, the vector direction of the resultant vector can be obtained to obtain the first vector direction, and the target deviation angle between the first vector direction and the preset direction can also be determined. The larger the deviation angle, the greater the accuracy, and vice versa, the smaller the deviation angle, the smaller the accuracy.

[0051] Furthermore, a mapping relationship between a preset deviation angle and a fine-tuning parameter can be pre-stored, and then, a target fine-tuning parameter corresponding to the target deviation angle can be determined based on the mapping relationship. Finally, the third ultrasonic positioning accuracy value can be adjusted according to the target fine-tuning parameter to obtain a target ultrasonic positioning accuracy value, as follows: Target ultrasonic positioning accuracy value = (1 + target fine-tuning parameter) * third ultrasonic positioning accuracy value In this way, not only can the precise deviation be used to initially realize the ultrasonic positioning accuracy correction, but the difference between the deviation direction of the evaluated deviation and the specified vector direction can also be considered, and the initially corrected ultrasonic positioning accuracy can be further fine-tuned based on the difference, which helps to deeply improve the correction accuracy of the ultrasonic positioning accuracy.

[0052] Optionally, the following steps may also be included: S1. Obtaining target operating parameters of the target ultrasonic sensor; S2. determining a reference direction corresponding to the target operating parameter; S3, grouping the multiple vectors based on the reference vector to obtain two groups of vectors; S4, determining a resultant vector of each group of vectors in the two groups of vectors to obtain a first resultant vector and a second resultant vector; S5. Determine a first vector modulus and a first vector direction of the first resultant vector; S6. Determine a second vector modulus and a second vector direction of the second resultant vector; S7, obtaining a first projection modulus value according to the first vector modulus value and a vector projection of the first vector direction in the reference direction; S8. Obtain a second projection modulus value according to the second vector modulus value and a vector projection of the second vector direction in the reference direction; S9, determining a target ratio between the first projection modulus value and the second projection modulus value; S10, determining a target adjustment angle corresponding to the target ratio; S11. Determine the preset direction according to the target adjustment angle and the reference direction.

[0053] In the embodiment of the present application, the target working parameters of the target ultrasonic sensor can be obtained, and the mapping relationship between the preset working parameters and the direction can be pre-stored, and the reference direction corresponding to the target working parameters can be determined according to the mapping relationship. Next, multiple vectors are grouped based on the reference vector to obtain two groups of vectors, that is, the vectors can be arranged on both sides of the reference direction. Then, the resultant vector of each group of vectors in the two groups of vectors is determined to obtain the first resultant vector and the second resultant vector, that is, the first vector modulus value and the first vector direction of the first resultant vector can be determined, and the second vector modulus value and the second vector direction of the second resultant vector can be determined.

[0054] Further, the first projection modulus can be obtained according to the first vector modulus and the vector projection of the first vector direction on the reference direction, that is, knowing the first vector modulus and the angle between the first vector direction and the reference direction, the first vector modulus can be projected on the reference direction. Similarly, the second projection modulus can be obtained according to the second vector modulus and the vector projection of the second vector direction on the reference direction, and then the target ratio between the first projection modulus and the second projection modulus is determined. Different ratios reflect the precision deviation direction on both sides of the reference direction, and then the target adjustment angle corresponding to the target ratio can be determined. Specifically, the mapping relationship between the preset ratio and the adjustment angle can be pre-stored, and then the target adjustment angle corresponding to the target ratio can be determined based on the mapping relationship. Finally, the preset direction is determined according to the target adjustment angle and the reference direction, that is, the reference direction deviates from the target adjustment angle to obtain the preset direction. In this way, the reference direction can be dynamically configured based on the working parameters of the ultrasonic sensor, and the deviation degree of the reference direction can be dynamically adjusted based on the influence of the field effect on both sides of the reference direction, so that the final preset direction depth conforms to the actual field environment, which helps to ensure the accuracy of ultrasonic positioning accuracy calibration.

[0055] It can be seen that the ultrasonic positioning accuracy correction method described in the embodiment of the present application detects the distances between multiple objects and the target ultrasonic sensor through the target ultrasonic sensor to obtain multiple target distances, obtains the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances, determines the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, each object corresponds to a deviation, and each deviation corresponds to an object, determines a first deviation according to the multiple deviations, determines a first ultrasonic positioning accuracy value corresponding to the first deviation, obtains a reference ultrasonic positioning accuracy value of the target ultrasonic sensor, determines a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value, determines a target correction factor corresponding to the second deviation, and corrects the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value. Not only can the corresponding deviations be determined by using multiple objects, but these deviations are used to jointly decide the first deviation, and the reference ultrasonic positioning accuracy value is corrected based on the deviation between the corresponding ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value, which can not only ensure that the obtained deviation is more in line with the actual situation, but also improve the accuracy of determining the deviation, thereby effectively improving the accuracy of correcting the ultrasonic positioning accuracy.

[0056] In accordance with the above embodiment, please refer to Figure 4 , Figure 4 1 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. As shown in the figure, the electronic device includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor. In the embodiment of the present application, the program includes instructions for executing the following steps: Detecting the distances between a plurality of objects and the target ultrasonic sensor by a target ultrasonic sensor to obtain a plurality of target distances; Acquire actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances; Determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, one deviation corresponding to each object, and each deviation corresponding to one object; determining a first degree of deviation based on the plurality of degrees of deviation; Determine a first ultrasonic positioning accuracy value corresponding to the first deviation; Obtaining a reference ultrasonic positioning accuracy value of the target ultrasonic sensor; Determining a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value; determining a target correction factor corresponding to the second degree of deviation; The reference ultrasonic positioning accuracy value is corrected according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

[0057] Optionally, in determining the first deviation degree according to the plurality of deviation degrees, the program includes instructions for performing the following steps: Acquire a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; Determining weight coefficients corresponding to the multiple relative angles to obtain multiple weight coefficients; Normalizing the multiple weight coefficients to obtain multiple normalized weights; A weighted operation is performed on the multiple deviations and the multiple normalized weights to obtain the first deviation.

[0058] Optionally, each of the multiple objects corresponds to an object position; in determining the weight coefficients corresponding to the multiple relative angles to obtain the multiple weight coefficients, the program includes instructions for performing the following steps: Determining weight coefficients corresponding to the multiple relative angles to obtain multiple reference weight coefficients; Determine the distance between the target interference source and the positions of the multiple objects to obtain multiple interference distances; determining a plurality of interference coefficients according to the plurality of interference distances; The plurality of weight coefficients are determined according to the plurality of interference coefficients and the plurality of reference weight coefficients.

[0059] Optionally, in the aspect of correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value, the program includes instructions for executing the following steps: Correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a second ultrasonic positioning accuracy value; Acquiring target attribute parameters of the target ultrasonic sensor; Determining target optimization parameters corresponding to the target attribute parameters; The second ultrasonic positioning accuracy value is optimized according to the target optimization parameter to obtain the target ultrasonic positioning accuracy value.

[0060] Optionally, in determining the first deviation degree according to the plurality of deviation degrees, the program includes instructions for performing the following steps: Acquire a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; constructing a plurality of vectors according to the plurality of relative angles and the plurality of deviations; determining a resultant vector of the plurality of vectors; The first deviation is determined according to the modulus value of the resultant vector.

[0061] Optionally, in the aspect of correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value, the program includes instructions for executing the following steps: Correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a third ultrasonic positioning accuracy value; Obtaining a first vector direction of the resultant vector; Determining a target deviation angle between the first vector direction and a preset direction; Determining a target fine-tuning parameter corresponding to the target deviation angle; The third ultrasonic positioning accuracy value is adjusted according to the target fine-tuning parameter to obtain the target ultrasonic positioning accuracy value.

[0062] It can be seen that the electronic device described in the embodiment of the present application detects the distances between multiple objects and the target ultrasonic sensor through a target ultrasonic sensor to obtain multiple target distances, obtains the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances, determines the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, each object corresponds to a deviation, and each deviation corresponds to an object, determines a first deviation according to the multiple deviations, determines a first ultrasonic positioning accuracy value corresponding to the first deviation, obtains a reference ultrasonic positioning accuracy value of the target ultrasonic sensor, determines a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value, determines a target correction factor corresponding to the second deviation, corrects the reference ultrasonic positioning accuracy value according to the target correction factor, and obtains a target ultrasonic positioning accuracy value, which can not only use multiple objects to determine the corresponding deviations, but also use these deviations to jointly decide the first deviation, and correct the reference ultrasonic positioning accuracy value based on the deviation between the corresponding ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value, which can not only ensure that the obtained deviation is more in line with the actual situation, but also improve the accuracy of determining the deviation, thereby effectively improving the accuracy of correcting the ultrasonic positioning accuracy.

[0063] Figure 5 : is a functional unit composition block diagram of an ultrasonic positioning accuracy correction system 500 involved in an embodiment of the present application. The ultrasonic positioning accuracy correction system 500 includes: a detection unit 501, an acquisition unit 502, a determination unit 503 and a correction unit 504, wherein: The detection unit 501 is used to detect the distances between multiple objects and the target ultrasonic sensor through the target ultrasonic sensor to obtain multiple target distances; The acquisition unit 502 is used to acquire the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances; The determination unit 503 is used to determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, one deviation corresponding to each object, and each deviation corresponding to one object; determine a first deviation according to the multiple deviations; determine a first ultrasonic positioning accuracy value corresponding to the first deviation; The acquisition unit 502 is further used to acquire a reference ultrasonic positioning accuracy value of the target ultrasonic sensor; The determining unit 503 is further configured to determine a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value; and determine a target correction factor corresponding to the second deviation; The correction unit 504 is used to correct the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

[0064] Optionally, in determining the first deviation degree according to the multiple deviation degrees, the determining unit 503 is specifically configured to: Acquire a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; Determining weight coefficients corresponding to the multiple relative angles to obtain multiple weight coefficients; Normalizing the multiple weight coefficients to obtain multiple normalized weights; A weighted operation is performed on the multiple deviations and the multiple normalized weights to obtain the first deviation.

[0065] Optionally, each of the multiple objects corresponds to an object position; in determining the weight coefficients corresponding to the multiple relative angles to obtain the multiple weight coefficients, the determining unit 503 is specifically used to: Determining weight coefficients corresponding to the multiple relative angles to obtain multiple reference weight coefficients; Determine the distance between the target interference source and the positions of the multiple objects to obtain multiple interference distances; determining a plurality of interference coefficients according to the plurality of interference distances; The plurality of weight coefficients are determined according to the plurality of interference coefficients and the plurality of reference weight coefficients.

[0066] Optionally, in the aspect of correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value, the correction unit 504 is specifically used to: Correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a second ultrasonic positioning accuracy value; Acquiring target attribute parameters of the target ultrasonic sensor; Determining target optimization parameters corresponding to the target attribute parameters; The second ultrasonic positioning accuracy value is optimized according to the target optimization parameter to obtain the target ultrasonic positioning accuracy value.

[0067] Optionally, in determining the first deviation degree according to the multiple deviation degrees, the determining unit 503 is specifically configured to: Acquire a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; constructing a plurality of vectors according to the plurality of relative angles and the plurality of deviations; determining a resultant vector of the plurality of vectors; The first deviation is determined according to the modulus value of the resultant vector.

[0068] Optionally, in the aspect of correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value, the correction unit 504 is specifically used to: Correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a third ultrasonic positioning accuracy value; Obtaining a first vector direction of the resultant vector; Determining a target deviation angle between the first vector direction and a preset direction; Determining a target fine-tuning parameter corresponding to the target deviation angle; The third ultrasonic positioning accuracy value is adjusted according to the target fine-tuning parameter to obtain the target ultrasonic positioning accuracy value.

[0069] It can be seen that the ultrasonic positioning accuracy correction system described in the embodiment of the present application detects the distances between multiple objects and the target ultrasonic sensor through the target ultrasonic sensor to obtain multiple target distances, obtains the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances, determines the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, each object corresponds to a deviation, and each deviation corresponds to an object, determines a first deviation according to the multiple deviations, determines a first ultrasonic positioning accuracy value corresponding to the first deviation, obtains a reference ultrasonic positioning accuracy value of the target ultrasonic sensor, determines a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value, determines a target correction factor corresponding to the second deviation, and corrects the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value. Not only can the corresponding deviations be determined using multiple objects, but these deviations are used to jointly decide the first deviation, and the reference ultrasonic positioning accuracy value is corrected based on the deviation between the corresponding ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value, which can not only ensure that the obtained deviation is more in line with the actual situation, but also improve the accuracy of determining the deviation, thereby effectively improving the accuracy of correcting the ultrasonic positioning accuracy.

[0070] It can be understood that the functions of each program module of the ultrasonic positioning accuracy correction system of this embodiment can be specifically implemented according to the method in the above method embodiment, and its specific implementation process can refer to the relevant description of the above method embodiment, which will not be repeated here.

[0071] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0072] The embodiment of the present application also provides a computer program product, the computer program product includes a non-transitory computer-readable storage medium storing a computer program, the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes an electronic device.

[0073] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0074] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0075] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0076] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0077] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0078] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to execute all or part of the steps of the above-mentioned methods in each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk and other media that can store program codes.

[0079] Those skilled in the art will appreciate that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable memory, which may include a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0080] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for correcting ultrasonic positioning accuracy, characterized in that: The method comprises: Detecting the distances between a plurality of objects and the target ultrasonic sensor by a target ultrasonic sensor to obtain a plurality of target distances; Acquire the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances; determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, wherein each of the multiple objects corresponds to a deviation, and each of the multiple deviations corresponds to one object; Determine a first ultrasonic positioning accuracy value according to the multiple deviations; Obtaining a reference ultrasonic positioning accuracy value of the target ultrasonic sensor; Determining a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value; determining a target correction factor corresponding to the second degree of deviation; The reference ultrasonic positioning accuracy value is corrected according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

2. The method according to claim 1, characterized in that Determining the first ultrasonic positioning accuracy value according to the multiple deviations includes: determining a first deviation according to the multiple deviations; determining a first ultrasonic positioning accuracy value corresponding to the first deviation; Wherein, determining the first deviation degree according to the multiple deviation degrees includes: acquiring a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; determining weight coefficients corresponding to the plurality of relative angles to obtain a plurality of weight coefficients; Normalizing the multiple weight coefficients to obtain multiple normalized weights; A weighted operation is performed according to the multiple deviations and the multiple normalized weights to obtain the first deviation.

3. The method according to claim 2, characterized in that Each of the multiple objects corresponds to an object position; and determining the weight coefficients corresponding to the multiple relative angles to obtain multiple weight coefficients includes: determining weight coefficients corresponding to the plurality of relative angles to obtain a plurality of reference weight coefficients; determining distances between a target interference source and the locations of the plurality of objects to obtain a plurality of interference distances; determining a plurality of interference coefficients according to the plurality of interference distances; The plurality of weight coefficients are determined according to the plurality of interference coefficients and the plurality of reference weight coefficients.

4. The method according to any one of claims 1 to 3, characterized in that: The step of correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value includes: Correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a second ultrasonic positioning accuracy value; Acquiring target attribute parameters of the target ultrasonic sensor; Determining target optimization parameters corresponding to the target attribute parameters; The second ultrasonic positioning accuracy value is optimized according to the target optimization parameter to obtain the target ultrasonic positioning accuracy value.

5. The method according to claim 1, characterized in that The determining a first deviation degree according to the multiple deviation degrees comprises: Acquire a relative angle between each of the multiple objects and the target ultrasonic sensor to obtain multiple relative angles; constructing a plurality of vectors according to the plurality of relative angles and the plurality of deviations; determining a resultant vector of the plurality of vectors; The first deviation is determined according to the modulus value of the resultant vector.

6. The method according to claim 5, characterized in that The step of correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value includes: Correcting the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a third ultrasonic positioning accuracy value; Obtaining a first vector direction of the resultant vector; Determining a target deviation angle between the first vector direction and a preset direction; Determining a target fine-tuning parameter corresponding to the target deviation angle; The third ultrasonic positioning accuracy value is adjusted according to the target fine-tuning parameter to obtain the target ultrasonic positioning accuracy value.

7. An ultrasonic positioning accuracy correction system, characterized in that: The system comprises: a detection unit, an acquisition unit, a determination unit and a correction unit, wherein: The detection unit is used to detect the distances between a plurality of objects and the target ultrasonic sensor through the target ultrasonic sensor to obtain a plurality of target distances; The acquisition unit is used to acquire the actual distances between the multiple objects and the target ultrasonic sensor to obtain multiple actual distances; The determination unit is used to determine the deviations between the multiple target distances and the multiple actual distances to obtain multiple deviations, wherein the multiple objects correspond to the multiple deviations one by one; and determine a first ultrasonic positioning accuracy value according to the multiple deviations; The acquisition unit is further used to acquire a reference ultrasonic positioning accuracy value of the target ultrasonic sensor; The determining unit is further configured to determine a second deviation between the first ultrasonic positioning accuracy value and the reference ultrasonic positioning accuracy value; and determine a target correction factor corresponding to the second deviation; The correction unit is used to correct the reference ultrasonic positioning accuracy value according to the target correction factor to obtain a target ultrasonic positioning accuracy value.

8. An electronic device, characterized in that: include: A processor, a memory, a communication interface and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the method described in any one of claims 1 to 4.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute the method according to any one of claims 1 to 4.

10. A computer program product, characterized in that The computer program product comprises a non-transitory computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 4.

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