UWB-based AOA base station automatic calibration method, apparatus and device, and medium

Abstract

The invention discloses an automatic calibration method, device and equipment for an AOA (Angle of Arrival) base station based on UWB (Ultra Wideband), and a medium, and the method comprises the steps: determining a mother base station coordinate of a UWB mother base station based on a total station; wherein the total station is fixedly connected with the UWB mother base station; calibrating the at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates so as to determine sub-base station coordinates of the UWB sub-base stations; according to the coordinates of the mother base station and the coordinates of the child base station, the position of the AOA base station is calibrated through the UWB mother base station and the UWB child base station, and the AOA base station is fixedly connected with the UWB label. According to the technical scheme of the invention, the characteristic of high-precision positioning of the UWB is utilized, the problem of low efficiency of position calibration of the AOA base station at present is solved, and the position information of the AOA base station is automatically calibrated through the UWB, so that the manual calibration cost and time consumption of the AOA base station are greatly saved.

Description

Technical Field

[0001] The present invention relates to the technical field of AOA base station calibration, and in particular to a UWB-based AOA base station automatic calibration method, device, equipment and medium. Background Art

[0002] The calibration process of existing AOA base stations relies on the early SLAM (Simultaneous Localization and Mapping) for mapping, and the later stage relies on manual mapping of the position of each base station to obtain its posture information, thereby completing the calibration process. The posture information of AOA base stations is generally divided into position information and posture information, which are calibrated and obtained separately. For its position information, manual calibration is often performed using instruments such as laser rangefinders, tape measures, and total stations.

[0003] However, the manual calibration method of location information is inefficient and has high labor costs, which are proportional to the parking lot area, resulting in high manual calibration costs for AOA base stations. Although manual mapping can cope with complex underground parking environments, it takes a lot of time, which is not conducive to the installation of AOA Bluetooth base stations and the intelligent transformation of parking lots. Summary of the invention

[0004] The present invention provides a UWB-based AOA base station automatic calibration method, device, equipment and medium to realize automatic calibration of the position of the AOA Bluetooth base station, thereby greatly saving the cost and time of manual calibration of the AOA Bluetooth base station.

[0005] According to one aspect of the present invention, there is provided a UWB-based AOA base station automatic calibration method, comprising:

[0006] Determine the mother base station coordinates of the UWB mother base station based on a total station; wherein the total station is fixedly connected to the UWB mother base station;

[0007] According to the coordinates of the mother base station, calibrate at least two UWB sub-base stations through the UWB mother base station to determine the sub-base station coordinates of the UWB sub-base station;

[0008] According to the coordinates of the mother base station and the coordinates of the child base station, the position of the AOA base station is calibrated through the UWB mother base station and the UWB child base station, wherein the AOA base station is fixedly connected to the UWB tag.

[0009] In a possible implementation manner, the determining the coordinates of the mother base station of the UWB mother base station based on the total station includes:

[0010] The total station is fixedly connected to the UWB mother base station, and the position of the UWB mother base station is calibrated by the total station to obtain the coordinates of the mother base station.

[0011] In a possible implementation manner, before determining the mother base station coordinates of the UWB mother base station based on the total station, the method further includes:

[0012] The area to be installed of the AOA base station is determined, and the UWB mother base station, the total station and at least two UWB sub-base stations are arranged at the edge of the area to be installed.

[0013] In a possible implementation manner, the calibrating at least two UWB sub-base stations by the UWB mother base station according to the mother base station coordinates to determine the sub-base station coordinates of the UWB sub-base station includes:

[0014] The UWB mother base station communicates with at least two of the UWB sub-base stations, and the sub-base station coordinates of the two UWB sub-base stations are determined based on the communication result.

[0015] In a possible implementation, according to the coordinates of the mother base station and the coordinates of the child base station, the position of the AOA base station is calibrated by the UWB mother base station and the UWB child base station, including:

[0016] Install the AOA base station in the area to be installed, and fix the UWB tag to the AOA base station by a fixing buckle;

[0017] Determine the tag coordinates corresponding to the UWB tag based on communication data between the UWB tag and the UWB mother base station and the UWB child base station;

[0018] The location information of the AOA base station is determined based on the tag coordinates and the tag height of the UWB tag.

[0019] In a possible implementation manner, after all AOA base stations in the area to be installed have been calibrated, the method further includes:

[0020] Determine a newly added installation area, set the total station, the UWB mother base station and at least two UWB sub-base stations in the newly added installation area, re-execute the process of determining the mother base station coordinates and the sub-base station coordinates, and calibrate the position of the newly added AOA base station through the UWB mother base station and the UWB sub-base station.

[0021] According to another aspect of the present invention, there is provided a UWB-based AOA base station automatic calibration device, comprising:

[0022] A total station calibration module, used to determine the mother base station coordinates of the UWB mother base station based on a total station; wherein the total station is fixedly connected to the UWB mother base station;

[0023] A UWB base station calibration module, configured to calibrate at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates, so as to determine the sub-base station coordinates of the UWB sub-base station;

[0024] The AOA base station calibration module is used to calibrate the position of the AOA base station through the UWB mother base station and the UWB child base station according to the coordinates of the mother base station and the child base station, wherein the AOA base station is fixedly connected to the UWB tag.

[0025] In a possible implementation manner, the number of the AOA base stations is at least two.

[0026] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0027] at least one processor;

[0028] and a memory communicatively connected to the at least one processor; wherein,

[0029] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the UWB-based AOA base station automatic calibration method described in any embodiment of the present invention.

[0030] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the UWB-based AOA base station automatic calibration method described in any embodiment of the present invention when executed.

[0031] The technical solution of the embodiment of the present invention provides a method, device, equipment and medium for automatic calibration of AOA base stations based on UWB, the method comprising: determining the mother base station coordinates of the UWB mother base station based on a total station; wherein the total station is fixedly connected to the UWB mother base station; calibrating at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates to determine the sub-base station coordinates of the UWB sub-base station; calibrating the position of the AOA base station through the UWB mother base station and the UWB sub-base station according to the mother base station coordinates and the sub-base station coordinates, wherein the AOA base station is fixedly connected to the UWB tag. The technical solution of the present invention utilizes the characteristics of UWB high-precision positioning to solve the current problem of low efficiency of AOA base station position calibration, and automatically calibrates the AOA base station position information through UWB, thereby greatly saving the cost and time of manual calibration of the AOA base station.

[0032] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0034] Figure 1 A flowchart of an automatic calibration method of an AOA base station based on UWB provided in the first embodiment of the present invention;

[0035] Figure 2 This is a structural diagram of an automatic calibration system for AOA base stations based on UWB applicable to the second embodiment of the present invention;

[0036] Figure 3 A schematic diagram of automatic calibration of AOA base stations based on UWB provided in the second embodiment of the present invention;

[0037] Figure 4 A schematic diagram of the structure of an automatic calibration device for an AOA base station based on UWB provided in Embodiment 3 of the present invention;

[0038] Figure 5 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0039] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0040] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. 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 necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0041] Embodiment 1

[0042] Figure 1 This is a flowchart of a UWB-based AOA base station automatic calibration method provided in the first embodiment of the present invention. This embodiment is applicable to the installation and calibration of AOA base stations. The method can be performed by a UWB-based AOA base station automatic calibration device, which can be implemented in the form of hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method specifically comprises the following steps:

[0043] S110. Determine the mother base station coordinates of the UWB mother base station based on the total station.

[0044] Among them, the total station is a high-precision measuring instrument used to accurately measure angles and distances. The UWB mother base station refers to a base station based on UWB technology. The UWB mother base station combined with the positioning tag can achieve high-precision positioning with good real-time performance. The mother base station coordinates can be the real-world coordinates corresponding to the UWB mother base station. The total station is fixedly connected to the UWB mother base station.

[0045] Specifically, the total station may be fixedly connected to the UWB mother base station, and then the position of the UWB mother base station may be surveyed and mapped by the total station to obtain the coordinates of the mother base station.

[0046] In an embodiment of the present invention, determining the mother base station coordinates of a UWB mother base station based on a total station includes: fixedly combining the total station with the UWB mother base station, calibrating the position of the UWB mother base station by the total station, and obtaining the mother base station coordinates.

[0047] The fixed connection combination may be to fix the UWB mother base station vertically above the total station.

[0048] In an embodiment of the present invention, before determining the mother base station coordinates of the UWB mother base station based on the total station, it also includes: determining the installation area of ​​the AOA base station, and setting the UWB mother base station, the total station and at least two of the UWB sub-base stations at the edge of the installation area.

[0049] It is understandable that the area to be installed is the area where the AOA base station needs to be installed, and the area to be installed can be selected according to actual needs. The UWB mother base station can serve as the core of the UWB positioning system, responsible for communicating with other UWB sub-base stations, and undertaking data processing and coordinate calculation tasks. The UWB sub-base station can cooperate with the UWB mother base station to form a positioning network, and accurately locate the target by measuring information such as signal arrival time and arrival angle.

[0050] It should also be noted that, in order to ensure positioning accuracy, multiple UWB sub-base stations may be set at the edge of the area to be installed.

[0051] S120: Calibrate at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates to determine the sub-base station coordinates of the UWB sub-base station.

[0052] The sub-base station coordinates may refer to the real-world coordinates corresponding to the UWB sub-base station.

[0053] In an embodiment of the present invention, according to the coordinates of the mother base station, at least two UWB sub-base stations are calibrated by the UWB mother base station to determine the sub-base station coordinates of the UWB sub-base station, including: the UWB mother base station communicates with at least two of the UWB sub-base stations, and determines the sub-base station coordinates of the two UWB sub-base stations based on the communication results.

[0054] Specifically, a UWB mother base station can establish a communication connection with at least two UWB child base stations. UWB technology has the characteristics of high bandwidth, low power consumption and strong anti-interference, and is suitable for short-distance, high-speed communications in complex environments.

[0055] After the communication connection is established, the UWB mother base station will send specific signals, such as positioning signals, to the UWB child base station. After receiving these signals, the child base station will process them accordingly and send a response signal to the mother base station. Through the exchange of signals, the propagation time, arrival angle and other parameters of the signal between the mother base station and the child base station can be measured. Furthermore, based on the measured parameters and combined with the known coordinates of the UWB mother base station, the coordinates of the UWB child base station can be calculated using geometric methods.

[0056] S130. Calibrate the position of the AOA base station through the UWB mother base station and the UWB child base station according to the coordinates of the mother base station and the coordinates of the child base station.

[0057] Among them, the AOA base station can be a Bluetooth AOA base station, the AOA base station is fixedly connected to the UWB tag, and the UWB tag can communicate with the UWB mother base station and / or the UWB child base station based on the UWB signal.

[0058] It can be understood that when the AOA base station is fixedly connected to the UWB tag, the UWB mother base station and the UWB child base station can form a UWB system to determine the location coordinates of the UWB tag, and then determine the location of the AOA base station according to the location coordinates of the UWB tag, thereby realizing the location calibration of the AOA base station.

[0059] In an embodiment of the present invention, the position of the AOA base station is calibrated through the UWB mother base station and the UWB child base station according to the coordinates of the mother base station and the child base station, including: installing the AOA base station in the area to be installed, and fixing the UWB tag to the AOA base station through a fixing buckle; determining the tag coordinates corresponding to the UWB tag based on the communication data between the UWB tag and the UWB mother base station and the UWB child base station; determining the location information of the AOA base station based on the tag coordinates and the tag height of the UWB tag.

[0060] Specifically, the AOA base station is installed in a predetermined installation area. Then, the UWB tag is firmly installed on the AOA base station using a fixing buckle, which ensures that the UWB tag can stably communicate with the UWB mother base station and the sub-base station, and its position is fixed relative to the AOA base station.

[0061] Then, the UWB tag starts to communicate with the UWB mother base station and at least two UWB child base stations. During the communication process, ranging signals and positioning signals are exchanged. Based on the communication data and the positioning principle of UWB technology, the coordinates of the UWB tag in three-dimensional space, namely the tag coordinates, can be calculated. After calculating the tag coordinates, the height of the tag relative to the AOA base station, namely the tag height, also needs to be considered. The tag height can be measured when the UWB tag is installed. Combining the tag coordinates and the tag height, the actual location information of the AOA base station can be inferred.

[0062] In an embodiment of the present invention, if all AOA base stations in the area to be installed have been calibrated, it also includes: determining a new installation area, setting the total station, the UWB mother base station and at least two UWB sub-base stations in the new installation area, re-executing the process of determining the coordinates of the mother base station and the sub-base station, and calibrating the position of the new AOA base station through the UWB mother base station and the UWB sub-base station.

[0063] In actual applications, the area where the new AOA base station needs to be installed can be determined according to actual needs or changes in application scenarios. Then, the total station, the UWB mother base station and at least two UWB sub-base stations are set in the newly installed area, and the setting method is not repeated. After the installation is completed, the coordinates of the mother base station and the sub-base station are re-determined. Furthermore, the newly added AOA base station is installed at the predetermined position of the newly added installation area, and the calibration method of the AOA base station described above is used to realize the calibration of the newly added AOA base station.

[0064] The technical solution of the embodiment of the present invention provides a method, device, equipment and medium for automatic calibration of AOA base stations based on UWB, the method comprising: determining the mother base station coordinates of the UWB mother base station based on a total station; wherein the total station is fixedly connected to the UWB mother base station; calibrating at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates to determine the sub-base station coordinates of the UWB sub-base station; calibrating the position of the AOA base station through the UWB mother base station and the UWB sub-base station according to the mother base station coordinates and the sub-base station coordinates, wherein the AOA base station is fixedly connected to the UWB tag. The technical solution of the present invention utilizes the characteristics of UWB high-precision positioning to solve the current problem of low efficiency of AOA base station position calibration, and automatically calibrates the AOA base station position information through UWB, thereby greatly saving the cost and time of manual calibration of the AOA base station.

[0065] Embodiment 2

[0066] Figure 2 This is a structural diagram of the UWB-based AOA base station automatic calibration system applicable to the second embodiment of the present invention. This embodiment is a preferred embodiment of the above embodiment. Its specific implementation method can refer to the technical solution of this embodiment. Among them, the technical terms that are the same or corresponding to the above embodiment are not repeated here. Figure 2 As shown, the system specifically includes:

[0067] A UWB mother base station 401 fixedly connected to a total station 403, a plurality of independent UWB sub-base stations 402, and a Bluetooth AOA base station 404.

[0068] Before installing the Bluetooth AOA base station, install the mother base station 401 and the matching total station 403 at the edge of the installation area with a good field of view, and manually map their world coordinates; arrange the remaining sub-base stations 402 according to the installation area, and use the rear intersection function of the total station to calibrate the world coordinates of the sub-base stations.

[0069] Furthermore, the UWB tag is connected to the Bluetooth AOA base station 404 through a fixed buckle for installation. After the installation is completed, the world coordinates of the Bluetooth AOA base station can be automatically calibrated through the UWB positioning system. When the installation range exceeds this area or moves to the next area, this process should be repeated. Each installation of the UWB calibration device can automatically calibrate 200 Bluetooth AOA base stations. Among them, Figure 3 A schematic diagram of automatic calibration of AOA base stations based on UWB provided in the second embodiment of the present invention.

[0070] Compared with the traditional AOA base station calibration which needs to rely on a lot of manual surveying and mapping work, the technical solution of the embodiment of the present invention greatly reduces the labor cost through the automated calibration method. Automated calibration can complete the calibration of a large number of Bluetooth AOA base stations in a short time, thereby improving the calibration efficiency. Since UWB technology has the characteristics of high-precision positioning, the accuracy of the Bluetooth AOA base station position calibration can be ensured. The method of the present invention is not only applicable to indoor environments, but also to complex underground parking lots and other environments, and has strong adaptability.

[0071] Embodiment 3

[0072] Figure 4 The structure diagram of a UWB-based AOA base station automatic calibration device provided in the third embodiment of the present invention is shown in FIG. Figure 4 As shown, the device comprises:

[0073] A total station calibration module 310, for determining the mother base station coordinates of the UWB mother base station based on a total station; wherein the total station is fixedly connected to the UWB mother base station;

[0074] A UWB base station calibration module 320, configured to calibrate at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates, so as to determine the sub-base station coordinates of the UWB sub-base station;

[0075] The AOA base station calibration module 330 is used to calibrate the position of the AOA base station through the UWB mother base station and the UWB child base station according to the mother base station coordinates and the child base station coordinates, wherein the AOA base station is fixedly connected to the UWB tag.

[0076] Optionally, the number of the AOA base stations is at least two.

[0077] Optionally, the total station calibration module 310 includes:

[0078] A total station is used to fixedly connect the total station with the UWB mother base station, calibrate the position of the UWB mother base station through the total station, and obtain the coordinates of the mother base station.

[0079] Optionally, before determining the mother base station coordinates of the UWB mother base station based on the total station, the method further includes:

[0080] The area to be installed of the AOA base station is determined, and the UWB mother base station, the total station and at least two UWB sub-base stations are arranged at the edge of the area to be installed.

[0081] Optionally, the UWB base station calibration module 320 includes:

[0082] The sub-base station coordinate calibration module is used to enable the UWB mother base station to communicate with at least two of the UWB sub-base stations, and determine the sub-base station coordinates of the two UWB sub-base stations based on the communication results.

[0083] Optionally, the AOA base station calibration module 330 is specifically used to:

[0084] Install the AOA base station in the area to be installed, and fix the UWB tag to the AOA base station by a fixing buckle;

[0085] Determine the tag coordinates corresponding to the UWB tag based on communication data between the UWB tag and the UWB mother base station and the UWB child base station;

[0086] The location information of the AOA base station is determined based on the tag coordinates and the tag height of the UWB tag.

[0087] Optionally, the device is also used for:

[0088] If all the AOA base stations in the area to be installed have been calibrated, a new installation area is determined, the total station, the UWB mother base station and at least two UWB sub-base stations are set in the new installation area, the process of determining the coordinates of the mother base station and the sub-base station is re-executed, and the position of the new AOA base station is calibrated through the UWB mother base station and the UWB sub-base station.

[0089] The UWB-based AOA base station automatic calibration device provided in the embodiment of the present invention can execute the UWB-based AOA base station automatic calibration method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0090] Embodiment 4

[0091] Figure 5A schematic diagram of the structure of an electronic device provided for Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0092] like Figure 5 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0093] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0094] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The processor 11 executes the various methods and processes described above, such as the UWB-based AOA base station automatic calibration method.

[0095] In some embodiments, the UWB-based AOA base station automatic calibration method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the UWB-based AOA base station automatic calibration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the UWB-based AOA base station automatic calibration method by any other appropriate means (e.g., by means of firmware).

[0096] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0098] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0101] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0102] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0103] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A UWB-based AOA base station automatic calibration method, characterized in that: include: Determine the mother base station coordinates of the UWB mother base station based on a total station; wherein the total station is fixedly connected to the UW B mother base station; According to the coordinates of the mother base station, calibrate at least two UWB sub-base stations through the UWB mother base station to determine the sub-base station coordinates of the UWB sub-base station; According to the coordinates of the mother base station and the coordinates of the child base station, the position of the AOA base station is calibrated through the UWB mother base station and the UWB child base station, wherein the AOA base station is fixedly connected to the UWB tag.

2. The method according to claim 1, characterized in that The method of determining the mother base station coordinates of the UWB mother base station based on the total station includes: The total station is fixedly connected to the UWB mother base station, and the position of the UWB mother base station is calibrated by the total station to obtain the coordinates of the mother base station.

3. The method according to claim 1, characterized in that Before determining the mother base station coordinates of the UWB mother base station based on the total station, it also includes: The area to be installed of the AOA base station is determined, and the UWB mother base station, the total station and at least two UWB sub-base stations are arranged at the edge of the area to be installed.

4. The method according to claim 1, characterized in that The calibrating at least two UWB sub-base stations by the UWB mother base station according to the mother base station coordinates to determine the sub-base station coordinates of the UWB sub-base station includes: The UWB mother base station communicates with at least two of the UWB sub-base stations, and the sub-base station coordinates of the two UWB sub-base stations are determined based on the communication result.

5. The method according to claim 3, characterized in that: According to the coordinates of the mother base station and the coordinates of the child base station, the position of the AOA base station is calibrated by the UWB mother base station and the UWB child base station, including: Install the AOA base station in the area to be installed, and fix the UWB tag to the AOA base station by a fixing buckle; Determine the tag coordinates corresponding to the UWB tag based on communication data between the UWB tag and the UWB mother base station and the UWB child base station; The location information of the AOA base station is determined based on the tag coordinates and the tag height of the UWB tag.

6. The method according to claim 3, characterized in that: If all the AOA base stations in the area to be installed have been calibrated, the method further includes: Determine a newly added installation area, set the total station, the UWB mother base station and at least two UWB sub-base stations in the newly added installation area, re-execute the process of determining the mother base station coordinates and the sub-base station coordinates, and calibrate the position of the newly added AOA base station through the UWB mother base station and the UWB sub-base station.

7. An automatic calibration device for AOA base station based on UWB, characterized in that: include: A total station calibration module, used to determine the mother base station coordinates of the UWB mother base station based on the total station; wherein the total station is fixedly connected to the UWB mother base station; A UWB base station calibration module, configured to calibrate at least two UWB sub-base stations through the UWB mother base station according to the mother base station coordinates, so as to determine the sub-base station coordinates of the UWB sub-base station; The AOA base station calibration module is used to calibrate the position of the AOA base station through the UWB mother base station and the UWB child base station according to the coordinates of the mother base station and the child base station, wherein the AOA base station is fixedly connected to the UWB tag.

8. The device according to claim 7, characterized in that The number of the AOA base stations is at least two.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the UWB-based AOA base station automatic calibration method described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the UWB-based AOA base station automatic calibration method according to any one of claims 1 to 7 when executed.

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