IMU-based AOA base station pose calibration method and device, and medium

Abstract

The invention discloses an IMU-based AOA base station pose calibration method, equipment and a medium, and relates to the technical field of AOA base station pose calibration, the method comprises the following steps: obtaining corresponding zero point pose information when an embedded device is in a system zero point, and fixedly connecting the embedded device with a Bluetooth AOA base station, the embedded device comprising an inertial navigation IMU; in the process of moving the Bluetooth AOA base station from a system zero point to a target position and installing the Bluetooth AOA base station, acquiring current sensing information in real time based on an embedded device; target pose information corresponding to the Bluetooth AOA base station is calculated based on the zero point pose information and the current sensing information, and the target pose information comprises position information and pose information. According to the technical scheme of the invention, the problems of low precision and low efficiency of a traditional calibration mode are solved, and the calibration automation and high precision in the Bluetooth AOA base station installation process are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of AOA (Angle of Arrival) base station posture calibration, and in particular to an AOA base station posture calibration method, system, equipment and medium based on IMU (Inertial Measurement Unit). Background Art

[0002] Currently, the calibration of Bluetooth AOA base stations mainly relies on manual surveying and mapping, using instruments such as laser rangefinders and total stations to obtain the location information of the base stations, and using compasses and levels to obtain the attitude information of the base stations. Although these methods can complete the calibration relatively efficiently in open-air environments, they face many problems and shortcomings in complex environments such as underground depots. Underground depots pose challenges to the application of traditional calibration methods due to their closed structure and environmental characteristics.

[0003] First, the spatial structure of the underground warehouse is complex, with a large number of reinforced concrete and other metal components, which cause significant interference to the geomagnetic field. This directly leads to inaccurate measurement results of traditional compasses when working in the warehouse, and it is difficult to provide effective direction information for base station calibration. In addition, the electromagnetic interference in the warehouse (such as high-voltage lines, substation equipment, etc.) further reduces the reliability of magnetic field-based equipment.

[0004] Secondly, the manual calibration method requires a lot of manpower and time, especially when the warehouse area is large, the cost of manual mapping increases exponentially. This high-cost and low-efficiency calibration method significantly limits the promotion and application of Bluetooth AOA base stations in large-scale scenarios.

[0005] Finally, existing calibration methods usually rely on laser ranging or SLAM (Simultaneous Localization and Mapping) mapping methods. Although they are more accurate in obtaining location information, they still require manual intervention to adjust and calibrate the base station posture. The overall process is complex and lengthy, and is not suitable for scenarios that require rapid deployment. Summary of the invention

[0006] The present invention provides an IMU-based AOA base station posture calibration method, system, device and medium to achieve automation and high-precision calibration of a Bluetooth AOA base station during the installation of the Bluetooth AOA base station.

[0007] According to one aspect of the present invention, a method for calibrating an AOA base station posture based on an IMU is provided, comprising:

[0008] Acquire zero-point posture information corresponding to when the embedded device is at the system zero point, and fixedly connect the embedded device to the Bluetooth AOA base station, wherein the embedded device includes an inertial navigation IMU;

[0009] In the process of moving the Bluetooth AOA base station from the system zero point to the target location and installing it, obtaining current sensing information in real time based on the embedded device;

[0010] The target posture information corresponding to the Bluetooth AOA base station is calculated based on the zero-point posture information and the current sensing information, wherein the target posture information includes position information and posture information.

[0011] In a possible implementation, the step of obtaining zero-point posture information corresponding to when the embedded device is at the system zero point includes:

[0012] Fixing the embedded device to an initial position and initial posture;

[0013] Based on the initial position and the initial posture, the zero-point posture information corresponding to when the embedded device is at the system zero point is determined.

[0014] In a possible implementation, the embedded device further includes: a Bluetooth module, and after acquiring the zero-point posture information, the method further includes:

[0015] The zero point posture information is transmitted to the host computer program via the Bluetooth module.

[0016] In a possible implementation, the fixedly connecting the embedded device to the Bluetooth AOA base station includes:

[0017] The embedded device is fixedly connected to the Bluetooth AOA base station based on a snap-fit ​​structure.

[0018] In a possible implementation, the real-time acquisition of current sensing information based on the embedded device includes:

[0019] Acceleration, angular velocity and magnetic field information are collected in real time through the inertial navigation IMU, and the acceleration, angular velocity and magnetic field information are used as the current sensing information.

[0020] In a possible implementation, the calculating the target posture information corresponding to the Bluetooth AOA base station based on the zero-point posture information and the current sensing information includes:

[0021] Taking the position and posture corresponding to the zero-point posture information as a starting point, integrating the acceleration and the angular velocity respectively to obtain an integration result;

[0022] The integration result is corrected based on the magnetic field information to obtain the target posture information corresponding to the Bluetooth AOA base station.

[0023] In a possible implementation, the method further includes:

[0024] When there are multiple Bluetooth AOA base stations, the target posture information is uploaded to the host computer program in sequence through the Bluetooth module;

[0025] The host computer program automatically records the target posture information into the calibration database according to the installation order of the Bluetooth AOA base station.

[0026] In a possible implementation manner, after calculating the target posture information corresponding to the Bluetooth AOA base station, the method further includes:

[0027] Performing real-time verification and error analysis on the target posture information;

[0028] When there is an error in the target posture information, the target posture information is corrected.

[0029] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0030] at least one processor;

[0031] and a memory communicatively connected to the at least one processor; wherein,

[0032] 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 IMU-based AOA base station posture calibration method described in any embodiment of the present invention.

[0033] 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 IMU-based AOA base station posture calibration method described in any embodiment of the present invention when executed.

[0034] In the technical solution of the present invention, firstly, the zero-point posture information corresponding to the embedded device when it is at the system zero point is obtained, and the embedded device is fixedly connected to the Bluetooth AOA base station, wherein the embedded device includes an inertial navigation IMU; then, in the process of moving the Bluetooth AOA base station from the system zero point to the target position and installing it, the current sensor information is obtained in real time based on the embedded device; finally, the target posture information corresponding to the Bluetooth AOA base station is calculated based on the zero-point posture information and the current sensor information. In the technical solution of the present invention, when installing the Bluetooth AOA base station, an embedded device with a posture determination function can be fixed to it, which solves the problems of low accuracy and low efficiency of traditional calibration methods, realizes rapid, accurate, and automatic calibration of posture information, significantly reduces manual intervention and operating costs, and provides effective technical support for the rapid deployment of Bluetooth AOA base stations and intelligent scene transformation.

[0035] 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

[0036] 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.

[0037] Figure 1 A flowchart of an IMU-based AOA base station posture calibration method provided in Example 1 of the present invention;

[0038] Figure 2 A flowchart of an IMU-based AOA base station posture calibration method provided in Embodiment 2 of the present invention;

[0039] Figure 3 A schematic diagram of the structure of an IMU-based AOA base station posture calibration system provided in Embodiment 3 of the present invention;

[0040] Figure 4 This is a schematic diagram of the structure of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0041] 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.

[0042] 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.

[0043] Embodiment 1

[0044] Figure 1 The flowchart of the IMU-based AOA base station posture calibration method provided in the first embodiment of the present invention is applicable to the situation where the posture of the Bluetooth AOA base station is efficiently calibrated during the installation process. The method can be executed by the IMU-based AOA base station posture calibration system, 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:

[0045] S110, obtaining zero-point posture information corresponding to when the embedded device is at the system zero point, and fixedly connecting the embedded device to the Bluetooth AOA base station.

[0046] Among them, the embedded device can be a device that can perform posture calculation, and the embedded device includes an inertial navigation IMU; the system zero point can refer to a reference point of the embedded device during the initialization or calibration process. The position and posture of the embedded device when it is at the system zero point can be used as the zero point posture information, and the posture information includes the position and posture of the embedded device.

[0047] Specifically, obtaining zero-point pose information usually requires the use of high-precision measuring equipment or sensors, such as laser rangefinders, levels, gyroscopes, etc. By measuring the position and attitude of the embedded device at the zero point of the system, the zero-point pose information can be obtained and used as a reference for subsequent calibration and calculation.

[0048] In practical applications, one or more Bluetooth AOA base stations can be installed in the underground depot. When installing the Bluetooth AOA base station, in order to determine the position and posture of the Bluetooth AOA base station, the embedded device can be fixedly connected to the Bluetooth AOA base station. Since the embedded device has the function of determining the position and posture, the position and posture of the Bluetooth AOA base station can be determined based on the embedded device.

[0049] In one possible implementation, obtaining the zero-point posture information corresponding to when the embedded device is at the system zero point may include: fixing the embedded device to an initial position and an initial posture; and determining the initial position and the initial posture as the zero-point posture information corresponding to when the embedded device is at the system zero point.

[0050] The initial position may be a stable and easily identifiable point in the entire calibration area, wherein the calibration area may be a certain area in the underground depot. The initial posture may be the standard posture of the embedded device during normal operation. The initial position may be represented by three-dimensional coordinates, such as X, Y, and Z coordinates, and the initial posture may be represented by a roll angle, a pitch angle, or a yaw angle.

[0051] Specifically, the embedded device can be fixed to a pre-selected initial position and initial attitude. After the embedded device is fixed, its initial position and attitude need to be clearly recorded. For example, use precise measuring tools such as laser rangefinders and total stations to measure the position, and use tools such as levels and compasses to measure the attitude. Then, the above-determined initial position and attitude information is set as the zero-point posture information corresponding to the embedded device when it is at the system zero point. The zero-point posture information will serve as the benchmark and reference for the subsequent calibration of all Bluetooth AOA base stations.

[0052] In another possible implementation, the embedded device further includes a Bluetooth module. After acquiring the zero-point posture information, the zero-point posture information can also be transmitted to a host computer program via the Bluetooth module.

[0053] Specifically, after acquiring the zero-point posture information, the Bluetooth module in the embedded device sends the zero-point posture information to the host computer program. After receiving the zero-point posture information from the embedded device, the host computer program stores it in the calibration database as a reference.

[0054] In a possible implementation manner, fixedly connecting the embedded device to the Bluetooth AOA base station may include: fixedly connecting the embedded device to the Bluetooth AOA base station based on a snap-fit ​​structure.

[0055] Specifically, the embedded device and the Bluetooth AOA base station are both designed with corresponding buckle structures. For example, the buckle structure can be a protruding buckle or a recessed slot.

[0056] When the embedded device needs to be fixedly connected to the Bluetooth AOA base station, it is only necessary to align the buckle structure on the embedded device with the corresponding slot or buckle on the Bluetooth AOA base station, and then push hard to make the buckle structures engage with each other, so that the embedded device and the Bluetooth AOA base station are firmly connected.

[0057] When the embedded device needs to be disassembled, the buckle parts only need to be separated from each other. The advantage of this is that the buckle structure is used to achieve the connection between the embedded device and the Bluetooth AOA base station during the calibration process, and the embedded device can be disassembled after the calibration is completed.

[0058] S120. In the process of moving the Bluetooth AOA base station from the system zero point to the target position and installing it, current sensing information is acquired in real time based on the embedded device.

[0059] The target location may be the location where the Bluetooth AOA base station is to be installed, and the current sensing information may be information acquired in real time by an IMU chip in an embedded device, such as acceleration, angular velocity, and magnetic field information.

[0060] Specifically, the Bluetooth AOA base station can be moved from the system zero point to the target location and installed, and during this process, the current sensing information can be obtained in real time through the embedded device.

[0061] S130. Calculate the target posture information corresponding to the Bluetooth AOA base station based on the zero-point posture information and the current sensing information.

[0062] The target posture information may refer to the corresponding posture information when the Bluetooth AOA base station is installed, and the target posture information includes position information and posture information, for example, position coordinates and posture angles.

[0063] Specifically, after each base station is installed, the target posture information corresponding to the Bluetooth AOA base station is solved based on the zero-point posture information and the current sensor information in combination with the inertial navigation algorithm, thereby realizing the automatic calibration of the Bluetooth AOA base station.

[0064] In the technical solution of the present invention, firstly, the zero-point posture information corresponding to the embedded device when it is at the system zero point is obtained, and the embedded device is fixedly connected to the Bluetooth AOA base station, wherein the embedded device includes an inertial navigation IMU; then, in the process of moving the Bluetooth AOA base station from the system zero point to the target position and installing it, the current sensor information is obtained in real time based on the embedded device; finally, the target posture information corresponding to the Bluetooth AOA base station is calculated based on the zero-point posture information and the current sensor information. In the technical solution of the present invention, when installing the Bluetooth AOA base station, an embedded device with a posture determination function can be fixed to it, which solves the problems of low accuracy and low efficiency of traditional calibration methods, realizes rapid, accurate, and automatic calibration of posture information, significantly reduces manual intervention and operating costs, and provides effective technical support for the rapid deployment of Bluetooth base stations and intelligent scene transformation.

[0065] Embodiment 2

[0066] Figure 2 A flowchart of an IMU-based AOA base station posture calibration method provided in Example 2 of the present invention. Based on the above embodiment, this embodiment further specifies the current sensing information acquisition process and posture calculation process. The 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 method specifically comprises the following steps:

[0067] S210, obtaining zero-point posture information corresponding to when the embedded device is at the system zero point, and fixedly connecting the embedded device to the Bluetooth AOA base station.

[0068] Wherein, the embedded device includes an inertial navigation IMU.

[0069] S220. In the process of moving the Bluetooth AOA base station from the system zero point to the target position and installing it, the acceleration, angular velocity and magnetic field information are collected in real time through the inertial navigation IMU, and the acceleration, angular velocity and magnetic field information are used as the current sensing information.

[0070] Among them, the inertial navigation IMU further includes an accelerometer, a gyroscope and a magnetometer, and the accelerometer, gyroscope and magnetometer are used to collect acceleration, angular velocity and magnetic field information respectively.

[0071] Specifically, when the Bluetooth AOA base station is moved from the system zero point to the target position and installed, the inertial navigation IMU in the embedded device will collect acceleration, angular velocity and magnetic field information in real time. After collecting the above information, the acceleration, angular velocity and magnetic field information can be used as the current sensing information for subsequent calculation and correction.

[0072] S230. Taking the position and posture corresponding to the zero-point posture information as a starting point, integrate the acceleration and the angular velocity respectively to obtain an integration result.

[0073] Specifically, the current sensing information is integrated with the system zero point as the starting point to obtain the integration result. Specifically, the acceleration can be integrated to obtain the velocity, and the velocity can be integrated again to obtain the position; the angular velocity can be integrated to obtain the change in the attitude angle. Through integration, the approximate position and attitude change of the Bluetooth AOA base station in the process of moving from the system zero point to the target position can be obtained. However, it should be noted that due to the existence of integration errors, the results may not be completely accurate.

[0074] S240. Correct the integration result based on the magnetic field information to obtain target posture information corresponding to the Bluetooth AOA base station.

[0075] Specifically, the magnetic field information is used to correct the integration result, so that more accurate target position information of the Bluetooth AOA base station can be obtained by integrating the two different information, the magnetic field information and the integration result.

[0076] It should also be noted that the calculation process of the above target posture information can be performed by the microprocessor inside the embedded device. During the calculation process, since the embedded device is fixed on the Bluetooth AOA base station, when calculating the target posture information, it is necessary to take into account the posture deviation between the base station and the embedded device caused by the installation position of the embedded device and the Bluetooth AOA base station. The posture deviation can usually be determined based on the geometric parameters of the fixed buckle. In this way, more accurate target posture information can be obtained.

[0077] In a possible implementation, the method further includes: when there are multiple Bluetooth AOA base stations, uploading the target posture information to a host computer program in sequence through a Bluetooth module; the host computer program automatically records each target posture information into a calibration database according to the installation order of the Bluetooth AOA base stations.

[0078] Specifically, after receiving the position information, the host computer program automatically records it into the calibration database according to the installation order of the base station. The position information stored in the database includes the three-dimensional spatial coordinates and attitude angles (such as yaw angle, pitch angle, and roll angle) of the base station, which are used for subsequent base station function debugging and network optimization.

[0079] In another possible implementation, after calculating the target posture information corresponding to the Bluetooth AOA base station, the method further includes: performing real-time verification and error analysis on the target posture information; and correcting the target posture information if there is an error in the target posture information.

[0080] Specifically, the present invention also supports real-time verification and error analysis functions, and verifies the accuracy of the calibration results by comparing known reference points or repeated measurement data. For base station posture information with errors, it can be corrected through an automated algorithm to ensure the reliability of the final calibration data.

[0081] The technical solution of the present invention is applicable to various complex environments, including underground warehouses and high-interference areas. In complex environments, the inertial navigation capability of the IMU chip combined with the high-precision setting of the initialization zero point overcomes the defect that the traditional compass cannot accurately measure in underground warehouses. At the same time, it has good scalability and can be combined with other posture calibration methods to further improve the accuracy and efficiency of calibration.

[0082] In the technical solution of the present invention, firstly, the zero-point posture information corresponding to the embedded device when it is at the system zero point is obtained, and the embedded device is fixedly connected to the Bluetooth AOA base station, wherein the embedded device includes an inertial navigation IMU; then, in the process of moving the Bluetooth AOA base station from the system zero point to the target position and installing it, the current sensor information is obtained in real time based on the embedded device; finally, the target posture information corresponding to the Bluetooth AOA base station is calculated based on the zero-point posture information and the current sensor information. In the technical solution of the present invention, when installing the Bluetooth AOA base station, an embedded device with a posture determination function can be fixed to it, which solves the problems of low accuracy and low efficiency of traditional calibration methods, realizes rapid, accurate, and automatic calibration of posture information, significantly reduces manual intervention and operating costs, and provides effective technical support for the rapid deployment of Bluetooth base stations and intelligent scene transformation.

[0083] Embodiment 3

[0084] Figure 3 The structure diagram of an IMU-based AOA base station posture calibration system provided in the third embodiment of the present invention is shown in FIG. Figure 3 As shown, the system includes:

[0085] The zero-point posture information acquisition module 310 is used to obtain the zero-point posture information corresponding to the embedded device when it is at the system zero point, and to fixedly connect the embedded device to the Bluetooth AOA base station, wherein the embedded device includes an inertial navigation IMU;

[0086] The current sensor information acquisition module 320 is used to acquire the current sensor information in real time based on the embedded device during the process of moving the Bluetooth AOA base station from the system zero point to the target position and installing it;

[0087] The target posture information calculation module 330 is used to calculate the target posture information corresponding to the Bluetooth AOA base station based on the zero-point posture information and the current sensing information, wherein the target posture information includes position information and posture information.

[0088] Based on the above technical solution, the zero-point posture information acquisition module 310 is specifically used for:

[0089] Fixing the embedded device to an initial position and initial posture;

[0090] Based on the initial position and the initial posture, the zero-point posture information corresponding to when the embedded device is at the system zero point is determined.

[0091] On the basis of the above technical solution, the embedded device further comprises: a Bluetooth module, and the system is further used for:

[0092] After the zero-point posture information is acquired, the zero-point posture information is transmitted to the host computer program via the Bluetooth module.

[0093] On the basis of the above technical solution, the zero-point posture information acquisition module 310 is further used for:

[0094] The embedded device is fixedly connected to the Bluetooth AOA base station based on a snap-fit ​​structure.

[0095] On the basis of the above technical solution, the current sensor information acquisition module 320 includes:

[0096] The current sensing information acquisition unit is used to collect acceleration, angular velocity and magnetic field information in real time through an inertial navigation IMU, and use the acceleration, angular velocity and magnetic field information as the current sensing information.

[0097] Based on the above technical solution, the target posture information calculation module 330 is specifically used for:

[0098] Taking the position and posture corresponding to the zero-point posture information as a starting point, integrating the acceleration and the angular velocity respectively to obtain an integration result;

[0099] The integration result is corrected based on the magnetic field information to obtain the target posture information corresponding to the Bluetooth AOA base station.

[0100] On the basis of the above technical solution, the system is also used for:

[0101] When there are multiple Bluetooth AOA base stations, the target posture information is uploaded to the host computer program in sequence through the Bluetooth module;

[0102] The host computer program automatically records the target posture information into the calibration database according to the installation order of the Bluetooth AOA base station.

[0103] On the basis of the above technical solution, the system is also used for:

[0104] After the target posture information corresponding to the Bluetooth AOA base station is calculated, the target posture information is verified and error analyzed in real time; if there is an error in the target posture information, the target posture information is corrected.

[0105] The IMU-based AOA base station posture calibration system provided in an embodiment of the present invention can execute the IMU-based AOA base station posture calibration method provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method.

[0106] Embodiment 4

[0107] Figure 4 A 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.

[0108] like Figure 4 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.

[0109] 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.

[0110] 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 AOA base station pose calibration method based on the IMU.

[0111] In some embodiments, the IMU-based AOA base station pose 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 IMU-based AOA base station pose calibration method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the IMU-based AOA base station pose calibration method by any other appropriate means (e.g., by means of firmware).

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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).

[0116] 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.

[0117] 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.

[0118] 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.

[0119] 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. An IMU-based AOA base station posture calibration method, characterized in that: include: Acquire zero-point posture information corresponding to when the embedded device is at the system zero point, and fixedly connect the embedded device to the Bluetooth AOA base station, wherein the embedded device includes an inertial navigation IMU; In the process of moving the Bluetooth AOA base station from the system zero point to the target location and installing it, obtaining current sensing information in real time based on the embedded device; The target posture information corresponding to the Bluetooth AOA base station is calculated based on the zero-point posture information and the current sensing information, wherein the target posture information includes position information and posture information.

2. The method according to claim 1, characterized in that The obtaining of zero-point posture information corresponding to when the embedded device is at the system zero point includes: Fixing the embedded device to an initial position and initial posture; The initial position and the initial posture are determined as the zero-point posture information corresponding to when the embedded device is at the system zero point.

3. The method according to claim 1, characterized in that The embedded device further includes: a Bluetooth module. After acquiring the zero-point posture information, the method further includes: The zero point posture information is transmitted to the host computer program via the Bluetooth module.

4. The method according to claim 1, characterized in that: The method of fixedly connecting the embedded device to the Bluetooth AOA base station comprises: The embedded device is fixedly connected to the Bluetooth AOA base station based on a snap-fit ​​structure.

5. The method according to claim 1, characterized in that The real-time acquisition of current sensing information based on the embedded device includes: Acceleration, angular velocity and magnetic field information are collected in real time through the inertial navigation IMU, and the acceleration, angular velocity and magnetic field information are used as the current sensing information.

6. The method according to claim 5, characterized in that The calculating the target posture information corresponding to the Bluetooth AOA base station based on the zero-point posture information and the current sensing information includes: Taking the position and posture corresponding to the zero-point posture information as a starting point, integrating the acceleration and the angular velocity respectively to obtain an integration result; The integration result is corrected based on the magnetic field information to obtain the target posture information corresponding to the Bluetooth AOA base station.

7. The method according to claim 3, characterized in that The method further comprises: When there are multiple Bluetooth AOA base stations, the target posture information is uploaded to the host computer program in sequence through the Bluetooth module; The host computer program automatically records the target posture information into the calibration database according to the installation order of the Bluetooth AOA base station.

8. The method according to claim 1, characterized in that After calculating the target posture information corresponding to the Bluetooth AOA base station, the method further includes: Performing real-time verification and error analysis on the target posture information; When there is an error in the target posture information, the target posture information is corrected.

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 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 IMU-based AOA base station posture calibration method described in any one of claims 1-8.

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 IMU-based AOA base station posture calibration method according to any one of claims 1 to 8 when executed.

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