Attitude calibration method, device, equipment, medium and product

Abstract

The invention discloses an attitude calibration method, device and equipment, a medium and a product, and relates to the technical fields of automatic control, positioning, navigation and the like. Obtaining a theoretical relative angle of at least two beacons in the target beacon array corresponding to the to-be-calibrated device; receiving signal data sent by at least two beacons in the target beacon array through an antenna array, wherein the theoretical relative angle and the antenna array determine the actual relative angle of the beacons; determining an angle offset of the beacon based on the theoretical relative angle and the actual relative angle; determining a target angle offset of the to-be-calibrated device according to the angle offsets of at least two beacons and the signal data; and carrying out attitude calibration on the to-be-calibrated equipment by adopting the target angle offset. By adopting the technical scheme, the actual angle information is determined by using the angle information provided by a plurality of beacons, and dynamic calibration is performed by using the target angle offset, so that the precision of performing attitude estimation on the to-be-calibrated equipment is improved.

Description

Technical Field

[0001] The present invention relates to the technical fields of automatic control, positioning, navigation, etc., and particularly relates to a method, device, equipment, medium and product for attitude calibration. Background Art

[0002] With the development of intelligent devices and Internet of Things technologies, accurate estimation of the attitude of objects is required in various application scenarios. For example, in fields such as automated warehouses, robot navigation, and intelligent retail, the attitude of objects is crucial for the performance and efficiency of the system.

[0003] Traditional attitude estimation methods usually rely on inertial measurement units or other sensors, such as gyroscopes, accelerometers, magnetometers, etc., which can provide the angle or direction information of the device.

[0004] However, these methods often have problems such as zero bias and drift, resulting in a decrease in attitude estimation accuracy during long-term use. Summary of the Invention

[0005] The present invention provides a method, device, equipment, medium and product for attitude calibration to solve the problem of how to improve the accuracy of attitude estimation.

[0006] According to one aspect of the present invention, there is provided a method for attitude calibration, including:

[0007] Obtaining the theoretical relative angles of at least two beacons in a target beacon array corresponding to the device to be calibrated relative to the device to be calibrated; the theoretical relative angles include a theoretical azimuth angle and a theoretical pitch angle;

[0008] Receiving signal data sent by at least two beacons in the target beacon array through an antenna array, and determining the actual relative angles of the beacons relative to the device to be calibrated according to the signal data, the theoretical relative angles, and the antenna array; the actual relative angles include an actual azimuth angle and an actual pitch angle;

[0009] Based on the theoretical relative angles and the actual relative angles, determining the angle offset of the beacons relative to the device to be calibrated;

[0010] Determining the target angle offset of the device to be calibrated according to the angle offsets of at least two beacons and the signal data;

[0011] Performing attitude calibration on the device to be calibrated using the target angle offset.

[0012] According to another aspect of the present invention, there is provided an attitude calibration device, including:

[0013] A theoretical relative angle determination module, configured to obtain the theoretical relative angles of at least two beacons in a target beacon array corresponding to a device to be calibrated with respect to the device to be calibrated; the theoretical relative angles include a theoretical azimuth angle and a theoretical elevation angle;

[0014] An actual relative angle determination module, configured to receive signal data sent by at least two beacons in the target beacon array through an antenna array, and determine the actual relative angles of the beacons with respect to the device to be calibrated according to the signal data, the theoretical relative angles, and the antenna array; the actual relative angles include an actual azimuth angle and an actual elevation angle;

[0015] An angle offset determination module, configured to determine the angle offset of the beacons with respect to the device to be calibrated based on the theoretical relative angles and the actual relative angles;

[0016] A target angle offset, configured to determine the target angle offset of the device to be calibrated according to the angle offsets of at least two beacons and the signal data;

[0017] An attitude calibration module, configured to perform attitude calibration on the device to be calibrated by using the target angle offset.

[0018] According to another aspect of the present invention, an electronic device is provided, and the electronic device includes:

[0019] At least one processor; and

[0020] A memory communicatively connected to the at least one processor; wherein,

[0021] The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the attitude calibration method according to any embodiment of the present invention.

[0022] According to another aspect of the present invention, a computer-readable storage medium is provided, and the computer-readable storage medium stores computer instructions, and when the computer instructions are executed by a processor, the attitude calibration method according to any embodiment of the present invention is implemented.

[0023] According to another aspect of the present invention, a computer program product is provided, and the computer program product includes a computer program, and when the computer program is executed by a processor, the attitude calibration method according to any embodiment of the present invention is implemented.

[0024] In the technical solution of the embodiment of the present invention, the theoretical relative angles of at least two beacons in the target beacon array corresponding to the device to be calibrated are obtained; the signal data sent by at least two beacons in the target beacon array is received through the antenna array, and the actual relative angles of the beacons are determined based on the theoretical relative angles and the antenna array; based on the theoretical relative angles and the actual relative angles, the angle offset of the beacons is determined; the target angle offset of the device to be calibrated is determined according to the angle offsets of at least two beacons and the signal data; and the attitude of the device to be calibrated is calibrated using the target angle offset. The above technical solution solves the problem of how to improve the accuracy of attitude estimation, uses the angle information provided by multiple beacons to determine the actual angle information, and performs dynamic calibration using the target angle offset to improve the accuracy of attitude estimation for the device to be calibrated.

[0025] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used 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

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0027] Figure 1 is a flowchart of an attitude calibration method provided according to an embodiment of the present invention;

[0028] Figure 2 is a design diagram of the test environment adopted in the embodiment of the present invention;

[0029] Figure 3 is an azimuth display diagram adopted in the embodiment of the present invention;

[0030] Figure 4 is a pitch angle display diagram adopted in the embodiment of the present invention;

[0031] Figure 5 is a flowchart for determining the target angle offset provided according to an embodiment of the present invention;

[0032] Figure 6 is a flowchart of an attitude calibration method provided according to an embodiment of the present invention;

[0033] Figure 7 is a schematic structural diagram of an attitude calibration device provided according to an embodiment of the present invention;

[0034] Figure 8 It is a schematic structural diagram of an electronic device for an attitude calibration method provided according to an embodiment of the present invention. Detailed implementation manners

[0035] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence. It should be understood that such data used in appropriate cases can be interchanged so that the embodiments of the present invention described here can be implemented in an order other than those illustrated or described here.

[0037] In addition, it should also be noted that in the technical solution of the present invention, the collection, storage, use, processing, transmission, provision, and disclosure of the data to be processed, etc., all comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0038] Figure 1 It is a flowchart of an attitude calibration method provided according to an embodiment of the present invention. The embodiments of the present invention are applicable to the situation of accurately estimating the attitude of an object. This method can be executed by the attitude calibration device provided by the embodiments of the present invention. The attitude calibration device can be implemented in the form of hardware and / or software, and the attitude calibration device can be configured in the device to be calibrated. As Figure 1 shown, the method includes:

[0039] S110. Obtain the theoretical relative angles of at least two beacons in the target beacon array corresponding to the device to be calibrated relative to the device to be calibrated; the theoretical relative angles include the theoretical azimuth angle and the theoretical pitch angle.

[0040] Among them, the device to be calibrated is a device that needs to perform attitude calibration, which can be a base station, a shopping cart, a camera, a mobile phone, etc.; the target beacon array is a beacon array with specific positions calibrated; and the target beacon array is composed of a series of beacons that can send wireless positioning signals; among them, the beacon can be any device with a known position, including price tags, base stations, shopping carts, cameras, mobile phones, and computers, etc.

[0041] Specifically, obtain the theoretical azimuth angle and theoretical elevation angle of at least two beacons in the target beacon array corresponding to the device to be calibrated relative to the device to be calibrated. Each beacon has a theoretical azimuth angle and a theoretical elevation angle. It should be noted that the number of beacons in the target beacon array is at least two. The more beacons there are, the smaller the error. And there are no special requirements for their respective placement positions, only requiring that the beacons be placed on the same side of the antenna array of the device to be calibrated, such as below the device to be calibrated in the figure. As Figure 2 shown in the relative position of the device to be calibrated and the beacon array with calibrated positions, there are no fixed position requirements in its actual placement. Relevant technicians can determine the number of beacons and the placement of beacon positions according to actual needs, and the embodiments of the present invention do not specifically limit this.

[0042] In an alternative embodiment of the present invention, the target beacon array has calibrated positions, and the theoretical relative angles of at least two beacons in the target beacon array relative to the device to be calibrated are manually measured in advance. As Figure 3 shown, its theoretical azimuth angle θ ideal is the angle between the initial direction of the device to be calibrated and the beacon on the horizontal plane, then θ measured is the actual azimuth angle of the beacon relative to the device to be calibrated subsequently determined according to the received signal data, theoretical azimuth angle, theoretical elevation angle, and antenna array; as Figure 4 shown, its theoretical elevation angle is the angle between the vertical horizontal plane where the device to be calibrated is located and the beacon, then is the actual elevation angle of the beacon relative to the device to be calibrated subsequently determined according to the received signal data, theoretical azimuth angle, theoretical elevation angle, and antenna array; then each beacon has an azimuth angle and an elevation angle relative to the device to be calibrated. After determining the positions of the beacons in the beacon array, the relative position between it and the device to be calibrated can be directly determined, and a right triangle can be constructed based on the existing angle calculation method to calculate the theoretical relative angles of the beacons relative to the device to be calibrated.

[0043] It can be understood that the attitude calibration environment only requires a beacon array with calibrated positions and the device to be calibrated, which has lower cost and faster data processing compared to lidar for signal data transmission; while multi-sensor fusion requires algorithm support and is prone to affecting the positioning accuracy when there is a large amount of data accumulation; the embodiments of the present invention are based on the AOA angle positioning method, using the angle information provided by multiple beacons, and can perform attitude calibration in real time, reducing the sensitivity of the device to external environmental changes and having strong robustness.

[0044] Optionally, both the device to be calibrated and the target beacon array have the positioning function based on the Angle of Arrival (AOA).

[0045] Among them, the AOA positioning function determines the position of the signal source by measuring the angle at which the signal arrives at the receiver. At the receiver end, multiple antennas are usually equipped to form an antenna array.

[0046] It can be understood that by combining the AOA positioning technology, high-precision calibration of the attitude of the device to be calibrated is achieved; different from the traditional calibration method that only relies on a single sensor, through the angle information of multiple fixed beacons, dynamic calibration is carried out using the offsets of the azimuth angle and the elevation angle, thereby improving the accuracy and reliability of the system.

[0047] S120. Receive the signal data sent by at least two beacons in the target beacon array through the antenna array, and determine the actual relative angle of the beacon relative to the device to be calibrated according to the signal data, the theoretical relative angle, and the antenna array; the actual relative angle includes the actual azimuth angle and the actual elevation angle.

[0048] Among them, the antenna array is an array formed by multiple antennas of the device to be calibrated with AOA positioning function; the signal data is sent by each beacon in the target beacon array, and a single beacon can transmit multiple rounds of signal data.

[0049] Specifically, by receiving the signal data sent by at least two beacons in the target beacon array, the actual azimuth angle θ of the beacon relative to the device to be calibrated is determined according to the received signal data, the theoretical azimuth angle, the theoretical elevation angle, and the antenna array measured and the actual elevation angle

[0050] In an alternative embodiment of the present invention, the signal data can be transmitted using 2.4G narrowband. Narrowband communication modules are provided on both the device to be calibrated and the beacon array with calibrated positions. It can be understood that using narrowband transmission can ensure efficient data transmission, achieve low cost and high efficiency, and can provide data transmission services with high speed, low latency, and high reliability.

[0051] S130. Determine the angle offset of the beacon relative to the device to be calibrated based on the theoretical relative angle and the actual relative angle.

[0052] Based on the theoretical azimuth angle and the actual azimuth angle, the azimuth angle offset of the beacon is obtained, and based on the theoretical elevation angle and the actual elevation angle, the elevation angle offset of the beacon is obtained. If there are N beacons, where N is a natural number greater than 1, then it is necessary to calculate and obtain the azimuth angle offset and the elevation angle offset of each beacon i. The specific calculation formula is as follows:

[0053] Δθ i =θ measured -θ ideal

[0054]

[0055] S140. Determine the target angle offset of the device to be calibrated based on the angle offsets and signal data of at least two beacons.

[0056] The target angle offset of the device to be calibrated is the angle offset of the device to be calibrated; determine the target azimuth angle offset of the device to be calibrated based on the azimuth angle offsets and signal data of at least two beacons; determine the target elevation angle offset of the device to be calibrated based on the elevation angle offsets and signal data of at least two beacons.

[0057] Optionally, as Figure 5 shown in a flowchart for determining the target angle offset, determining the target angle offset of the device to be calibrated based on the angle offsets and signal data of at least two beacons includes:

[0058] S141. Determine the offset weight of the beacon based on the intensity value of the signal data.

[0059] Among them, the intensity value is used to measure the signal power and can be directly read; the offset weight is to assign corresponding weight values based on the signal strength of each beacon. The higher the signal strength, the higher the accuracy of its positioning, and the higher the corresponding assigned weight value.

[0060] Specifically, the signal strength value can be directly read from the RF control module of the antenna array of the device to be calibrated. Use the weighted average method and assign a weight ω to each beacon i based on the signal strength value i , and its calculation formula is as follows:

[0061]

[0062] Among them, RSSI i is the intensity value of each beacon, RSSI min is the minimum value among all beacon signal strength values, and RSSI max is the maximum value among all beacon signal strength values.

[0063] S142. Weight the angle offsets of at least two beacons relative to the device to be calibrated according to the offset weight to obtain the target angle offset of the device to be calibrated.

[0064] Weight the azimuth angle offsets of at least two beacons relative to the device to be calibrated according to the offset weight to obtain the target azimuth angle offset Δθ of the device to be calibrated. The specific calculation formula is as follows:

[0065]

[0066] Weight the elevation angle offsets of at least two beacons relative to the device to be calibrated according to the offset weight to obtain the target elevation angle offset of the device to be calibrated The specific calculation formula is as follows:

[0067]

[0068] It can be understood that by allocating corresponding weight information based on the signal strength values of each beacon, the weights of each beacon in the offset calculation can be dynamically adjusted; ensuring that beacons with higher signal quality have a greater impact on the final offset, optimizing the accuracy of the offset; compared with traditional methods, it effectively reduces the errors caused by signal interference or environmental changes.

[0069] S150. Use the target angle offset to calibrate the attitude of the device to be calibrated.

[0070] The offset of the device to be calibrated can be determined according to the obtained target azimuth offset and target pitch offset. After obtaining the actual azimuth and pitch angles of each beacon in subsequent tests, only the above two offset angles need to be subtracted to obtain the accurate positioning angle. It can be understood that the target angle offset can be directly applied to a system based on attitude positioning of pitch angle and azimuth angle.

[0071] In an alternative embodiment of the present invention, it can be applied to a positioning system with state changes, self-calibration of a positioning system in a changing and complex electromagnetic environment, or a calibration scheme for a multi-type and multi-sensor system. In the embodiments of the present invention, the azimuth and pitch angles obtained from the actual measurement environment are directly used. Therefore, these measurement errors can be included in the measurement results, and then compared with the theoretical calibrated azimuth and pitch angles to eliminate the angle offset caused by the attitude change of non-device to be calibrated. The overall technical solution has strong versatility, and through the angle information of multiple fixed beacons for dynamic calibration, the accuracy and reliability of the system are improved.

[0072] In the technical solution of the embodiments of the present invention, the theoretical relative angles of at least two beacons in the target beacon array corresponding to the device to be calibrated relative to the device to be calibrated are obtained; the theoretical relative angles include the theoretical azimuth angle and the theoretical pitch angle; the signal data sent by at least two beacons in the target beacon array are received through the antenna array, and the actual relative angles of the beacons relative to the device to be calibrated are determined according to the signal data, the theoretical relative angles, and the antenna array; the actual relative angles include the actual azimuth angle and the actual pitch angle; based on the theoretical relative angles and the actual relative angles, the angle offset of the beacons relative to the device to be calibrated is determined; the target angle offset of the device to be calibrated is determined according to the angle offsets of at least two beacons and the signal data; the attitude of the device to be calibrated is calibrated using the target angle offset. The above technical solution solves the problem of how to improve the accuracy of attitude estimation, uses the angle information provided by multiple beacons to determine the actual angle information, and performs dynamic calibration using the target angle offset to improve the accuracy of attitude estimation of the device to be calibrated.

[0073] Optionally, after obtaining the target angle offset, the gravity acceleration offset can also be calculated based on the target angle offset to perform attitude calibration on the attitude positioning system based on gravity acceleration, including:

[0074] Determine the gravity acceleration offset of the device to be calibrated based on the target angle offset;

[0075] Determine the gravity zero offset value of the device to be calibrated based on the current gravity value of the device to be calibrated and the gravity acceleration offset;

[0076] Perform attitude calibration on the device to be calibrated using the gravity zero offset value.

[0077] Among them, the gravity acceleration offset is the acceleration offset of the three axes of the device to be calibrated, and the Z-axis gravity acceleration offset is Δg z , the X-axis gravity acceleration offset is Δg x , and the Y-axis gravity acceleration offset is Δg y , and the specific calculation formula is as follows:

[0078]

[0079] And record the current gravity values g x , g y and g z of the x, y, and z axes of the device to be calibrated. Subtracting the gravity acceleration offsets of the corresponding three axes from the three values can obtain the gravity zero offset values ΔX, ΔY, and ΔZ of the three axes of the device to be calibrated. The specific calculation formula is as follows:

[0080] ΔX = g x -Δg x

[0081] ΔY = g y -Δg y

[0082] ΔZ = g z -Δg z

[0083] After obtaining the gravity zero offset values of the three axes, the corresponding gravity zero offset values can be removed from the three-axis gravity acceleration during the subsequent positioning process, and the accurate gravity acceleration value can be obtained.

[0084] In the embodiments of the present invention, the azimuth angle and pitch angle offsets are directly used to calculate the gravity acceleration offset of the device to be calibrated, without relying on actual distance measurement. This not only simplifies the calculation process, improves real-time performance, is suitable for rapid calibration in dynamic or changing environments, but also enables the system to be flexibly used in different application scenarios and has stronger adaptability.

[0085] Figure 6It is a flowchart of an attitude calibration method provided according to an embodiment of the present invention. Based on the above embodiment, the specific determination method of the actual relative angle is supplemented in this embodiment of the present invention. It should be noted that for the parts not detailed in this embodiment of the present invention, reference can be made to the relevant descriptions of other embodiments.

[0086] As Figure 6 shown, the method includes:

[0087] S210. Obtain the theoretical relative angles of at least two beacons in the target beacon array corresponding to the device to be calibrated with respect to the device to be calibrated; the theoretical relative angles include the theoretical azimuth angle and the theoretical elevation angle.

[0088] S220. Receive the signal data sent by at least two beacons in the target beacon array through the antenna array, and construct a direction matrix based on the signal data and the antenna array.

[0089] Among them, the signal data is AOA signal data, and the antenna array of the device to be calibrated will receive these data and extract them as IQ data. The IQ data is the representation of the beacon transmission signal received by the antenna array of the device to be calibrated on the complex plane. The I (In-phase) component and the Q (Quadrature) component respectively represent the in-phase component and the quadrature component of the signal.

[0090] Specifically, extract the IQ data of each signal data from the signal data sent by at least two beacons, and construct an initial matrix according to the IQ data and the antenna array. The IQ data format can be -181, 25 (the former is the I data and the latter is the Q data); represent the rows in the initial matrix as each antenna in the antenna array, and the number of rows is the same as the number of antennas in the antenna array; the columns in the initial matrix represent the IQ data received by each antenna, and construct a covariance matrix based on the initial matrix as the direction matrix, which can be expressed as:

[0091] R = XX H

[0092] where R is the direction matrix, X is the initial matrix, and X H is the conjugate transpose of the initial matrix.

[0093] S230. Perform eigenvalue decomposition on the direction matrix to obtain the noise subspace.

[0094] The direction matrix describes the correlation of variables in the received signal, which is the superposition of the signal and the noise. Perform eigenvalue decomposition on the direction matrix, and regard the eigenvalues and eigenvectors with larger correlation with the signal source as the signal subspace; the eigenvalues and corresponding eigenvectors with smaller correlation with the signal source form the noise subspace, and its calculation method can be:

[0095] R = VΛV H

[0096] Among them, V is the eigenvector matrix, and Λ is the eigenvalue matrix. The eigenvector containing the largest eigenvalue is the signal subspace, denoted as E S , and the remaining eigenvectors are the noise subspace, denoted as E n .

[0097] S240. Construct a steering vector based on the theoretical relative angle and the antenna array.

[0098] Among them, the steering vector describes the change of the phase and amplitude of the received signal in a given direction and the response of the antenna at a specific arrival angle; for a uniform circular antenna array, its steering vector is constructed according to the antenna array, the theoretical azimuth angle, and the theoretical elevation angle, and the calculation method can be:

[0099]

[0100] where θ is the azimuth angle; is the elevation angle; r is the distance between the antenna elements in the antenna array; λ is the signal wavelength.

[0101] S250. Obtain the spatial spectrum according to the noise subspace and the steering vector;

[0102] Using the noise subspace and the steering vector, the spatial spectrum can be calculated; the specific calculation method is as follows:

[0103]

[0104] where is the spatial spectrum; a is the steering vector; θ is the azimuth angle; is the elevation angle; E n is the noise subspace.

[0105] S260. Determine the actual relative angle of the beacon relative to the device to be calibrated based on the spatial spectrum.

[0106] Search in the spatial spectrum to determine the actual azimuth angle and actual elevation angle of each beacon relative to the device to be calibrated. It should be noted that relevant technicians can set the step size according to the needs and increase the step size one by one to search for the corresponding actual relative angle.

[0107] Optionally, determining the actual relative angle of the beacon relative to the device to be calibrated based on the spatial spectrum includes:

[0108] Determine the search direction in the spatial spectrum and determine the angle search step size of the beacon according to the theoretical relative angle;

[0109] Search for the beacon in the spatial spectrum according to the angle search step size and the search direction to obtain the actual relative angle of the beacon relative to the device to be calibrated.

[0110] Among them, the search direction is consistent with the beacon order direction of the manually measured theoretical angle; the angle search step size can be set according to the theoretical relative angles of each beacon. For example, when searching for the first beacon, its angle search step size is set to be greater than the theoretical relative angle of the first beacon and less than the theoretical relative angle of the second beacon.

[0111] Specifically, when searching for the actual azimuth angle of the beacon relative to the device to be calibrated, it can start from 0 degrees to 360 degrees as a search direction. When the theoretical azimuth angle of the first beacon is 30 degrees and the theoretical azimuth angle of the second beacon is 45 degrees, the first angle search step size of the first beacon needs to be greater than 30 degrees and less than 45 degrees, and the azimuth angle of the first beacon is searched in the spatial spectrum, and the searched angle is used as the actual azimuth angle of the first beacon. For example, if an angle of 32 degrees is searched, the actual azimuth angle of the first beacon is 32 degrees.

[0112] When searching for the actual pitch angle of the beacon relative to the device to be calibrated, it can start from -90 degrees to 90 degrees as a search direction. When the theoretical pitch angle of the first beacon is 27 degrees and the theoretical pitch angle of the second beacon is 35 degrees, the first angle search step size of the first beacon needs to be greater than 27 degrees and less than 35 degrees, and the pitch angle of the first beacon is searched in the spatial spectrum, and the searched angle is used as the actual pitch angle of the first beacon. For example, if an angle of 28 degrees is searched, the actual pitch angle of the first beacon is 28 degrees.

[0113] It can be understood that when searching for the actual relative angle through the spatial spectrum, if the step size is too large, it may cause the true spectral peak to be missed, and if the step size is too small, the calculation amount will be significantly increased. In the embodiment of the present invention, the search step size is set according to the theoretical relative angle obtained by manual measurement, which reduces the calculation amount and improves the search efficiency on the premise of ensuring the search accuracy.

[0114] S270. Determine the angle offset of the beacon relative to the device to be calibrated based on the theoretical relative angle and the actual relative angle.

[0115] S280. Determine the target angle offset of the device to be calibrated according to the angle offsets of at least two beacons and the signal data.

[0116] S290. Perform attitude calibration on the device to be calibrated by using the target angle offset.

[0117] Embodiments of the present invention achieve high-precision calibration of the attitude of a device to be calibrated by combining the AOA positioning technology, and search for the actual azimuth angle and actual elevation angle based on the spatial spectrum. Compared with providing positioning data through devices such as lidar or ultra-wideband, embodiments of the present invention reduce the cost of attitude calibration of the device to be calibrated and further improve the determination efficiency of the actual angle by setting fixed beacon positions and performing signal transmission based on narrowband communication.

[0118] Figure 7 FIG. 4 is a schematic structural diagram of an attitude calibration device according to an embodiment of the present invention. Embodiments of the present invention are applicable to the situation of accurately estimating the attitude of an object. The attitude calibration device can be implemented in the form of hardware and / or software, and the attitude calibration device can be configured in a device to be calibrated. The attitude calibration device 400 includes a theoretical relative angle determination module 410, an actual relative angle determination module 420, an angle offset determination module 430, a target angle offset determination module 440, and an attitude calibration module 450.

[0119] The theoretical relative angle determination module 410 is configured to obtain the theoretical relative angles of at least two beacons in the target beacon array corresponding to the device to be calibrated with respect to the device to be calibrated; the theoretical relative angles include a theoretical azimuth angle and a theoretical elevation angle.

[0120] The actual relative angle determination module 420 is configured to receive signal data sent by at least two beacons in the target beacon array through an antenna array, and determine the actual relative angles of the beacons with respect to the device to be calibrated according to the signal data, the theoretical relative angles, and the antenna array; the actual relative angles include an actual azimuth angle and an actual elevation angle.

[0121] The angle offset determination module 430 is configured to determine the angle offset of the beacons with respect to the device to be calibrated based on the theoretical relative angles and the actual relative angles.

[0122] The target angle offset determination module 440 is configured to determine the target angle offset of the device to be calibrated according to the angle offsets of at least two beacons and the signal data.

[0123] The attitude calibration module 450 is configured to perform attitude calibration on the device to be calibrated by using the target angle offset.

[0124] In the technical solution of the embodiment of the present invention, the theoretical relative angles of at least two beacons in the target beacon array corresponding to the device to be calibrated relative to the device to be calibrated are obtained; the theoretical relative angles include the theoretical azimuth angle and the theoretical elevation angle; the signal data sent by at least two beacons in the target beacon array is received through the antenna array, and the actual relative angles of the beacons relative to the device to be calibrated are determined according to the signal data, the theoretical relative angles and the antenna array; the actual relative angles include the actual azimuth angle and the actual elevation angle; based on the theoretical relative angles and the actual relative angles, the angle offset of the beacons relative to the device to be calibrated is determined; the target angle offset of the device to be calibrated is determined according to the angle offsets of at least two beacons and the signal data; the attitude of the device to be calibrated is calibrated using the target angle offset. The above technical solution solves the problem of how to improve the accuracy of attitude estimation, uses the angle information provided by multiple beacons to determine the actual angle information, and performs dynamic calibration using the target angle offset to improve the accuracy of attitude estimation of the device to be calibrated.

[0125] Optionally, the actual relative angle determination module 420 includes a direction matrix construction unit, a noise subspace determination unit, a steering vector construction unit, a spatial spectrum construction unit, and an actual relative angle determination unit;

[0126] The direction matrix construction unit is used to construct a direction matrix based on the signal data and the antenna array;

[0127] The noise subspace determination unit is used to perform eigenvalue decomposition on the direction matrix to obtain the noise subspace;

[0128] The steering vector construction unit is used to construct a steering vector based on the theoretical relative angles and the antenna array;

[0129] The spatial spectrum construction unit is used to obtain a spatial spectrum according to the noise subspace and the steering vector;

[0130] The actual relative angle determination unit is used to determine the actual relative angles of the beacons relative to the device to be calibrated based on the spatial spectrum.

[0131] Optionally, the actual relative angle unit is specifically used to determine the search direction in the spatial spectrum and determine the angle search step of the beacon according to the theoretical relative angles; according to the angle search step and the search direction, search for the beacon in the spatial spectrum to obtain the actual relative angles of the beacon relative to the device to be calibrated.

[0132] Optionally, the target angle offset determination module 440 is specifically used to determine the offset weight of the beacon based on the intensity value of the signal data; the target angle offset of the device to be calibrated is obtained by weighting the angle offsets of at least two beacons relative to the device to be calibrated according to the offset weight.

[0133] Optionally, the attitude calibration device 400 further includes a gravity attitude calibration module, configured to determine the gravity acceleration offset of the device to be calibrated based on the target angle offset; determine the gravity zero offset of the device to be calibrated based on the current gravity value and the gravity acceleration offset of the device to be calibrated; and perform attitude calibration on the device to be calibrated using the gravity zero offset.

[0134] Optionally, both the device to be calibrated and the target beacon array have a positioning function based on the Angle of Arrival (AOA).

[0135] The attitude calibration device provided by the embodiments of the present invention can execute the attitude calibration method provided by any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method.

[0136] According to an embodiment of the present invention, the present invention also provides an electronic device, a readable storage medium, and a computer program product.

[0137] Figure 8 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0138] As Figure 8 shown, the electronic device 10 includes at least one processor 11, and a memory communicatively connected to at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by at least one processor. 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 into 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. The input / output (I / O) interface 15 is also connected to the bus 14.

[0139] Multiple 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 magnetic disk, an optical disc, 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 via a computer network such as the Internet and / or various telecommunication networks.

[0140] The processor 11 can be various general-purpose and / or special-purpose 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, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the attitude calibration method.

[0141] In some embodiments, the attitude calibration method can be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto 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 attitude calibration method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the attitude calibration method by any other suitable means (e.g., by means of firmware).

[0142] The various embodiments of the systems and technologies 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 a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, the programmable processor can be a special or general-purpose programmable processor, and can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0143] A computer program for implementing the method of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, a special purpose computer, or other programmable data processing device, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer programs can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine, or entirely on the remote machine or server.

[0144] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0145] In order to provide interaction with a user, the systems and techniques described herein can 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 a trackball) by which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0146] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend, middleware, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0147] A computing system can include a client and a server. The client and the server are generally remote from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0148] It should be understood that various forms of the processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0149] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A posture calibration method, characterized in that: include: Obtaining theoretical relative angles of at least two beacons in a target beacon array corresponding to the device to be calibrated relative to the device to be calibrated; The theoretical relative angle includes a theoretical azimuth angle and a theoretical pitch angle; Receiving signal data sent by at least two beacons in the target beacon array through an antenna array, and determining an actual relative angle of the beacon relative to the device to be calibrated according to the signal data, the theoretical relative angle and the antenna array; The actual relative angle includes an actual azimuth angle and an actual elevation angle; Determining an angular offset of the beacon relative to the device to be calibrated based on the theoretical relative angle and the actual relative angle; Determining a target angular offset of the device to be calibrated according to the angular offsets of at least two beacons and the signal data; The target angle offset is used to perform posture calibration on the device to be calibrated.

2. The method according to claim 1, characterized in that Determining the actual relative angle of the beacon relative to the device to be calibrated according to the signal data, the theoretical relative angle and the antenna array includes: Constructing a direction matrix based on the signal data and the antenna array; Performing eigenvalue decomposition on the direction matrix to obtain a noise subspace; constructing a steering vector based on the theoretical relative angle and the antenna array; Obtaining a spatial spectrum according to the noise subspace and the steering vector; An actual relative angle of the beacon with respect to the device to be calibrated is determined based on the spatial spectrum.

3. The method according to claim 2, characterized in that Determining the actual relative angle of the beacon with respect to the device to be calibrated based on the spatial spectrum includes: Determining a search direction in the spatial spectrum, and determining an angle search step length of the beacon according to the theoretical relative angle; A beacon search is performed in the spatial spectrum according to the angle search step and the search direction to obtain an actual relative angle of the beacon with respect to the device to be calibrated.

4. The method according to claim 1, characterized in that: Determining a target angle offset of the device to be calibrated according to the angle offsets of at least two beacons and the signal data includes: determining an offset weight of the beacon based on a strength value of the signal data; The angle offsets of at least two beacons relative to the device to be calibrated are weighted according to the offset weights to obtain a target angle offset of the device to be calibrated.

5. The method according to claim 1, characterized in that After determining the target angle offset of the device to be calibrated according to the angle offsets of at least two beacons and the signal data, the method further includes: Determining a gravity acceleration offset of the device to be calibrated based on the target angle offset; Determining a gravity zero bias value of the device to be calibrated based on a current gravity value of the device to be calibrated and the gravity acceleration offset; The gravity zero bias value is used to perform posture calibration on the device to be calibrated.

6. The method according to any one of claims 1 to 5, characterized in that The device to be calibrated and the target beacon array both have a positioning function based on the signal arrival angle.

7. A posture calibration device, characterized in that: include: A theoretical relative angle determination module, used to obtain a theoretical relative angle of at least two beacons in a target beacon array corresponding to the device to be calibrated relative to the device to be calibrated; The theoretical relative angle includes a theoretical azimuth angle and a theoretical pitch angle; an actual relative angle determination module, configured to receive signal data sent by at least two beacons in the target beacon array through an antenna array, and determine an actual relative angle of the beacon relative to the device to be calibrated based on the signal data, the theoretical relative angle and the antenna array; The actual relative angle includes an actual azimuth angle and an actual elevation angle; An angle offset determination module, used to determine the angle offset of the beacon relative to the device to be calibrated based on the theoretical relative angle and the actual relative angle; A target angle offset, used to determine a target angle offset of the device to be calibrated based on the angle offsets of at least two beacons and the signal data; The posture calibration module is used to perform posture calibration on the device to be calibrated using the target angle offset.

8. 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 perform the posture calibration method according to any one of claims 1 to 6.

9. 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 posture calibration method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the posture calibration method according to any one of claims 1 to 6.

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