Data processing method, device and equipment

Abstract

The invention relates to the field of big data, and provides a data processing method, device and equipment, and the method comprises the steps: obtaining a distance measurement error of acoustic equipment; setting a target original point and a calibration point in the target area, and determining a spatial distance between the calibration point and the target original point; and determining an error relation coefficient by using the ranging error and the spatial distance based on a spatial dimension. According to the invention, targeted analysis can be carried out on the error relation coefficient of the target area based on the spatial dimension, so that the influence of distance measurement errors on spatial positioning is reduced.

Description

Technical Field

[0001] This application relates to the field of big data, and in particular to a data processing method, apparatus, and device. Background Art

[0002] When performing underwater positioning, acoustic devices are usually used for positioning on the sea surface. The acoustic devices locate the absolute position of underwater nodes by multi-point ranging. Specifically, it calculates the relative distances between multiple known positions on the water surface and the underwater nodes, and solves for the three-dimensional coordinates of the underwater nodes. However, due to the influence of various factors such as the measurement error of the sound speed, the receiver delay, and the signal broadband form, the distance between each calibration point and the underwater node cannot be measured completely accurately during the ranging process, resulting in spatial positioning errors. Summary of the Invention

[0003] This application provides a data processing method, apparatus, and device to at least solve the above technical problems existing in the prior art.

[0004] According to the first aspect of this application, a data processing method is provided. The method includes: Obtain the ranging error of the acoustic device; Set a target origin and calibration points in the target area, and determine the spatial distance between the calibration points and the target origin; Based on the spatial dimension, use the ranging error and the spatial distance to determine the error relationship coefficient.

[0005] In an implementable manner, before obtaining the ranging error of the acoustic device, it further includes: Obtain the target parameter data of the acoustic device; Based on the target parameter data, determine the acoustic propagation path of the acoustic device; Obtain the sound speed profile data of the target area; Based on the sound speed profile data and the acoustic propagation path, determine the target slant range value; the target slant range value is used to characterize the distance range that can be calibrated.

[0006] In an implementable manner, obtaining the ranging error of the acoustic device includes: Based on the target slant range value, determine the area range; Set ranging calibration points at a preset distance within the area range, and obtain the true distance between the ranging calibration points; Use the acoustic device to obtain the measured distance between the ranging calibration points; Based on the true distance and the measured distance, obtain the ranging error.

[0007] In one implementable manner, a target origin and calibration points are set in a target area, and determining a spatial distance between the calibration points and the target origin includes: Set a target origin in the target area; Based on the target origin, obtain calibration point coordinates; Based on the calibration point coordinates, determine the spatial distance between the target origin and the calibration points.

[0008] In one implementable manner, the determining an error relationship coefficient by using the ranging error and the spatial distance based on a spatial dimension includes: Based on a first relationship of the spatial distance, obtain a system of equations of an error relationship of the ranging error in the spatial dimension; Based on the system of equations, obtain a relationship coefficient between the spatial distance and the distance measurement error.

[0009] In one implementable manner, the setting a target origin in the target area includes: Based on a pattern formed by multiple calibration points, set the position of the target origin in the target area.

[0010] In one implementable manner, the spatial dimension includes a single dimension, a horizontal plane dimension, and a three-dimensional space dimension.

[0011] In one implementable manner, the determining an error relationship coefficient by using the ranging error and the spatial distance based on a spatial dimension includes: When the spatial dimension is a single dimension, analyze a relationship coefficient between the ranging error and the horizontal or vertical or longitudinal direction in the spatial distance; When the spatial dimension is a horizontal plane dimension, analyze a relationship coefficient between the ranging error and the horizontal and vertical directions in the spatial distance; When the spatial dimension is a three-dimensional space dimension, analyze a relationship coefficient between the ranging error and the horizontal, vertical, and longitudinal directions in the spatial distance.

[0012] According to a second aspect of the present application, there is provided a data processing device, and the device includes: An acquisition module, configured to acquire a ranging error of an acoustic device; A first determination module, configured to set a target origin and calibration points in a target area, and determine a spatial distance between the calibration points and the target origin; A second determination module, configured to determine an error relationship coefficient by using the ranging error and the spatial distance based on a spatial dimension.

[0013] According to a third aspect of the present application, there is provided an electronic device, including: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method described in this application.

[0014] According to a fourth aspect of the present application, there is provided a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to cause the computer to execute the method described in this application.

[0015] For the data processing method, device and equipment of the present application, the present application first obtains the ranging error of the acoustic device, sets a target origin and calibration points in the target area where operations are required, and determines the target origin and calibration points.

[0016] 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 application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] By referring to the drawings and reading the following detailed description, the above and other objects, features and advantages of the exemplary embodiments of the present application will become easily understood. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, wherein: In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0018] Figure 1 Shows a schematic implementation flow diagram of the data processing method according to an embodiment of the present application; Figure 2 Shows an intuitive diagram of the error relationship coefficient of Solution 1 in an embodiment of the present application; Figure 3 Shows a distribution diagram of the error relationship coefficient of Solution 1 in an embodiment of the present application; Figure 4 Shows an intuitive diagram of the error relationship coefficient of Solution 2 in an embodiment of the present application; Figure 5 Shows a distribution diagram of the error relationship coefficient of Solution 2 in an embodiment of the present application; Figure 6 Shows a schematic structural diagram of the data processing device according to an embodiment of the present application; Figure 7 Shows a schematic composition structural diagram of an electronic device according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] To make the objectives, features, and advantages of this application more apparent and understandable, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative efforts belong to the scope of protection of this application.

[0020] The calibration of an underwater node refers to when the node is deployed to the seabed, acoustic equipment carried by a ship is used to measure distances at multiple points on the sea surface to locate its absolute position. However, due to factors such as the signal broadband form, sound speed measurement error, and receiver delay, it is impossible to accurately measure the distance between each calibration point and the underwater node, resulting in spatial positioning errors. Selecting a better combination of calibration positions can reduce the impact caused by ranging errors. In related technologies, a fixed symmetric combination form of calibration point positions is generally considered, but this method cannot be flexibly constructed or selected from the perspective of matching the actual engineering requirements.

[0021] This application proposes a data processing method that can provide multi-dimensional perspective selection analysis according to actual needs, and can also select analysis according to the error coefficient situation in sensitive areas.

[0022] The following introduces a data processing method, device, and equipment provided by this application with reference to the accompanying drawings.

[0023] As Figure 1 shown, this application provides a data processing method, and the method includes: S101, obtaining the ranging error of the acoustic equipment; The acoustic equipment in this application can be carried by a ship to measure distances at multiple points on the sea surface to locate the absolute position of the node. Among them, the acoustic equipment has a ranging error, and the ranging error of the acoustic equipment can be determined by the method of statistically measuring the distance through the Monte Carlo method. This application mainly focuses on the technical problem of spatial positioning error caused by the inability to accurately measure the distance between each calibration point and the underwater node during the ranging process of the acoustic equipment.

[0024] S102, setting a target origin and calibration points in the target area, and determining the spatial distance between the calibration points and the target origin; In this application, the target area is the operation sea area. By setting the target origin and calibration points, the spatial distance between the target origin and the calibration points can be specifically known.

[0025] Exemplarily, the coordinates of the target origin are (X, Y, Z), and the coordinates of the calibration point are (X i , Y i , Z i ), where i = 1, 2, 3...

[0026] S103. Determine an error relationship coefficient based on the spatial dimension using the ranging error and the spatial distance.

[0027] Specifically, according to the relationship formula of the spatial distance r i a partial differential equation system of the ranging error dr with respect to the solution error relationships in the three dimensions of x, y, and z can be obtained, and thus, according to the spatial relationship, the relationship coefficient between the spatial positioning error and the ranging error can be finally obtained.

[0028] For the data processing method provided in this application, first obtain the ranging error of the acoustic device, then set a target origin and calibration points in the target area, determine the spatial distance between the calibration points and the target origin, and finally, determine the error relationship coefficient based on the spatial dimension using the ranging error and the spatial distance. This application can perform targeted analysis of the error relationship coefficient in the target area based on the spatial dimension, thereby reducing the influence of the ranging error on the spatial positioning.

[0029] In some embodiments, before obtaining the ranging error of the acoustic device, it further includes: Obtain the target parameter data of the acoustic device; Based on the target parameter data, determine the acoustic wave propagation sound path of the acoustic device; Obtain the sound speed profile data of the target area; Based on the sound speed profile data and the acoustic wave propagation sound path, determine the target slant range value; the target slant range value is used to characterize the distance range that can be calibrated.

[0030] It can be understood that the target parameter data in this application can be parameters such as the sound source level, signal frequency, detection threshold, etc., and can also include other parameter data, which are not limited in this application. In this application, the maximum sound path L of the acoustic ray propagation can be calculated from the target parameter data using the existing technology. For example, in this application, the acoustic ray formula can be used in combination with the propagation loss analysis to calculate the maximum sound path L of the acoustic ray propagation. The acoustic ray propagation sound path refers to the path length of the acoustic wave propagating in the medium, that is, the total distance that the acoustic ray travels from the sound source, reaches a certain point, and then reflects back.

[0031] The target area in this application is the operation sea area, and the sound speed profile data is used to characterize the relationship between the sound speed and the depth. Among them, the sound speed profile data is obtained by measuring with a marine sound speed instrument. According to the obtained maximum sound path L of the acoustic ray propagation and the operation depth, the target slant range value is calculated using the acoustic ray inversion technology. It can be understood that the target slant range value is the maximum effective slant range value. . According to the effective slant range value obtain the effective working range R of the calibration unit.

[0032] After determining the distance range that can be calibrated, perform calibration within the distance range.

[0033] In some embodiments, obtaining the ranging error of the acoustic device includes: Determining a regional range based on the target slant range value; Setting ranging calibration points at a preset distance within the regional range, and obtaining the true distance between the ranging calibration points; Obtaining the measured distance between the ranging calibration points by using the acoustic device; Obtaining the ranging error based on the true distance and the measured distance.

[0034] It can be understood that the acoustic device includes a transmitting end and a receiving end. After determining the regional range in this application, ranging calibration points are set at a fixed distance within the regional range. The true distance between the ranging calibration points can be obtained according to the position coordinates, and the measured distance between the calibration points is measured by using the acoustic device. Thus, the ranging error dr can be obtained by using the difference between the true distance and the measured distance.

[0035] In some embodiments, setting a target origin and calibration points in a target area, and determining the spatial distance between the calibration points and the target origin includes: Setting a target origin in the target area; Obtaining calibration point coordinates based on the target origin; Determining the spatial distance between the target origin and the calibration points based on the calibration point coordinates.

[0036] It can be understood that there can be multiple calibration points in this application. First, a target origin is set in this application, and its coordinates are (X, Y, Z). Thus, the calibration point coordinates can be (X i -X, Y i -Y, Z i -Z).

[0037] The spatial distance between the target origin and the calibration points can be calculated in the following manner

[0038] r i is the spatial distance between the calibration points and the target origin.

[0039] In some embodiments, based on the spatial dimension, using the ranging error and the spatial distance to determine the error relationship coefficient includes: Obtaining a system of equations of the error relationship of the ranging error in the spatial dimension based on a first relationship of the spatial distance; Obtaining the relationship coefficient between the spatial distance and the distance measurement error based on the system of equations.

[0040] Specifically, according to the relationship formula of distance r, a partial differential equation system of the distance measurement error dr with respect to the solution errors of the three dimensions of x, y, and z is obtained:

[0041] That is:

[0042] Since (x, y, z) is the target origin and the positions of the calibration points are also known, the relationship between dr and dx, dy, dz can be obtained, that is, the relationship between the solution error amount of each dimension and the distance measurement error amount. Based on the solution errors of the three dimensions and the spatial relationship, the relationship coefficient between the spatial positioning error and the distance measurement error can be finally obtained.

[0043] In some embodiments, setting the target origin in the target area includes: Based on the pattern formed by multiple calibration points, set the position of the target origin in the target area.

[0044] In this application, there can be multiple calibration points. According to the actual operation requirements, that is, in the target area, a suitable step size is selected to traverse and calculate the obtained effective working range space R, and the relative positioning error distribution of the whole space is obtained.

[0045] For example, when there are 5 calibration points, one of them can be used as the geometric center, and the other 4 calibration points can be used to analyze the ranging error amplification coefficient of a 2 km deep space with a calibration scheme of a square with a side length of 2 km. It is also possible to analyze the ranging error amplification coefficient of a 2 km deep space with a regular pentagon with a side length of 2 km for the 5 calibration points.

[0046] In some embodiments, the spatial dimension includes a single dimension, a horizontal plane dimension, and a three-dimensional space dimension.

[0047] In some embodiments, determining the error relationship coefficient based on the spatial dimension using the ranging error and the spatial distance includes: When the spatial dimension is a single dimension, analyze the relationship coefficient between the ranging error and the horizontal or vertical or longitudinal direction in the spatial distance; When the spatial dimension is a horizontal plane dimension, analyze the relationship coefficient between the ranging error and the horizontal and vertical directions in the spatial distance; When the spatial dimension is a three-dimensional space dimension, analyze the relationship coefficient between the ranging error and the horizontal, vertical, and longitudinal directions in the spatial distance.

[0048] According to the actual engineering requirements, it can be separately analyzed from multiple perspectives of a single dimension, horizontal plane, and overall three-dimensional space, and flexibly selected by optimal choice. If the relative accuracy of a single dimension is mainly concerned, the correlation coefficient between the ranging error dr and one of dx, dy, or dz can be separately analyzed; if only the relative accuracy on the horizontal plane is concerned and insensitive to the depth dimension, the correlation coefficient between the ranging error dr and can be analyzed; if the relative accuracy in the three-dimensional space is concerned, the correlation coefficient between the ranging error dr and can be analyzed. In addition, if only the relative accuracy of a small area in the space is concerned, the traversal space can also be limited to the specific concerned space and calculated, analyzed, and selected specifically according to the requirements by using the above method.

[0049] As a specific embodiment, for example, a positioning system of five underwater beacons is arranged on the seabed at a depth of 2 km. After analysis, the target slant range value, that is, the effective operating distance, is about 10 km, and the measured ranging error is about 1 m. There are two existing array schemes: The first scheme is: taking one of the beacons as the geometric center, and the other 4 beacons are arranged in a square formation structure with a side length of 3.365 km within a deployment range of 25 square kilometers. The second scheme is: the 5 beacons are arranged in a regular pentagon formation structure within a deployment range of 25 square kilometers. The system mainly focuses on the positioning accuracy on the 100 m underwater plane, and analyzes and selects them respectively.

[0050] Specifically, for Scheme 1: As Figure 2 shown, taking Beacon 5 as the geometric center, the other 4 beacons are arranged in a square formation structure with a side length of 3.365 km within a deployment range of 25 km 2 on the seabed at a depth of 2 km.

[0051] Taking Beacon 5 as the coordinate origin, the horizontal positioning accuracy on the 100 m underwater plane within the area of 10 km × 10 km centered on the coordinate origin is investigated, and the correlation coefficient between the ranging error dr and is taken as the investigation basis.

[0052] As Figure 3 shown, it can be seen that the minimum horizontal error coefficient value in the investigated area is 1.2560, and the maximum value is 5.6947; that is, under this condition, the theoretical minimum horizontal positioning error is about 1 × 1.256 m, and the maximum is about 1 × 5.6947 m.

[0053] For Scheme 2: As Figure 4 shown, the 5 beacons are arranged in a regular pentagon formation structure within a deployment range of 25 km 2 on the seabed at a depth of 2 km. Taking the geometric center of the array as the coordinate origin, the horizontal positioning accuracy on the 100 m underwater plane within the area of 10 km × 10 km centered on the coordinate origin is investigated, and the dr and The correlation coefficient is used as the basis for investigation.

[0054] As Figure 5 shown, it can be seen that the minimum horizontal error coefficient value in the investigation area is 1.1056, and the maximum value is 4.8663; that is, under this condition, the theoretical minimum horizontal positioning error is about 1×4.8663, and the maximum is about 1×4.8663m.

[0055] From the comparative analysis of the two schemes, it can be seen that under the same side length or layout range, the regular pentagon layout structure of Scheme 2 has a smaller horizontal error correlation coefficient than the square plus geometric center layout structure of Scheme 1, that is, it has more accurate horizontal positioning accuracy. Under this engineering requirement, the layout form of Scheme 2 should be selected.

[0056] As Figure 6 shown, the present application provides a data processing device, and the device includes: An acquisition module 601, configured to acquire the ranging error of an acoustic device; A first determination module 602, configured to set a target origin and a calibration point in a target area, and determine the spatial distance between the calibration point and the target origin; A second determination module 603, configured to determine an error correlation coefficient based on the ranging error and the spatial distance by using the spatial dimension.

[0057] The data processing device provided by the present application acquires the ranging error of an acoustic device through the acquisition module 601; the first determination module 602 sets a target origin and a calibration point in the target area, and determines the spatial distance between the calibration point and the target origin; the second determination module 603 determines an error correlation coefficient based on the ranging error and the spatial distance by using the spatial dimension.

[0058] It should be noted that for the data processing device in the embodiments of the present application, since the principle of solving problems by this data processing device is similar to the foregoing data processing method, the implementation process, implementation principle, and beneficial effects of the data processing device can all refer to the description of the implementation process, implementation principle, and beneficial effects of the foregoing method, and the repeated parts will not be elaborated.

[0059] The embodiments of the present application provide an electronic device, including: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in any of the foregoing embodiments.

[0060] An embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, characterized in that the computer instructions are used to cause a computer to execute the method described in any of the above embodiments.

[0061] According to an embodiment of the present application, the present application further provides an electronic device and a readable storage medium.

[0062] Figure 7 A schematic block diagram of an exemplary electronic device 800 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as, for example, 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, for example, a personal digital processor, a cellular phone, a smart phone, a wearable device, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present application described and / or claimed herein.

[0063] As Figure 7 shown, the device 800 includes a computing unit 801 that can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to the bus 804.

[0064] A plurality of components in the device 800 are connected to the I / O interface 805, including: an input unit 806, such as a keyboard, a mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, an optical disk, etc.; and a communication unit 809, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 809 allows the device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0065] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above, such as the data processing method. For example, in some embodiments, the data processing method can be implemented as a computer software program that is tangibly contained in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the data processing method described above can be executed. Alternatively, in other embodiments, the computing unit 801 can be configured to execute the data processing method in any other suitable manner (e.g., by means of firmware).

[0066] Various embodiments of the systems and techniques described above in this document can be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems on a chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments 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 dedicated or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0067] The program code for implementing the methods of this application can be written in any combination of one or more programming languages. These program codes can be provided to the processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program codes can be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0068] In the context of this application, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable 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. More specific examples of a 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.

[0069] To provide for interaction with a user, the systems and techniques described herein can be implemented on a computer 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 computer. Other kinds of devices can also be used to provide for interaction with the user; for example, 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, speech, or tactile input).

[0070] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can 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), and the Internet.

[0071] A computer 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 generated by computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, a server of a distributed system, or a server incorporating a blockchain.

[0072] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in the present disclosure can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present application can be achieved, and no limitation is imposed herein.

[0073] In addition, the terms "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0074] As described above, the above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A data processing method, characterized in that, The method includes: Obtaining the ranging error of the acoustic device; Setting a target origin and calibration points in the target area, and determining the spatial distance between the calibration points and the target origin; Based on the first relationship of the spatial distance, obtaining a system of equations for the error relationship of the ranging error in the spatial dimension; The system of equations for the error relationship of the ranging error in the spatial dimension is That is: Among them, ( x, y, z ) is the coordinate of the target origin; ( x i -x, y i -y, z i -z ) is the coordinate of the calibration point; r i is the spatial distance between the calibration point and the target origin; dr is the ranging error; When the spatial dimension is a single dimension, analyzing the relationship coefficient between the ranging error and the horizontal or vertical or vertical direction in the spatial distance based on the system of equations for the error relationship; When the spatial dimension is the horizontal plane dimension, analyzing the relationship coefficients between the ranging error and the horizontal and vertical directions in the spatial distance based on the system of equations for the error relationship; When the spatial dimension is a three-dimensional space dimension, analyzing the relationship coefficients between the ranging error and the horizontal, vertical, and vertical directions in the spatial distance based on the system of equations for the error relationship; Determining the optimal spatial layout scheme according to the relationship coefficients of multiple spatial layout schemes of the target origin and calibration points.

2. The method according to claim 1, characterized in that Before obtaining the ranging error of the acoustic device, it further includes: Obtaining the target parameter data of the acoustic device; Based on the target parameter data, determining the sound propagation path of the acoustic device; Obtaining the sound speed profile data of the target area; Based on the sound speed profile data and the sound propagation path, determining the target slant range value; the target slant range value is used to characterize the distance range that can be calibrated.

3. The method according to claim 2, wherein The obtaining of the ranging error of the acoustic device includes: Based on the target slant range value, determining the area range; Setting ranging calibration points at a preset distance within the area range, and obtaining the true distance between the ranging calibration points; Using the acoustic device to obtain the measured distance between the ranging calibration points; Based on the true distance and the measured distance, obtaining the ranging error.

4. The method according to claim 1, wherein Setting a target origin and calibration points in the target area, and determining the spatial distance between the calibration points and the target origin includes: Setting a target origin in the target area; Based on the target origin, obtaining the calibration point coordinates; Based on the calibration point coordinates, determining the spatial distance between the target origin and the calibration point.

5. The method according to claim 4, characterized in that, The setting of the target origin in the target area includes: Based on the pattern formed by multiple calibration points, setting the position of the target origin in the target area.

6. A data processing device, characterized in that, The device includes: An obtaining module, configured to obtain the ranging error of the acoustic device; A first determination module, configured to set a target origin and calibration points in the target area, and determine the spatial distance between the calibration points and the target origin; A second determination module, configured to obtain a system of equations for the error relationship of the ranging error in the spatial dimension based on the first relationship of the spatial distance; The system of equations for the error relationship of the ranging error in the spatial dimension is That is: Among them, ( x, y, z ) is the coordinate of the target origin; ( x i -x, y i -y, z i -z ) is the coordinate of the calibration point; r i is the spatial distance between the calibration point and the target origin; dr is the ranging error; When the spatial dimension is one-dimensional, analyze the relationship coefficient between the ranging error and the horizontal, vertical or perpendicular direction in the spatial distance based on the error relationship equations; when the spatial dimension is the horizontal plane dimension, analyze the relationship coefficient between the ranging error and the horizontal and vertical directions in the spatial distance based on the error relationship equations; when the spatial dimension is three-dimensional, analyze the relationship coefficient between the ranging error and the horizontal, vertical and perpendicular directions in the spatial distance based on the error relationship equations; determine the optimal spatial layout scheme according to the relationship coefficients of multiple spatial layout schemes of the target origin and the calibration points.

7. An electronic device, characterized in that, Comprising: At least one processor; And A memory communicatively connected to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the method according to any one of claims 1 to 5.

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