Data Processing Method, Apparatus and Device

Abstract

This application relates to the field of big data, and provides a data processing method, apparatus, and device. The method includes obtaining the ranging error of an acoustic device; setting a target origin and calibration points in a target area, and determining the spatial distance between the calibration points and the target origin; and determining an error relationship coefficient based on the ranging error and the spatial distance in terms of spatial dimensions. This application can perform targeted analysis of the error relationship coefficient of the target area in terms of spatial dimensions, thereby reducing the impact of ranging error on spatial positioning.

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 resolves the three-dimensional coordinates of the underwater nodes. However, due to the influence of various factors such as sound speed measurement error, receiver delay, and signal broadband form, the distances 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, and the method includes:

[0005] Obtain the ranging error of the acoustic device;

[0006] Set a target origin and calibration points in the target area, and determine the spatial distance between the calibration points and the target origin;

[0007] Based on the spatial dimension, use the ranging error and the spatial distance to determine the error relationship coefficient.

[0008] In an implementable manner, before obtaining the ranging error of the acoustic device, it further includes:

[0009] Obtain the target parameter data of the acoustic device;

[0010] Based on the target parameter data, determine the sound propagation path of the acoustic device;

[0011] Obtain the sound speed profile data of the target area;

[0012] Based on the sound speed profile data and the sound propagation path, determine the target slant range value; the target slant range value is used to characterize the distance range that can be calibrated.

[0013] In an implementable manner, obtaining the ranging error of the acoustic device includes:

[0014] Based on the target slant range value, determine the area range;

[0015] Set ranging calibration points at a preset distance within the area range, and obtain the true distance between the ranging calibration points;

[0016] Obtain the measured distance between the ranging calibration points by using the acoustic device;

[0017] Based on the true distance and the measured distance, obtain the ranging error.

[0018] In an implementable manner, set a target origin and calibration points in the target area, and determine the spatial distance between the calibration points and the target origin, including:

[0019] Set a target origin in the target area;

[0020] Based on the target origin, obtain the calibration point coordinates;

[0021] Based on the calibration point coordinates, determine the spatial distance between the target origin and the calibration points.

[0022] In an implementable manner, the determining the error relationship coefficient by using the ranging error and the spatial distance based on the spatial dimension includes:

[0023] Based on the first relationship formula of the spatial distance, obtain a system of equations for the error relationship of the ranging error in the spatial dimension;

[0024] Based on the system of equations, obtain the relationship coefficient between the spatial distance and the distance measurement error.

[0025] In an implementable manner, the setting the target origin in the target area includes:

[0026] Based on the pattern formed by multiple calibration points, set the position of the target origin in the target area.

[0027] In an implementable manner, the spatial dimension includes a single dimension, a horizontal plane dimension, and a three-dimensional space dimension.

[0028] In an implementable manner, the determining the error relationship coefficient by using the ranging error and the spatial distance based on the spatial dimension includes:

[0029] 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;

[0030] 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;

[0031] 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.

[0032] According to the second aspect of the present application, there is provided a data processing device, and the device includes:

[0033] An acquisition module, configured to acquire the ranging error of an acoustic device;

[0034] A first determination module, configured to set a target origin and a calibration point within a target area, and determine the spatial distance between the calibration point and the target origin;

[0035] A second determination module, configured to determine an error relationship coefficient based on the ranging error and the spatial distance by using a spatial dimension.

[0036] According to a third aspect of the present application, there is provided an electronic device, including:

[0037] At least one processor; and

[0038] A memory communicatively connected to the at least one processor; wherein,

[0039] 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 the present application.

[0040] 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 a computer to execute the method described in the present application.

[0041] For the data processing method, device and equipment of the present application, the present application first acquires the ranging error of an acoustic device, sets a target origin and a calibration point within a target area where operations are required, and determines the target origin and the calibration point.

[0042] 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 understandable through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] By referring to the drawings and reading the following detailed description, the above and other purposes, features and advantages of the exemplary embodiments of the present application will become easily understandable. In the drawings, several embodiments of the present application are shown in an exemplary rather than restrictive manner, wherein:

[0044] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts.

[0045] Figure 1 Shows a schematic implementation flow diagram of the data processing method according to the embodiment of the present application;

[0046] Figure 2 Shows an intuitive diagram of the error relationship coefficient of Solution 1 in the embodiment of the present application;

[0047] Figure 3 Shows the distribution diagram of the error relationship coefficient of Embodiment Scheme 1 of the present application;

[0048] Figure 4 Shows the intuitive diagram of the error relationship coefficient of Scheme 2 in the embodiment of the present application;

[0049] Figure 5 Shows the distribution diagram of the error relationship coefficient of Embodiment Scheme 2 of the present application;

[0050] Figure 6 Shows the structural schematic diagram of the data processing device in the embodiment of the present application;

[0051] Figure 7 Shows the composition structural schematic diagram of an electronic device in the embodiment of the present application. Detailed implementation manners

[0052] To make the objectives, features, and advantages of the present application more obvious and understandable, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present application.

[0053] The calibration of an underwater node means that after the node is placed on the seabed, acoustic equipment is carried by a ship on the sea surface to measure distances at multiple points to locate its absolute position. However, due to the existence of factors such as the signal broadband form, the sound speed measurement error, and the receiver delay, it is impossible to accurately measure the distance between each calibration point and the underwater node, thus causing spatial positioning errors. Selecting a better combination of calibration positions can reduce the influence caused by the ranging error. In the related art, 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.

[0054] The present application proposes a data processing method, which can provide multi-dimensional perspective selection analysis according to actual needs, and can also select analysis according to the error coefficient situation of sensitive areas.

[0055] The following introduces a data processing method, device, and equipment provided by the present application with reference to the accompanying drawings.

[0056] As Figure 1 shown, the present application provides a data processing method, and the method includes:

[0057] S101, obtaining the ranging error of the acoustic equipment;

[0058] The acoustic device in this application can be carried by a ship to perform multi-point ranging on the sea surface to locate the absolute position of nodes. Among them, the acoustic device has a ranging error, and the ranging error of the acoustic device can be determined by the Monte Carlo method for statistical ranging. 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 device.

[0059] S102. Set a target origin and calibration points in the target area, and determine the spatial distance between the calibration points and the target origin;

[0060] 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.

[0061] 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...

[0062] S103. Based on the spatial dimension, use the ranging error and the spatial distance to determine the error relationship coefficient.

[0063] Specifically, according to the relational expression of the spatial distance r i , a partial differential equation system of the ranging error dr with respect to the solution errors of the three dimensions of x, y, and z can be obtained, so that the relationship coefficient between the spatial positioning error and the ranging error can be finally obtained according to the spatial relationship.

[0064] The data processing method provided in this application first obtains the ranging error of the acoustic device, then sets a target origin and calibration points in the target area to determine the spatial distance between the calibration points and the target origin. Finally, based on the spatial dimension, it uses the ranging error and the spatial distance to determine the error relationship coefficient. This application can perform targeted analysis of the error relationship coefficient of the target area based on the spatial dimension, thereby reducing the influence of the ranging error on spatial positioning.

[0065] In some embodiments, before obtaining the ranging error of the acoustic device, it further includes:

[0066] Obtain the target parameter data of the acoustic device;

[0067] Based on the target parameter data, determine the sound propagation path of the acoustic device;

[0068] Obtain the sound speed profile data of the target area;

[0069] Based on the sound speed profile data and the sound propagation path, determine the target slant range value; the target slant range value is used to characterize the distance range that can be calibrated.

[0070] It is understandable that the target parameter data in this application can be parameters such as sound source level, signal frequency, detection threshold, etc., and can also include other parameter data, which is not limited in this application. In this application, the maximum sound path L of sound ray propagation can be calculated through the target parameter data by using the existing technology. For example, in this application, the sonar formula can be used in combination with propagation loss analysis to calculate the maximum sound path L of sound ray propagation. The sound path of sound ray propagation refers to the path length of sound wave propagation in the medium, that is, the total distance that the sound ray travels from the sound source, reaches a certain point and then reflects back.

[0071] 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 sound ray propagation and the operation depth, the target slant range value can be calculated by using the sound ray inversion technology. It is understandable that the target slant range value is the maximum effective slant range value. According to the effective slant range value the effective working range R of the calibration unit is obtained.

[0072] After determining the distance range that can be calibrated, calibration is performed within the distance range.

[0073] In some embodiments, obtaining the ranging error of the acoustic device includes:

[0074] Based on the target slant range value, determine the area range;

[0075] Set ranging calibration points at preset distances within the area range, and obtain the true distance between the ranging calibration points;

[0076] Use the acoustic device to obtain the measured distance between the ranging calibration points;

[0077] Based on the true distance and the measured distance, obtain the ranging error.

[0078] It is understandable that the acoustic device includes a transmitting end and a receiving end. After determining the area range in this application, ranging calibration points are set at fixed distances within the area 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, by using the difference between the true distance and the measured distance, the ranging error dr can be obtained.

[0079] In some embodiments, 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:

[0080] Set a target origin within the target area;

[0081] Based on the target origin, obtain the calibration point coordinates;

[0082] Based on the coordinates of the calibration points, determine the spatial distance between the target origin and the calibration points.

[0083] It can be understood that there can be multiple calibration points in this application. First, a target origin is set in this application, with coordinates (X, Y, Z), so that the coordinates of the calibration points can be (X i -X, Y i -Y, Z i -Z).

[0084] The spatial distance between the target origin and the calibration points can be calculated in the following manner

[0085]

[0086] r i is the spatial distance between the calibration point and the target origin.

[0087] In some embodiments, the determining the error relationship coefficient based on the ranging error and the spatial distance using the spatial dimension includes:

[0088] Based on the first relational expression of the spatial distance, obtain a system of equations for the error relationship of the ranging error in the spatial dimension;

[0089] Based on the system of equations, obtain the relationship coefficient between the spatial distance and the distance measurement error.

[0090] Specifically, according to the relational expression of the distance r, obtain a system of partial differential equations for the solution error relationship of the distance measurement error dr with respect to the solution errors in the three dimensions of x, y, and z:

[0091]

[0092] That is:

[0093]

[0094] Since (x, y, z) is the target origin and the position of the calibration point is also known, the relationship between dr and dx, dy, and dz can be obtained, that is, the relationship between the solution error amount in each dimension and the distance measurement error amount. Based on the spatial relationship, the relationship coefficient between the spatial positioning error and the distance measurement error can finally be obtained from the solution errors in the three dimensions.

[0095] In some embodiments, the setting of the target origin in the target area includes:

[0096] Based on the pattern formed by multiple calibration points, set the position of the target origin in the target area.

[0097] In this application, there can be multiple calibration points. According to the actual needs of the operation, that is, a suitable step size is selected in the target area to traverse and calculate the effective working range space R to obtain the relative positioning error distribution of the entire space.

[0098] For example, when there are five calibration points, one of them can be used as the geometric center, and the remaining four calibration points can be used to analyze the ranging error amplification factor at a depth of 2 km using a square calibration scheme with a side length of 2 km. Alternatively, the five calibration points can be used to analyze the ranging error amplification factor at a depth of 2 km using a regular pentagon with a side length of 2 km.

[0099] In some embodiments, the spatial dimensions include a single dimension, a horizontal plane dimension, and a three-dimensional spatial dimension.

[0100] In some embodiments, determining an error relationship coefficient based on a spatial dimension using the ranging error and the spatial distance includes:

[0101] When the spatial dimension is a single dimension, analyzing the relationship coefficient between the ranging error and the horizontal, longitudinal or vertical direction of the spatial distance;

[0102] When the spatial dimension is a horizontal plane dimension, analyzing the relationship coefficients between the ranging error and the horizontal and vertical directions of the spatial distance;

[0103] When the spatial dimension is a three-dimensional spatial dimension, the relationship coefficients between the ranging error and the spatial distance in the horizontal, longitudinal and vertical directions are analyzed.

[0104] According to the actual engineering needs, you can flexibly select the best from multiple perspectives, such as single dimension, horizontal plane and overall three-dimensional space. If you are mainly concerned about the relative accuracy of a single dimension, you can analyze the relationship coefficient between the ranging error dr and one of dx, dy or dz separately; if you only care about the relative accuracy on the horizontal plane and are not sensitive to the depth dimension, you can analyze the relationship between the ranging error dr and If we focus on the relative accuracy in three-dimensional space, we can analyze the relationship between the ranging error dr and In addition, if you only care about the relative accuracy of a small area in the space, you can limit the traversal space to the specific area of interest and use the above method to perform targeted analysis and selection according to your needs.

[0105] As a specific example, a positioning system with five underwater beacons is deployed at a depth of 2km on the seabed. Analysis shows that the target slant range, or effective range, is approximately 10km, and the measured ranging error is approximately 1m. Two deployment plans are available: the first is to use one beacon as the geometric center, and the remaining four beacons are arranged in a square formation with a side length of 3.365km, covering an area of 25 square kilometers. The second is to arrange the five beacons in a regular pentagonal formation, covering an area of 25 square kilometers. The system primarily focuses on positioning accuracy within the 100m underwater plane, and analyzes and selects these separately.

[0106] Specifically, plan 1: Figure 2 As shown, with beacon 5 as the geometric center, the other four beacons are arranged in a square formation with a side length of 3.365 km and a distance of 25 km. 2 The array is arranged at a depth of 2km on the seabed.

[0107] Taking beacon 5 as the coordinate origin, the horizontal positioning accuracy on the 100m underwater plane in a 10km×10km area with the coordinate origin as the center is investigated, and the ranging error dr is compared with The correlation coefficient is used as the basis for investigation.

[0108] like Figure 3 As shown in the figure, the minimum horizontal error coefficient value in the investigation area is 1.2560, and the maximum value is 5.6947; that is, under this condition, the theoretical minimum horizontal positioning error is about 1×1.256m, and the maximum is about 1×5.6947m.

[0109] Option 2: If Figure 4 As shown, 5 beacons are arranged in a regular pentagonal formation at a distance of 25 km. 2 The array is arranged at a depth of 2 km on the seabed. The geometric center of the array is taken as the coordinate origin. The horizontal positioning accuracy on the 100m underwater plane in the 10km×10km area with the coordinate origin as the center is investigated. The correlation coefficient is used as the basis for investigation.

[0110] like Figure 5 As shown, 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 1×4.8663m, and the maximum is about 1×4.8663m.

[0111] From the comparative analysis of the two schemes, it can be seen that under the same side length or array range, the regular pentagonal array structure of Scheme 2 has a smaller horizontal error relationship coefficient than the square plus geometric center array structure of Scheme 1, that is, it has more accurate horizontal positioning accuracy. Under the requirements of this project, the array form of Scheme 2 should be selected.

[0112] As shown Figure 6 in the figure, the present application provides a data processing device, which includes:

[0113] An acquisition module 601, configured to acquire the ranging error of an acoustic device;

[0114] 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;

[0115] A second determination module 603, configured to determine an error relationship coefficient based on the ranging error and the spatial distance by using the spatial dimension.

[0116] For the data processing device provided by the present application, the acquisition module 601 acquires the ranging error of the acoustic device; 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 relationship coefficient based on the ranging error and the spatial distance by using the spatial dimension.

[0117] 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.

[0118] The embodiments of the present application provide an electronic device, which includes:

[0119] At least one processor; and

[0120] A memory communicatively connected to the at least one processor; wherein,

[0121] 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.

[0122] The embodiments of the present application provide a non-transitory computer-readable storage medium storing computer instructions, wherein the computer instructions are used to cause a computer to execute the method described in any of the foregoing embodiments.

[0123] According to the embodiments of the present application, the present application further provides an electronic device and a readable storage medium.

[0124] Figure 7FIG. 0 shows a schematic block diagram of an exemplary electronic device 800 that may be used to implement embodiments of the present application. The electronic device is intended to represent various forms of digital computers, such as, for example, laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as, for example, personal digital processors, cellular telephones, smart phones, wearable devices, 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.

[0125] As Figure 7 shown, the device 800 includes a computing unit 801 that can perform various appropriate actions and processes in accordance with 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.

[0126] 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.

[0127] 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 tangibly embodied 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 by any other suitable means (e.g., by means of firmware).

[0128] The 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: 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 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.

[0129] The program code for implementing the methods of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a 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 an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0130] 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.

[0131] 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).

[0132] 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.

[0133] 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.

[0134] 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.

[0135] 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 such feature. In the description of the present application, "a plurality of" means two or more, unless otherwise specifically defined.

[0136] 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 by 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 claimed rights.

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 of 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 of 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 of 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, characterized in that 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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