Vehicle-mounted antenna three-dimensional coordinate measuring system and method and medium

Abstract

The invention relates to the technical field of whole vehicle antenna testing, in particular to a vehicle-mounted antenna three-dimensional coordinate measuring system and method and a medium. The vehicle-mounted antenna three-dimensional coordinate measuring system comprises a plurality of base stations, a signal transmitting module and a control terminal device. The signal transmitting module is located at the position of the vehicle-mounted antenna. The control terminal device responds to a measurement request of a user and sends a signal emission instruction to the signal emission module. The signal emission module receives the signal emission instruction and sends positioning signals to the plurality of base stations according to the signal emission instruction. And the plurality of base stations receive the positioning signals, determine the signal propagation time, and send the signal propagation time to the control terminal equipment. And the terminal equipment is controlled to receive the propagation time of each signal, and the three-dimensional coordinate of the signal transmitting module in the measurement space is determined according to the propagation time of each signal, so that the rapid, automatic and high-precision measurement of the spatial position of the vehicle-mounted antenna in the actual whole vehicle carrying state is realized, and the accuracy and repeatability of the vehicle-mounted antenna test are effectively improved.

Description

TECHNICAL FIELD

[0001] The present specification relates to the technical field of whole vehicle antenna test, and in particular to a vehicle-mounted antenna three-dimensional coordinate measurement system, method and medium. BACKGROUND

[0002] At present, with the rapid development of communication technology, the demand for high-performance antennas is increasing, which puts higher requirements on antenna test technology. Antenna test is a key process to evaluate the effectiveness of antennas when transmitting and receiving wireless signals. In antenna measurement technology, far-field measurement is difficult to meet the testing needs of complex structures and large-scale antennas due to the limitations of measurement distance and electromagnetic environment, so near-field measurement technology, especially the most accurate spherical near-field measurement technology, is increasingly valued by researchers.

[0003] In spherical near-field testing, to accurately obtain the far-field radiation pattern, the probe antenna (used to receive the signal emitted by the antenna under test) should be scanned around the phase center of the antenna under test. If the phase center is not accurately located or not used as the scanning reference point, errors may be introduced in the near-far-field transformation data processing process, ultimately affecting the accuracy of the measurement results. Therefore, before performing spherical near-field measurement, the phase center of the antenna under test must be determined as accurately as possible.

[0004] However, with the continuous evolution of new energy vehicle design concepts and vehicle body structures, traditional external shark fin antennas are gradually replaced by highly integrated concealed antennas. Such antennas are often embedded in invisible areas such as vehicle window glass, instrument panel interior, or roof lining, making it difficult to accurately calibrate the positional relationship between the antenna phase center and the center of the test system in the whole vehicle environment. Currently, antenna position is mainly measured manually or estimated visually, which is greatly influenced by personnel experience and lacks a unified and objective positioning method.

[0005] Therefore, the present specification provides a vehicle-mounted antenna three-dimensional coordinate measurement system, method and medium. SUMMARY

[0006] The present specification provides a vehicle-mounted antenna three-dimensional coordinate measurement system, method and medium to partially solve the above problems existing in the prior art.

[0007] The present specification adopts the following technical solutions:

[0008] The present specification provides a vehicle-mounted antenna three-dimensional coordinate measurement system, which includes a plurality of base stations, a signal transmission module and a control terminal device; the plurality of base stations, the signal transmission module and the control terminal device are communicatively connected to each other and are located in a measurement space that has been pre-set; in use, the signal transmission module is located at the position of the vehicle-mounted antenna; wherein:

[0009] The control terminal device is configured to respond to a measurement request of a user and send a signal transmission instruction to the signal transmission module according to the measurement request.

[0010] The signal transmission module is configured to receive the signal transmission instruction and send a positioning signal to the plurality of base stations according to the signal transmission instruction.

[0011] The plurality of base stations are configured to receive the positioning signal and determine the signal propagation time, and send the signal propagation time to the control terminal device.

[0012] The control terminal device is further configured to receive the signal propagation time and determine the three-dimensional coordinates of the signal transmission module in the measurement space according to the signal propagation time, so as to determine the phase center of the vehicle-mounted antenna according to the three-dimensional coordinates.

[0013] According to the above technical means, through the interaction between the signal transmission module and the base station, the spatial position of the vehicle-mounted antenna in the actual whole vehicle mounting state is quickly, automatically and accurately measured, the accuracy and repeatability of the vehicle-mounted antenna test are effectively improved, the dependence on manual experience to position the antenna position is avoided, the system has good portability, and is suitable for multiple vehicle models and multiple platform measurement scenes.

[0014] Further, the number of base stations in the measurement space is four.

[0015] Further, the control terminal device comprises a data processing module.

[0016] Further, the data processing module is configured to receive the signal propagation time, and calculate the three-dimensional coordinates of the signal transmission module in the measurement space according to the time of arrival algorithm.

[0017] Further, the data processing module is configured to receive the signal propagation time, calculate the initial three-dimensional coordinates of the signal transmission module in the measurement space according to the time of arrival algorithm, replace the vertical axis coordinates in the initial three-dimensional coordinates with preset vertical axis coordinates to determine intermediate three-dimensional coordinates, input the intermediate three-dimensional coordinates into a trained coordinate prediction model to obtain predicted three-dimensional coordinates output by the coordinate prediction model, judge whether the predicted three-dimensional coordinates meet a preset condition, if yes, take the predicted three-dimensional coordinates as the three-dimensional coordinates of the signal transmission module in the measurement space, and if not, input the predicted three-dimensional coordinates into the coordinate prediction model until the predicted three-dimensional coordinates output by the coordinate prediction model meet the preset condition.

[0018] Based on the aforementioned technical methods, the position of the vehicle-mounted antenna can be initially calculated using the time-of-arrival algorithm. Furthermore, a specially trained coordinate prediction model iteratively optimizes the vertical axis coordinates of the vehicle-mounted antenna's three-dimensional coordinates until the optimized three-dimensional coordinates meet a preset stopping condition. This solves the problem of insufficient accuracy in the vertical axis coordinates calculated by the time-of-arrival algorithm, achieving high-precision measurement of the vehicle-mounted antenna's spatial position.

[0019] Furthermore, the multiple base stations are ultra-wideband terrestrial base stations; the signal transmission module is an ultra-wideband positioning tag.

[0020] This specification provides a method for measuring the three-dimensional coordinates of a vehicle-mounted antenna. The method is applied to the control terminal equipment in a three-dimensional coordinate measurement system for a vehicle-mounted antenna and includes the following steps:

[0021] In response to a user's measurement request, a signal transmission command is sent to the signal transmission module according to the measurement request, so that the signal transmission module sends positioning signals to multiple base stations according to the signal transmission command;

[0022] The system receives the propagation times of each signal transmitted by the multiple base stations and determines the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation times of each signal, so as to determine the phase center of the vehicle-mounted antenna based on the three-dimensional coordinates.

[0023] Furthermore, determining the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal specifically includes:

[0024] Based on the arrival time algorithm and the propagation time of each signal, the three-dimensional coordinates of the signal transmitting module in the measurement space are calculated.

[0025] Furthermore, determining the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal specifically includes:

[0026] Based on the arrival time algorithm and the propagation time of each signal, the initial three-dimensional coordinates of the signal transmitting module in the measurement space are calculated;

[0027] The intermediate three-dimensional coordinates are determined by replacing the initial three-dimensional coordinates with preset vertical axis coordinates.

[0028] The intermediate three-dimensional coordinates are input into the trained coordinate prediction model to obtain the predicted three-dimensional coordinates output by the coordinate prediction model.

[0029] Determine whether the predicted three-dimensional coordinates meet the preset conditions;

[0030] If so, the predicted three-dimensional coordinates are used as the three-dimensional coordinates of the signal transmission module in the measurement space;

[0031] If not, the predicted 3D coordinates are input into the coordinate prediction model until the predicted 3D coordinates output by the coordinate prediction model meet the preset conditions.

[0032] This specification provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method for measuring the three-dimensional coordinates of a vehicle-mounted antenna.

[0033] The above-mentioned technical solutions adopted in this specification can achieve the following beneficial effects:

[0034] The vehicle-mounted antenna three-dimensional coordinate measurement system provided in this manual enables rapid, automatic, and high-precision measurement of the spatial position of the vehicle-mounted antenna in actual vehicle mounting conditions through the interaction between the signal transmission module and the base station. This effectively improves the accuracy and repeatability of vehicle-mounted antenna testing, avoids reliance on manual experience to locate the antenna position, has good system portability, and is suitable for measurement scenarios of multiple vehicle models and platforms. Attached Figure Description

[0035] The accompanying drawings, which are included to provide a further understanding of this specification and form part of this specification, illustrate exemplary embodiments and are used to explain this specification, but do not constitute an undue limitation thereof. In the drawings:

[0036] Figure 1 This is a schematic diagram of the structure of a vehicle-mounted antenna three-dimensional coordinate measurement system provided in the embodiments of this specification;

[0037] Figure 2 This is a schematic diagram of a two-dimensional positioning model provided in this specification;

[0038] Figure 3 This is a schematic diagram of a two-dimensional positioning model provided in this specification;

[0039] Figure 4 This is a schematic diagram of a method for measuring the three-dimensional coordinates of a vehicle-mounted antenna, as provided in this specification. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this specification clearer, the technical solutions of this specification will be clearly and completely described below in conjunction with specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this specification, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without creative effort are within the scope of protection of this application.

[0041] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0042] The technical solutions provided in the various embodiments of this specification are described in detail below with reference to the accompanying drawings.

[0043] Figure 1 This is a schematic diagram of a vehicle-mounted antenna three-dimensional coordinate measurement system provided in an embodiment of this specification. As shown in the figure, the system includes multiple base stations, a signal transmitting module, and a control terminal device. Multiple base stations are arranged around the vehicle. These base stations, the signal transmitting module, and the control terminal are interconnected and all located within a pre-configured measurement space. This measurement space can be a vehicle-wide anechoic chamber testing environment. Alternatively, to further avoid the influence of the control terminal device on the antenna position within the anechoic chamber, the control terminal device can be placed outside the anechoic chamber and communicate with the base stations and signal transmitting module via a concealed communication connection. When using this vehicle-mounted antenna three-dimensional coordinate measurement system, the signal transmitting module is fixed at the location of the vehicle-mounted antenna for easy antenna positioning.

[0044] In one or more embodiments of this specification, the control terminal device responds to a user's measurement request and sends a signal transmission command to the signal transmission module according to the measurement request. The user can be a tester performing vehicle antenna testing, who operates the control terminal device to send a signal transmission command to the signal transmission module, causing the signal transmission module to emit a positioning signal that allows a base station to locate the device.

[0045] Therefore, the signal transmission module can receive the signal transmission command sent by the control terminal device, and send the positioning signal to multiple base stations according to the signal transmission command.

[0046] Therefore, all these base stations will receive the positioning signal sent by the signal transmitting module, allowing each base station to calculate the signal propagation time of the received positioning signal. Furthermore, each base station sends its calculated signal propagation time to the control terminal equipment.

[0047] The control terminal device receives the signal propagation time from each base station and determines the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal. This three-dimensional coordinates are then used to determine the phase center of the vehicle-mounted antenna. It is worth noting that the three-dimensional coordinates of the vehicle-mounted antenna determined here represent its actual physical location in the measurement space. Using these three-dimensional coordinates, the probe can determine the phase center of the vehicle-mounted antenna during testing.

[0048] based on Figure 1 The vehicle-mounted antenna three-dimensional coordinate measurement system shown achieves rapid, automatic, and high-precision measurement of the spatial position of the vehicle-mounted antenna in the actual vehicle mounting state through the interaction between the signal transmission module and the base station. It effectively improves the accuracy and repeatability of vehicle-mounted antenna testing, avoids relying on manual experience to locate the antenna position, has good system portability, and is suitable for measurement scenarios of multiple vehicle models and multiple platforms.

[0049] In one or more embodiments of this specification, such as Figure 2 As shown, in a two-dimensional scene, if there are only two base stations, accurate positioning is impossible because these two base stations are necessarily collinear. Therefore, for a single signal transmission module to achieve positioning, it must have at least three base stations participating in the positioning process. Figure 2 Darker dots represent signal transmission modules, while lighter dots represent base stations. For example... Figure 2 As shown in model (1), if the three base stations are not collinear, the signal transmission module can successfully locate the target. Figure 3 As shown in the model (2), if the three base stations are collinear, the signal transmission module has two suspicious location information, and it is impossible to determine which one is the real location information, resulting in positioning failure.

[0050] Compared to two-dimensional scenes, in a three-dimensional scene, if there are only three base stations, these three base stations will inevitably be coplanar, making positioning impossible. Therefore, for a single signal transmitting module to achieve positioning, it must have at least four base stations participating in the positioning process. Figure 4 As shown, dark dots represent signal transmitting modules, and light dots represent base stations. In model (1), when the four base stations are not coplanar, a unique location information can be obtained, and the signal transmitting module can be successfully located. In model (2), because the four base stations are coplanar, there will be two suspicious location information, and it is impossible to determine which one is the true three-dimensional coordinate. In model (3), because the four base stations are collinear, there will be countless suspicious location information, distributed on the circumference of the circle in the figure, so it is impossible to achieve positioning.

[0051] Therefore, the number of base stations in the measurement space is four in this specification.

[0052] In one or more embodiments of this specification, the control terminal device includes a data processing module.

[0053] The data processing module can be used to receive the propagation time of each signal and, based on the Time of Arrival (TOA) algorithm, calculate the three-dimensional coordinates of the signal transmitting module in the measurement space using the propagation time of each signal.

[0054] Of course, in this specification, the data processing module can also be used to receive the propagation time of each signal, and calculate the initial three-dimensional coordinates (x, y, z) of the signal transmitting module in the measurement space using the time-of-arrival algorithm and the propagation time of each signal. Then, the preset vertical axis coordinate (z0) is used to replace the vertical axis coordinate in the initial three-dimensional coordinates to determine the intermediate three-dimensional coordinates (x, y, z0). The intermediate three-dimensional coordinates (x, y, z0) are input into the trained coordinate prediction model to obtain the predicted three-dimensional coordinates (x, y, z1) output by the coordinate prediction model. It is then determined whether the predicted three-dimensional coordinates (x, y, z1) meet the preset conditions. If yes, the predicted three-dimensional coordinates (x, y, z1) are used as the three-dimensional coordinates of the signal transmitting module in the measurement space. If not, the predicted three-dimensional coordinates (x, y, z1) are input into the coordinate prediction model until the predicted three-dimensional coordinates output by the coordinate prediction model meet the preset conditions.

[0055] The preset condition can be that the difference between the predicted 3D coordinates (x, y, z1) and the intermediate 3D coordinates (x, y, z0) is less than a preset value, or the difference reaches a convergence state. In either case, the coordinates output by the coordinate prediction model can be considered as the 3D coordinates of the vehicle-mounted antenna. Of course, this preset condition can also be that the predicted 3D coordinates (x, y, z1) and the 3D coordinates (x, y, z0) of each base station are different. i y i , z i The error matrix between the base stations reaches the preset value. Taking four base stations as an example, i = 1, 2, 3, 4.

[0056] The error matrix can be e(X):

[0057]

[0058] Therefore, the predicted 3D coordinates (x, y, z1) can be taken as X(x, y, z) above. It must be noted, however, that the vertical axis coordinate z1 of the predicted 3D coordinates is not necessarily the same as the vertical axis coordinate z1 of the 3D coordinates (x1, y1, z1) of one of the four base stations. The sequential use of numerical coordinates is for the convenience of describing the 3D coordinates of the four base stations, and also to avoid confusion with the x involved in the error matrix e(X) above. 1～4 y 1～4 , z 1～4Matching. When the solved three-dimensional coordinates of X (i.e. the predicted three-dimensional coordinates output by the coordinate prediction model) make the value of the error matrix e(X) approach 0 or reach the preset value, it can be considered that the predicted three-dimensional coordinates output by the coordinate prediction model have met the preset conditions.

[0059] It is worth noting that the intermediate three-dimensional coordinates input into this coordinate prediction model can be the initial three-dimensional coordinates calculated by the time-of-arrival algorithm. The initial three-dimensional coordinates can be directly used as the intermediate three-dimensional coordinates input into the coordinate prediction model.

[0060] The time-of-arrival algorithm can initially calculate the position of the vehicle-mounted antenna. Then, using a specially trained coordinate prediction model, the vertical axis coordinates of the vehicle-mounted antenna's three-dimensional coordinates are iteratively optimized until the optimized three-dimensional coordinates reach a preset stopping condition. This solves the problem of insufficient accuracy of the vertical axis coordinates calculated by the time-of-arrival algorithm, achieving high-precision measurement of the spatial position of the vehicle-mounted antenna.

[0061] In one or more embodiments of this specification, since the initial three-dimensional coordinates calculated using the TOA algorithm are reliable coordinates in the X-axis (horizontal axis) and Y-axis (vertical axis) directions, the coordinates in the Z-axis (vertical axis) direction are not necessarily reliable and are therefore discarded. A preset vertical axis coordinate can be used to replace the vertical axis coordinates of the initial three-dimensional coordinates to determine the three-dimensional coordinates to be optimized. Then, the one-dimensional Levenberg-Marquardt (LM) algorithm iteratively solves for the vertical axis coordinates in the three-dimensional coordinates to be optimized. The iteration terminates when the preset maximum number of iterations is reached or the iteration step size Δz reaches a preset threshold, thus determining the final solved three-dimensional coordinates. These final solved three-dimensional coordinates are then used as the three-dimensional coordinates of the signal transmission module in the measurement space.

[0062] The iteration step size Δz can be the difference between the vertical axis (Z-axis) coordinates calculated in two adjacent iterations, or it can be the predicted update value of the vertical axis (Z-axis) coordinates calculated by the LM algorithm in one iteration of the LM algorithm.

[0063] In one or more embodiments of this specification, the multiple base stations included in the vehicle-mounted antenna three-dimensional coordinate measurement system may be ultra-wideband (UWB) ground base stations or portable UWB ground base stations, and the signal transmission module may be a UWB positioning tag.

[0064] This manual also provides a method for measuring the three-dimensional coordinates of a vehicle-mounted antenna, such as... Figure 4 As shown.

[0065] Figure 1This is a schematic diagram of a method for measuring the three-dimensional coordinates of a vehicle-mounted antenna, as provided in this specification. The method is applied to the control terminal equipment of a three-dimensional coordinate measurement system for a vehicle-mounted antenna and includes the following steps:

[0066] S41: Respond to the user's measurement request and send a signal transmission command to the signal transmission module according to the measurement request, so that the signal transmission module sends positioning signals to multiple base stations according to the signal transmission command.

[0067] In one or more embodiments of this specification, the control terminal device responds to a user's measurement request and sends a signal transmission command to the signal transmission module according to the measurement request, so that the signal transmission module sends positioning signals to multiple base stations according to the signal transmission command. After receiving the signal transmission command, the multiple base stations can calculate the signal propagation time of the positioning signal, and each of the multiple base stations sends its calculated signal propagation time to the control terminal device.

[0068] S42: Receive the propagation time of each signal sent by the multiple base stations, and determine the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal, so as to determine the phase center of the vehicle antenna based on the three-dimensional coordinates.

[0069] In one or more embodiments of this specification, the control terminal receives the propagation time of each signal sent by multiple base stations, and determines the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal, so as to determine the phase center of the vehicle-mounted antenna based on the three-dimensional coordinates.

[0070] The contents of steps S41 to S42 above can be found in the description of the vehicle-mounted antenna three-dimensional coordinate measurement system, and will not be repeated here.

[0071] This specification also provides a computer-readable storage medium storing a computer program that can be used to execute the above-described... ​ A method for measuring the three-dimensional coordinates of a vehicle-mounted antenna is provided.

[0072] Of course, in addition to software implementation, this specification does not exclude other implementation methods, such as logic devices or a combination of hardware and software. In other words, the execution subject of the following processing flow is not limited to each logic unit, but can also be hardware or logic devices.

[0073] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0074] The above description is merely an embodiment of this specification and is not intended to limit this specification. Various modifications and variations can be made to this specification by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of the claims of this specification.

Claims

1. A three-dimensional coordinate measurement system for a vehicle-mounted antenna, characterized in that, It includes multiple base stations, a signal transmitting module, and a control terminal device; the multiple base stations, the signal transmitting module, and the control terminal device are interconnected and all located within a pre-defined measurement space; in use, the signal transmitting module is located at the position of the vehicle-mounted antenna; wherein: The control terminal device is used to respond to the user's measurement request and send a signal transmission command to the signal transmission module according to the measurement request; The signal transmitting module is used to receive the signal transmitting command and send positioning signals to the plurality of base stations according to the signal transmitting command; The plurality of base stations are used to receive the positioning signals and determine the propagation time of each signal; and send the propagation time of each signal to the control terminal device; The control terminal equipment is also used to receive the propagation time of each signal and determine the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal, so as to determine the phase center of the vehicle-mounted antenna based on the three-dimensional coordinates.

2. The vehicle-mounted antenna three-dimensional coordinate measurement system as described in claim 1, characterized in that, The measurement space contains four base stations.

3. A three-dimensional coordinate measurement system for a vehicle-mounted antenna as described in claim 1 or 2, characterized in that, The control terminal device includes a data processing module.

4. The vehicle-mounted antenna three-dimensional coordinate measurement system as described in claim 3, characterized in that, The data processing module is used to receive the propagation time of each signal and calculate the three-dimensional coordinates of the signal transmitting module in the measurement space according to the arrival time algorithm.

5. The vehicle-mounted antenna three-dimensional coordinate measurement system as described in claim 3, characterized in that, The data processing module receives the propagation time of each signal and calculates the initial three-dimensional coordinates of the signal transmitting module in the measurement space according to the time-of-arrival algorithm. It then replaces the vertical axis coordinates in the initial three-dimensional coordinates with preset vertical axis coordinates to determine intermediate three-dimensional coordinates. These intermediate three-dimensional coordinates are input into a pre-trained coordinate prediction model to obtain the predicted three-dimensional coordinates output by the model. The module then determines whether the predicted three-dimensional coordinates meet preset conditions. If yes, the predicted three-dimensional coordinates are used as the three-dimensional coordinates of the signal transmitting module in the measurement space. If not, the predicted three-dimensional coordinates are input into the coordinate prediction model until the predicted three-dimensional coordinates output by the model meet the preset conditions.

6. The vehicle-mounted antenna three-dimensional coordinate measurement system as described in claim 1, characterized in that, The multiple base stations are ultra-wideband terrestrial base stations; the signal transmission module is an ultra-wideband positioning tag.

7. A method for measuring the three-dimensional coordinates of a vehicle-mounted antenna, characterized in that, The method is applied to the control terminal equipment of a vehicle-mounted antenna three-dimensional coordinate measurement system, and includes the following steps: In response to a user's measurement request, a signal transmission command is sent to the signal transmission module according to the measurement request, so that the signal transmission module sends positioning signals to multiple base stations according to the signal transmission command; The system receives the propagation times of each signal transmitted by the multiple base stations and determines the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation times of each signal, so as to determine the phase center of the vehicle-mounted antenna based on the three-dimensional coordinates.

8. The method for measuring the three-dimensional coordinates of a vehicle-mounted antenna as described in claim 7, characterized in that, Determining the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal specifically includes: Based on the arrival time algorithm and the propagation time of each signal, the three-dimensional coordinates of the signal transmitting module in the measurement space are calculated.

9. The method for measuring the three-dimensional coordinates of a vehicle-mounted antenna as described in claim 7, characterized in that, Determining the three-dimensional coordinates of the signal transmitting module in the measurement space based on the propagation time of each signal specifically includes: Based on the arrival time algorithm and the propagation time of each signal, the initial three-dimensional coordinates of the signal transmitting module in the measurement space are calculated; The intermediate three-dimensional coordinates are determined by replacing the initial three-dimensional coordinates with preset vertical axis coordinates. The intermediate three-dimensional coordinates are input into the trained coordinate prediction model to obtain the predicted three-dimensional coordinates output by the coordinate prediction model. Determine whether the predicted three-dimensional coordinates meet the preset conditions; If so, the predicted three-dimensional coordinates are used as the three-dimensional coordinates of the signal transmission module in the measurement space; If not, the predicted 3D coordinates are input into the coordinate prediction model until the predicted 3D coordinates output by the coordinate prediction model meet the preset conditions.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the method described in any one of claims 7 to 9.

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