RDSS bidirectional zero-value automatic calibration method, apparatus, receiver and storage medium

Abstract

This application provides an RDSS bidirectional zero-value automatic calibration method, apparatus, receiver, and storage medium. The method includes: determining the zero-value adjustment amount based on the change in the test standard location point and at least two consecutive positioning errors, so that the bidirectional zero value gradually converges to a calibration value that meets preset convergence conditions during closed-loop iterative adjustment and positioning verification, and then saving the calibration value for subsequent positioning by the receiver. This solves the problems of existing technologies requiring manual parameter adjustment, low calibration efficiency, and difficulty in achieving stable convergence of positioning errors under conditions such as changes in RF link parameters, installation, inventory, and relocation.

Description

Technical Field

[0001] This application relates to the field of RDSS receiver zero-value calibration technology, specifically to an RDSS bidirectional automatic zero-value calibration method, apparatus, receiver, and storage medium. Background Technology

[0002] Existing RDSS receivers typically have bidirectional zero values ​​written at the factory, and subsequent positioning calculations directly use these zero values ​​as link delay compensation parameters. Under ideal conditions, the factory-written zero values ​​can control positioning errors within a small range. However, after equipment assembly, RF cable replacement, antenna position changes, long-term storage aging, transportation vibrations, and changes in usage location, the RF link group delay, internal processing delay, propagation path conditions, and satellite geometry may all change, leading to a mismatch between the original zero value and the actual offset, resulting in systematic positioning deviations. Current field maintenance methods mostly rely on manual calibration: repeatedly initiating positioning at known coordinate points, observing error changes, manually selecting addition or subtraction directions and adjusting the zero value, and re-positioning for verification until the error meets an empirical threshold. This process requires experienced personnel, is cumbersome and time-consuming, and different personnel may have inconsistent adjustment strategies, easily leading to problems such as incorrect direction judgment, overshoot due to excessive step size, and slow convergence due to excessive step size. Summary of the Invention

[0003] The purpose of this application is to provide an RDSS bidirectional zero-value automatic calibration method, apparatus, receiver, and storage medium.

[0004] To achieve the above objectives, the first aspect of this application provides a method for automatic bidirectional zero-value calibration of RDSS, the method comprising:

[0005] With the receiver located at the test standard location point, obtain the ingress frequency point corresponding to the receiver and the initial bidirectional zero value corresponding to the ingress frequency point;

[0006] The initial bidirectional zero value is used for the first positioning, and the positioning error between the first positioning result and the test standard position point is obtained.

[0007] The initial bidirectional zero value is adjusted based on the positioning error of the first positioning, and positioning is performed again to obtain the positioning error between the second positioning result and the test standard position point.

[0008] The zero-value adjustment amount for the receiver is determined based on at least two consecutive positioning errors;

[0009] The current bidirectional zero value is iteratively adjusted and the positioning is verified based on the zero value adjustment amount until the new positioning error meets the preset convergence condition. Then, the bidirectional zero value that meets the convergence condition is saved and used as the calibration value for subsequent positioning of the receiver.

[0010] In this embodiment of the application, after determining the zero value adjustment amount, if the zero value adjustment amount is positive, the zero value adjustment amount is subtracted from the initial bidirectional zero value;

[0011] If the zero adjustment is negative, the zero adjustment is added to the initial bidirectional zero value.

[0012] In this embodiment of the application, if the positioning error between the first positioning result and the test standard location point is less than the target positioning accuracy threshold for a preset number of consecutive preset times, it is determined that the preset convergence condition is met.

[0013] In this embodiment of the application, the method further includes:

[0014] When iteratively adjusting the current bidirectional zero value based on the zero value adjustment amount, if the number of iterations is greater than the preset number of iterations, the initial bidirectional zero value is saved and used as the calibration value for subsequent positioning by the receiver.

[0015] In this embodiment, the zero-value adjustment amount is determined based on the ratio of the positioning error to the preset distance conversion coefficient.

[0016] A second aspect of this application provides an RDSS bidirectional zero-value automatic calibration device, the device comprising:

[0017] The data acquisition module is used to acquire the entry frequency point corresponding to the receiver and the initial bidirectional zero value corresponding to the entry frequency point when the receiver is located at the test standard location point.

[0018] The initial positioning error acquisition module is used to perform initial positioning based on the initial bidirectional zero value and obtain the positioning error between the first positioning result and the test standard position point;

[0019] The second positioning error acquisition module adjusts the initial bidirectional zero value based on the positioning error of the first positioning and performs positioning again to obtain the positioning error between the second positioning result and the test standard position point.

[0020] The zero-value adjustment determination module is used to determine the zero-value adjustment for the receiver based on at least two consecutive positioning errors;

[0021] The adjustment module is used to iteratively adjust and verify the current bidirectional zero value based on the zero value adjustment amount until the new positioning error meets the preset convergence condition. Then, the bidirectional zero value that meets the convergence condition is saved and used as the calibration value for subsequent positioning of the receiver.

[0022] In this embodiment of the application, after determining the zero value adjustment amount, if the zero value adjustment amount is positive, the zero value adjustment amount is subtracted from the initial bidirectional zero value;

[0023] If the zero adjustment is negative, the zero adjustment is added to the initial bidirectional zero value.

[0024] In this embodiment of the application, if the positioning error between the first positioning result and the test standard location point is less than the target positioning accuracy threshold for a preset number of consecutive preset times, it is determined that the preset convergence condition is met.

[0025] A third aspect of this application provides a receiver including an RDSS bidirectional zero-value automatic calibration device.

[0026] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the RDSS bidirectional zero-value automatic calibration method.

[0027] By determining the zero-value adjustment amount based on the test standard location point and the change of positioning error in at least two consecutive tests, the bidirectional zero value gradually converges to the calibration value that meets the preset convergence condition during the closed-loop iterative adjustment and positioning verification process. This calibration value is then saved for subsequent positioning by the receiver, solving the problems of existing technologies requiring manual parameter adjustment, low calibration efficiency, and difficulty in achieving stable convergence of positioning errors under conditions such as changes in RF link parameters, installation, inventory, and relocation.

[0028] Other features and advantages of the embodiments of this application will be described in detail in the following detailed description section. Attached Figure Description

[0029] The accompanying drawings are provided to further illustrate the embodiments of this application and form part of the specification. They are used together with the following detailed description to explain the embodiments of this application, but do not constitute a limitation on the embodiments of this application. In the drawings:

[0030] Figure 1 A schematic flowchart of the RDSS bidirectional zero-value automatic calibration method according to an embodiment of this application is shown.

[0031] Figure 2 This illustration schematically shows a flowchart of the RDSS bidirectional zero-value automatic calibration method according to an embodiment of this application;

[0032] Figure 3 This schematic diagram illustrates the structural block diagram of an RDSS bidirectional zero-value automatic calibration device according to an embodiment of this application;

[0033] Figure 4 The diagram illustrates the internal structure of a computer device according to an embodiment of this application. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only for illustration and explanation of the embodiments of this application and are not intended to limit the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0035] Figure 1 A schematic flowchart illustrating the RDSS bidirectional zero-value automatic calibration method according to an embodiment of this application is shown. Figure 1 As shown in one embodiment of this application, an automatic RDSS bidirectional zero-value calibration method is provided, comprising the following steps:

[0036] Step 102: With the receiver located at the test standard location point, obtain the ingress frequency point corresponding to the receiver and the initial bidirectional zero value corresponding to the ingress frequency point;

[0037] Step 104: Perform initial positioning based on the initial bidirectional zero value, and obtain the positioning error between the first positioning result and the test standard position point;

[0038] Step 106: Adjust the initial bidirectional zero value based on the positioning error of the first positioning and perform positioning again to obtain the positioning error between the second positioning result and the test standard position point;

[0039] Step 108: Determine the zero-value adjustment amount for the receiver based on at least two consecutive positioning errors;

[0040] Step 110: Iteratively adjust and verify the current bidirectional zero value based on the zero value adjustment amount until the new positioning error meets the preset convergence condition. Then, save the bidirectional zero value that meets the convergence condition and use it as the calibration value for subsequent positioning of the receiver.

[0041] like Figure 2As shown, in one embodiment, the receiver is used to perform automatic RDSS bidirectional zero-value calibration. The receiver is placed at a test standard location point, whose longitude, latitude, and elevation are known and can be used as a true reference. The receiver first reads the inbound frequency point that matches its own configuration and reads the initial bidirectional zero value corresponding to that inbound frequency point from the storage unit. The initial bidirectional zero value is used to reflect the bidirectional ranging system deviation caused by factors such as the current RF link, device delay, and channel differences. If the device undergoes complete assembly, long-term storage, or changes in the usage location, the above factors may change, resulting in systematic positioning deviations. Therefore, automatic calibration needs to be performed at the standard location point to restore positioning accuracy. The receiver performs the first positioning based on the initial bidirectional zero value, obtains the first positioning result, and calculates the positioning error between the first positioning result and the test standard location point. Subsequently, the receiver adjusts the initial bidirectional zero value according to the positioning error obtained from the first positioning and performs positioning again to obtain the positioning error between the second positioning result and the test standard location point. By analyzing at least two consecutive positioning errors, the receiver can determine the direction and trend of improvement in positioning error caused by bidirectional zero-value adjustment, and thus determine the zero-value adjustment amount for the receiver. After determining the zero-value adjustment amount, the receiver performs iterative adjustment on the current bidirectional zero value, and performs positioning verification after each adjustment, continuously outputting positioning results and calculating the positioning error between the new positioning error and the test standard location point, until the new positioning error meets the preset convergence condition. The convergence condition can be set to have multiple consecutive positioning errors less than the target accuracy threshold, or a maximum number of iterations can be set to avoid invalid loops under abnormal environments. When the positioning error meets the convergence condition, the receiver writes the current bidirectional zero value into the storage unit and saves it as a calibration value. This calibration value is directly called when performing RDSS positioning at the same ingress frequency point, realizing automatic recovery and consistency assurance of positioning accuracy. This calibration method based on closed-loop iteration of standard location points can reduce the workload of manual adjustment and repeated testing, and quickly obtain usable bidirectional zero values ​​after changes in link parameters or usage location, so that the positioning error can be stably converged to the target accuracy range.

[0042] In one embodiment, after completing at least two positioning operations and obtaining at least two consecutive positioning errors, the receiver determines a zero-value adjustment based on the direction of change in the positioning error, and determines the update direction of the initial bidirectional zero value based on the sign of the zero-value adjustment. The zero-value adjustment characterizes the deviation of the current bidirectional zero value relative to the actual system bias. A positive zero-value adjustment indicates that the current bidirectional zero value causes an increase in positioning error in the corresponding direction. To converge the positioning error, the receiver subtracts the zero-value adjustment from the initial bidirectional zero value, thereby correcting the bidirectional zero value in the direction of error reduction. A negative zero-value adjustment indicates that the current bidirectional zero value has a deviation in the opposite direction. The receiver adds the zero-value adjustment to the initial bidirectional zero value to achieve reverse compensation for the bidirectional zero value. By associating the sign of the zero-value adjustment with the addition / subtraction update rule of the bidirectional zero value, the receiver can form a clear closed-loop control logic during automatic calibration, avoiding positioning error oscillations caused by incorrect update direction. This rule also facilitates the use of a unified data structure to store the zero-value adjustment during implementation, and enables the rapid correction from the initial bidirectional zero value to the calibrated bidirectional zero value under the same ingress frequency, providing stable data for subsequent iterative positioning verification.

[0043] In one embodiment, during automatic calibration, the receiver statistically judges the positioning error between each positioning result and the test standard location point, and uses a continuous judgment mechanism as the triggering basis for the convergence condition. After completing positioning based on the current bidirectional zero value, the receiver calculates the positioning error for this positioning and records the current positioning error and the previous positioning error in chronological order. When the positioning error is less than the target positioning accuracy threshold for a consecutive preset number of times, the receiver determines that the current bidirectional zero value has made the positioning error stably fall within the target accuracy range, thus determining that the preset convergence condition is met, and ending further iterative adjustment of the zero value. The consecutive preset number of times is used to prevent the influence of single positioning fluctuations on the calibration results. Since RDSS positioning may experience instantaneous error fluctuations under different electromagnetic environments, obstruction conditions, or multipath conditions, even if a positioning error is less than the target positioning accuracy threshold, it may be caused by accidental factors. Directly saving the bidirectional zero value may lead to subsequent positioning instability. By adopting the judgment method of consecutive preset number of times, the receiver can confirm the calibration success only when the error continues to converge and remain stable, improving the reliability of the bidirectional zero value as the calibration value. The target positioning accuracy threshold and the number of consecutive presets can be configured according to the application scenario. For example, the number of consecutives can be reduced to shorten the calibration time when the test environment is relatively stable, and the number of consecutives can be increased when the environmental disturbance is large.

[0044] In one embodiment, after obtaining at least two consecutive positioning errors and determining the zero-value update direction, the receiver calculates the zero-value adjustment amount using the distance-to-zero-value conversion relationship. The receiver acquires the positioning error between the current location and the test standard location point, uses this positioning error as the distance input, and combines it with a preset distance conversion coefficient to convert the distance into the amount that needs to be adjusted for the bidirectional zero value, thus obtaining the zero-value adjustment amount. The zero-value adjustment amount can be expressed as the ratio of the positioning error to the preset distance conversion coefficient, such that the larger the positioning error, the larger the calculated zero-value adjustment amount, so as to quickly reduce the error in the early stages of iteration; as the error gradually decreases, the zero-value adjustment amount also decreases, to improve the stability of the convergence phase and reduce the risk of overshoot. The preset distance conversion coefficient is used to characterize the equivalent propagation distance change corresponding to a unit change in bidirectional zero value, and its value can be determined based on the time resolution of the bidirectional zero value and the propagation speed of electromagnetic waves. For example, when the bidirectional zero value is stored in nanoseconds, the propagation distance corresponding to a nanosecond-level time offset is on the sub-meter level, and the preset distance conversion coefficient can be configured to a numerical range consistent with this equivalent distance. By calculating the zero-value adjustment amount based on the ratio of the positioning error to the preset distance conversion coefficient, the position error can be uniformly mapped to a bidirectional zero-value adjustment amount, enabling the receiver to achieve convergence speed under different hardware delay characteristics, different ingress frequencies, or different test environments.

[0045] In one embodiment, the test environment and input parameters are prepared before calibration begins. The receiver is placed at a standard positioning test location point, which is a known coordinate point that provides longitude, latitude, and elevation information as a true positioning reference. When the receiver is at this standard location point, it can calculate the positioning error by comparing the subsequent positioning output with the coordinates of the standard location point. The receiver confirms the inbound frequency point based on the user card type and reads the initial bidirectional zero value corresponding to that inbound frequency point from the memory. Different user card types correspond to different inbound frequency point configurations. Identifying the inbound frequency point by user card type ensures that the read initial bidirectional zero value is consistent with the current link configuration, avoiding abnormal positioning errors or calibration failures due to frequency mismatch. The initial bidirectional zero value is used as the starting parameter for calibration and provides the initial positioning calculation basis for the automatic calibration process. After reading the initial bidirectional zero value, the longitude, latitude, and elevation information of the standard location point, as well as the required positioning accuracy, are obtained. After the input is completed, the receiver executes an automatic calibration process, performs positioning based on the initial bidirectional zero value and calculates the positioning error, determines the zero value adjustment amount based on the continuous positioning error, and iteratively adjusts and verifies the bidirectional zero value until the positioning error meets the preset convergence condition or triggers the upper limit protection of the number of iterations.

[0046] In one embodiment, the receiver sets a positioning error limit for the initial bidirectional zero value. When the positioning error obtained based on the initial bidirectional zero value is greater than 30km, the receiver determines that the initial bidirectional zero value deviation is too large, which may lead to subsequent positioning failures or the inability to output valid positioning results, thereby affecting the continuity of the automatic testing process. In most cases, the initial bidirectional zero value written to the receiver at the factory can keep the positioning error within a small range, typically within 100m. Therefore, the above error limit is used for threshold protection in abnormal situations. The receiver sets an initial positioning offset for judging the trend of the initial positioning error. The initial positioning offset can be 300, corresponding to an equivalent distance of approximately 100m. This offset is only used to construct a comparative positioning after the initial positioning to determine the effective direction of the bidirectional zero value adjustment. The receiver calculates the zero value offset based on the positioning error. When the bidirectional zero value has nanosecond-level resolution, the electromagnetic wave propagation distance corresponding to 1ns is approximately 0.3m. The receiver compares the positioning error with the distance conversion factor to obtain the zero value offset, so that the positioning error can be mapped to the adjustment step size of the bidirectional zero value. In real-world environments, positioning errors fluctuate due to multipath interference, occlusion, and electromagnetic interference. A distance conversion factor ranging from 0.33 to 0.37 can be used to accelerate the convergence of positioning errors while ensuring stability. The target positioning accuracy is used as the convergence threshold, typically set to 15m to 20m. To limit process time, the receiver sets a maximum positioning count threshold; if the number of iterations exceeds 15, the iteration terminates and backoff protection is triggered. Normally, 6 to 10 positioning iterations are sufficient for calibration; therefore, this threshold covers abnormal scenarios and ensures a controllable end to the process. The receiver uses a continuous judgment method to confirm successful calibration. When the positioning error is less than the target positioning accuracy twice consecutively, the receiver determines that the convergence condition is met and saves the current bidirectional zero value.

[0047] In one embodiment, such as Figure 3 As shown, an RDSS bidirectional zero-value automatic calibration device is provided, including a data acquisition module, a first positioning error acquisition module, a second positioning error acquisition module, a zero-value adjustment determination module, and an adjustment module, wherein:

[0048] The data acquisition module 302 is used to acquire the entry frequency point corresponding to the receiver and the initial bidirectional zero value corresponding to the entry frequency point when the receiver is located at the test standard location point.

[0049] The initial positioning error acquisition module 304 is used to perform initial positioning based on the initial bidirectional zero value and obtain the positioning error between the first positioning result and the test standard position point.

[0050] The second positioning error acquisition module 306 adjusts the initial bidirectional zero value based on the positioning error of the first positioning and performs positioning again to obtain the positioning error between the second positioning result and the test standard position point.

[0051] Zero adjustment amount determination module 308 is used to determine the zero adjustment amount for the receiver based on at least two consecutive positioning errors;

[0052] The adjustment module 310 is used to iteratively adjust and verify the current bidirectional zero value based on the zero value adjustment amount until the new positioning error meets the preset convergence condition. Then, the bidirectional zero value that meets the convergence condition is saved and used as the calibration value for subsequent positioning of the receiver.

[0053] In one embodiment, the RDSS bidirectional zero-value automatic calibration device implements the bidirectional zero-value automatic calibration process in a modular manner. The device can be integrated into the receiver or executed by the processor as a software functional unit of the receiver. The device is used to perform closed-loop correction of the bidirectional zero value based on the known coordinates of the standard location point when the receiver is at the test standard location point, so that the positioning error converges to the target accuracy range, and saves the calibrated bidirectional zero value as the calibration value for subsequent positioning. The RDSS bidirectional zero-value automatic calibration device includes a data acquisition module, a first positioning error acquisition module, a second positioning error acquisition module, a zero-value adjustment determination module, and an adjustment module. When the receiver is at the test standard location point, the data acquisition module acquires the ingress frequency point corresponding to the receiver and reads the initial bidirectional zero value corresponding to that ingress frequency point. The ingress frequency point is used to distinguish different ingress link configurations, and the initial bidirectional zero value is used to characterize the system offset of the bidirectional ranging link at the current frequency point, providing initial parameters for subsequent positioning calculations. The first positioning error acquisition module performs the first positioning based on the initial bidirectional zero value, obtains the first positioning result, and calculates the positioning error between the first positioning result and the test standard location point. The positioning error reflects the degree of positioning deviation under the current initial bidirectional zero value, providing a basis for subsequent adjustments. After obtaining the positioning error from the first positioning, the second positioning error acquisition module adjusts the initial bidirectional zero value based on this error and performs positioning again, obtaining the positioning error between the second positioning result and the test standard position point. By comparing the second positioning error with the first positioning error, error change information can be provided for zero value update direction determination and zero value adjustment amount calculation. The zero value adjustment amount determination module determines the zero value adjustment amount for the receiver based on at least two consecutive positioning errors. The zero value adjustment amount is used to quantify the magnitude of correction required for the bidirectional zero value and can be combined with the error change trend to determine the update direction, correcting the bidirectional zero value in the direction of reducing positioning error. The adjustment module iteratively adjusts and verifies the current bidirectional zero value based on the zero value adjustment amount; that is, after each update of the bidirectional zero value, positioning is re-executed and a new positioning error is calculated, comparing the new positioning error with the target positioning accuracy threshold or continuous judgment rule. When the new positioning error meets the preset convergence condition, the adjustment module writes the current bidirectional zero value into the storage unit for saving and uses it as the calibration value for subsequent receiver positioning. Through the coordinated operation of the above modules, the device can automatically complete bidirectional zero-value calibration in unattended or batch testing scenarios, reducing manual intervention, and quickly restore positioning accuracy when positioning deviations are caused by changes in link parameters, assembly, or usage location.

[0054] In one embodiment, after the zero-value adjustment determination module outputs the zero-value adjustment amount, the adjustment module performs a directional update on the initial bidirectional zero value based on the sign of the zero-value adjustment amount. After obtaining the zero-value adjustment amount, the device first determines whether the zero-value adjustment amount is positive or negative, and determines the adjustment direction of the bidirectional zero value accordingly. When the zero-value adjustment amount is positive, the adjustment module subtracts the zero-value adjustment amount from the initial bidirectional zero value, causing the updated bidirectional zero value to correct in the direction of reducing positioning error. By subtracting a positive zero-value adjustment amount, the systematic deviation caused by the current bidirectional zero value can be offset, thereby making the distance measurement calculated in subsequent positioning calculations closer to the actual propagation delay, and the positioning result gradually approaches the test standard position point. When the zero-value adjustment amount is negative, the adjustment module adds the zero-value adjustment amount to the initial bidirectional zero value, causing the updated bidirectional zero value to complete compensation in the opposite direction. Since a negative zero-value adjustment amount indicates that the bidirectional zero value needs to be corrected in the opposite direction, adding this zero-value adjustment amount is equivalent to applying reverse correction to the bidirectional zero value, causing the positioning error to show a decreasing trend in subsequent iterations. By binding the sign of the zero-value adjustment amount to the bidirectional zero-value update method, the device can quickly determine the effective adjustment direction during automatic calibration, reduce the number of additional positioning attempts caused by direction probing, and reduce the risk of error oscillation caused by incorrect direction, making the bidirectional zero-value iterative update process more stable and easier to converge.

[0055] In one embodiment, during iterative adjustment and positioning verification, the adjustment module performs a continuity determination on the positioning error between each positioning result and the test standard location point, and uses the continuity determination result as the triggering basis for the convergence condition. After each positioning is completed, the adjustment module calculates the positioning error and records the current positioning error and the previous positioning error in sequence to form an error sequence for judging stability. When the positioning error is less than the target positioning accuracy threshold for a consecutive preset number of times, the adjustment module determines that the positioning error has remained stable within the target accuracy range, determines that the preset convergence condition is met, and terminates further bidirectional zero-value iterative adjustment. The consecutive preset number of times is used to avoid misjudgment caused by the accidental decrease of a single error. When there is electromagnetic disturbance, obstruction, or multipath influence, the positioning error may fluctuate instantaneously. By requiring the error to be below the threshold for multiple consecutive times, the reliability of the convergence determination can be improved. The target positioning accuracy threshold and the consecutive preset number of times can be configured according to the application scenario. When the test environment is relatively stable or the calibration efficiency requirement is high, the consecutive preset number of times can be appropriately reduced to shorten the calibration time; when the environment changes significantly or the positioning stability requirement is higher, the consecutive preset number of times can be increased to enhance the anti-fluctuation capability.

[0056] In one embodiment, after each bidirectional zero-value update and positioning verification, the adjustment module accumulates the number of iterations and compares it with a preset number of iterations. When the number of iterations exceeds the preset number, the adjustment module determines that the bidirectional zero value is unlikely to converge to the range corresponding to the target positioning accuracy threshold within a reasonable number of iterations under the current conditions, and terminates further iterations to avoid the calibration process continuously consuming positioning resources or causing parameter oscillations due to repeated updates. After triggering the upper limit of the number of iterations, the adjustment module writes the initial bidirectional zero value to the storage unit for storage and uses the initial bidirectional zero value as the calibration value for subsequent positioning by the receiver. The initial bidirectional zero value can be a default value written at the factory or a value retained after the last successful calibration, which usually has usable positioning performance. By reverting to the initial bidirectional zero value, the positioning performance can be prevented from being degraded by writing unconverged intermediate bidirectional zero values.

[0057] In one embodiment, after receiving at least two consecutive positioning errors, the zero-value adjustment determination module calculates a zero-value adjustment based on the ratio of the positioning error to a preset distance conversion coefficient. The zero-value adjustment maps the distance represented by the positioning error to the value that the bidirectional zero value needs to be corrected, enabling the device to iteratively update the bidirectional zero value using a unified conversion rule. The zero-value adjustment determination module acquires the current positioning error, uses it as the distance input, and reads the preset distance conversion coefficient. The preset distance conversion coefficient represents the equivalent distance change corresponding to a unit change in the bidirectional zero value. The zero-value adjustment determination module compares the positioning error with the preset distance conversion coefficient to obtain the zero-value adjustment. Through this ratio calculation method, the larger the positioning error, the larger the calculated zero-value adjustment, thus reducing the positioning error more quickly in the early stages of iteration. As the positioning error gradually decreases, the calculated zero-value adjustment decreases accordingly, allowing the iterative adjustment to enter a refinement stage, reducing overshoot and improving convergence stability. The preset distance conversion coefficient can be configured according to the storage unit of the bidirectional zero value and the system latency characteristics.

[0058] Compared with existing technologies, this application proposes an automatic bidirectional zero-value calibration method for RDSS. The zero-value adjustment amount is determined based on the change of the test standard location point and at least two consecutive positioning errors. This allows the bidirectional zero value to gradually converge to a calibration value that meets the preset convergence conditions during the closed-loop iterative adjustment and positioning verification process. The calibration value is then saved for subsequent positioning by the receiver. This solves the problems of existing technologies, such as the need for manual parameter adjustment, low calibration efficiency, and difficulty in achieving stable convergence of positioning errors under conditions of changes in RF link parameters, installation, inventory, and relocation.

[0059] This application provides a receiver, including an RDSS bidirectional zero-value automatic calibration device.

[0060] This application provides a machine-readable storage medium on which instructions are stored. When executed by a processor, the instructions configure the processor to perform the RDSS bidirectional zero-value automatic calibration method.

[0061] Figure 1 This is a flowchart illustrating an RDSS bidirectional zero-value automatic calibration method in one embodiment. It should be understood that, although... Figure 1 The steps in the flowchart are shown sequentially as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise explicitly stated herein, there is no strict order in which these steps are executed, and they can be performed in other orders. Figure 1 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0062] The RDSS bidirectional zero-value automatic calibration device includes a processor and a memory. The aforementioned data acquisition module, initial positioning error acquisition module, second positioning error acquisition module, zero-value adjustment determination module, and adjustment module are all stored as program units in the memory. The processor executes the aforementioned program modules stored in the memory to implement the corresponding functions.

[0063] The processor contains a kernel, which retrieves the corresponding program unit from memory. One or more kernels can be configured, and the RDSS bidirectional zero-value automatic calibration method can be implemented by adjusting kernel parameters.

[0064] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0065] In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as follows: Figure 4As shown in the figure, the computer device includes a processor A01, a network interface A02, a display screen A04, an input device A05, and a memory (not shown) connected via a system bus. The processor A01 provides computing and control capabilities. The memory includes internal memory A03 and a non-volatile storage medium A06. The non-volatile storage medium A06 stores an operating system B01 and a computer program B02. The internal memory A03 provides an environment for the operation of the operating system B01 and the computer program B02 stored in the non-volatile storage medium A06. The network interface A02 is used for communication with external terminals via a network connection. When the computer program is executed by the processor A01, it implements a bidirectional zero-value automatic calibration method for RDSS. The display screen A04 can be a liquid crystal display (LCD) or an e-ink display. The input device A05 can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0066] Those skilled in the art will understand that Figure 4 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0067] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0068] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0069] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0070] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0071] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0072] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0073] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0074] It should also be noted that 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 process, method, article, or apparatus. Unless otherwise specified, 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.

[0075] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for automatic bidirectional zero-value calibration of RDSS, characterized in that, The method includes: With the receiver located at the test standard location point, obtain the ingress frequency point corresponding to the receiver and the initial bidirectional zero value corresponding to the ingress frequency point; The initial bidirectional zero value is used to perform the first positioning, and the positioning error between the first positioning result and the test standard position point is obtained. The initial bidirectional zero value is adjusted based on the positioning error of the first positioning, and the positioning is performed again to obtain the positioning error between the second positioning result and the test standard position point. The zero-value adjustment amount for the receiver is determined based on at least two consecutive positioning errors, wherein the zero-value adjustment amount is determined based on the ratio of the current positioning error to a preset distance conversion factor, and the preset distance conversion factor is determined based on the time resolution of the bidirectional zero value and the electromagnetic wave propagation speed. Based on the zero-value adjustment amount, the current bidirectional zero value is iteratively adjusted and its location verified. If the zero-value adjustment amount is positive, the zero-value adjustment amount is subtracted from the initial bidirectional zero value. If the zero-value adjustment amount is negative, the zero-value adjustment amount is added to the initial bidirectional zero value. Once the new positioning error meets the preset convergence condition, the bidirectional zero value that meets the convergence condition is saved and used as the calibration value for subsequent positioning by the receiver.

2. The RDSS bidirectional zero-value automatic calibration method according to claim 1, characterized in that, During the iterative adjustment and positioning verification of the current bidirectional zero value based on the zero value adjustment amount, if the positioning error obtained for a preset number of consecutive times up to the current positioning calibration time is less than the target positioning accuracy threshold, then the preset convergence condition is determined to be met.

3. The RDSS bidirectional zero-value automatic calibration method according to claim 1, characterized in that, The method further includes: When iteratively adjusting the current bidirectional zero value based on the zero value adjustment amount, if the number of iterations is greater than the preset number of iterations, the initial bidirectional zero value is saved and used as the calibration value for subsequent positioning of the receiver.

4. An RDSS bidirectional zero-value automatic calibration device, characterized in that, The device includes: The data acquisition module is used to acquire the ingress frequency point corresponding to the receiver and the initial bidirectional zero value corresponding to the ingress frequency point when the receiver is located at the test standard location point. The initial positioning error acquisition module is used to perform initial positioning based on the initial bidirectional zero value and obtain the positioning error between the first positioning result and the test standard position point; The second positioning error acquisition module adjusts the initial bidirectional zero value based on the positioning error of the first positioning and performs positioning again to obtain the positioning error between the second positioning result and the test standard position point. The zero-value adjustment amount determination module is used to determine the zero-value adjustment amount for the receiver based on at least two consecutive positioning errors, wherein the zero-value adjustment amount is determined based on the ratio of the current positioning error to a preset distance conversion factor, and the preset distance conversion factor is determined based on the time resolution of the bidirectional zero value and the electromagnetic wave propagation speed. The adjustment module is used to iteratively adjust and verify the current bidirectional zero value based on the zero value adjustment amount. If the zero value adjustment amount is positive, the zero value adjustment amount is subtracted from the initial bidirectional zero value. If the zero value adjustment amount is negative, the zero value adjustment amount is added to the initial bidirectional zero value. This continues until the new positioning error meets the preset convergence condition. The bidirectional zero value that meets the convergence condition is then saved and used as the calibration value for subsequent positioning by the receiver.

5. The RDSS bidirectional zero-value automatic calibration device according to claim 4, characterized in that, During the iterative adjustment and positioning verification of the current bidirectional zero value based on the zero value adjustment amount, if the positioning error obtained for a preset number of consecutive times up to the current positioning calibration time is less than the target positioning accuracy threshold, then the preset convergence condition is determined to be met.

6. A receiver, characterized in that, Includes the RDSS bidirectional zero-value automatic calibration device as described in any one of claims 4 or 5.

7. A machine-readable storage medium storing instructions thereon, characterized in that, When executed by a processor, this instruction causes the processor to be configured to perform the RDSS bidirectional zero-value automatic calibration method according to any one of claims 1 to 3.

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