Base station engineering parameter measurement method and device, system, and storage medium

Abstract

A base station engineering parameter measurement method and device, a communication system, and a storage medium. The method comprises: controlling a laser tracker to measure the positions of n indoor calibration points to obtain first measured position information (S501); controlling the laser tracker to measure the positions of m calibration points on the surface of a base station to obtain second measured position information (S502); on the basis of the first measured position information and the actual position information of the n calibration points, generating first transformation information between a world coordinate system and a laser coordinate system (S503); on the basis of the second measured position information and the actual position information of the m calibration points, generating second transformation information between the laser coordinate system and a base station coordinate system (S504); on the basis of the first transformation information and the second transformation information, generating target transformation information between the world coordinate system and the base station coordinate system (S505); and on the basis of the target transformation information, determining engineering parameter data of the base station, wherein n and m are both natural numbers greater than or equal to 4 (S506).

Description

Base station engineering parameter measurement method, device, system and storage medium Technical Field

[0001] The present application relates to the field of wireless communication technology, for example, to a method, device, system and storage medium for measuring working parameters of a base station. Background Art

[0002] Indoor wireless positioning technology refers to the technology that uses the high-bandwidth, low-latency, and high-reliability communication capabilities provided by wireless networks in indoor environments to accurately locate terminals by utilizing information such as the delay, strength, and angle of wireless signal transmission.

[0003] The core concept of wireless positioning is to use the time delay, elevation angle, and azimuth angle along the line-of-sight path between the base station and the terminal, combined with the base station's operating parameters, to calculate the terminal's position in the world coordinate system, ultimately achieving three-dimensional positioning. High-precision wireless positioning relies on high-precision base station operating parameters.

[0004] The primary purpose of industrial parameter measurement in the industry is network optimization, with less consideration given to the needs of wireless positioning. Furthermore, the industry's measurement methods primarily rely on manual on-site measurements, using tools like tape measures to measure the three-dimensional coordinates of base stations, and using equipment like compasses and levels to measure downtilt and azimuth. On the one hand, traditional methods are time-consuming and labor-intensive, resulting in extremely low efficiency. On the other hand, tools like compasses and tape measures are inaccurate and often introduce significant measurement errors. While the measurement accuracy of traditional methods is sufficient for network optimization, it falls far short of the centimeter-level accuracy required for positioning. Furthermore, manual contact measurement becomes difficult to implement inside complex buildings due to the structural influences of the building. Therefore, developing a high-precision, efficient, and practical base station industrial parameter measurement technology has become a pressing technical challenge for those skilled in the art.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method, device, system and storage medium for measuring base station working parameters, which can efficiently and accurately measure base station working parameter data.

[0007] In a first aspect, an embodiment of the present application provides a method for measuring working parameters of a base station, including:

[0008] Control the laser tracker to measure the positions of n calibration points indoors to obtain first measurement position information; control the laser tracker to measure the positions of m calibration points on the surface of the base station to obtain second measurement position information; generate first transformation information between the world coordinate system and the laser coordinate system based on the first measurement position information and the actual position information of the n calibration points; generate second transformation information between the laser coordinate system and the base station coordinate system based on the second measurement position information and the actual position information of the m calibration points; generate target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information; determine the engineering parameter data of the base station based on the target transformation information; wherein, n and m are both natural numbers greater than or equal to 4.

[0009] In a second aspect, an embodiment of the present application provides a device for measuring working parameters of a base station, including:

[0010] A control module is used to control the laser tracker to measure the positions of n calibration points indoors to obtain first measurement position information; the control module is also used to control the laser tracker to measure the positions of m calibration points on the surface of the base station to obtain second measurement position information; a processing module is used to generate first transformation information between the world coordinate system and the laser coordinate system based on the first measurement position information and the actual position information of the n calibration points; the processing module is also used to generate second transformation information between the laser coordinate system and the base station coordinate system based on the second measurement position information and the actual position information of the m calibration points; the processing module is also used to generate target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information; the processing module is also used to determine the engineering parameter data of the base station based on the target transformation information; wherein, n and m are both natural numbers greater than or equal to 4.

[0011] In a third aspect, an embodiment of the present application provides a communication system, comprising: a laser tracker and an electronic device; the laser tracker is used to measure the position of a calibration point and send the obtained measurement position information to the electronic device; the electronic device comprises a memory and a processor, the memory stores a computer program, and when the processor executes the computer program, it implements the method for measuring the base station working parameters provided in the first aspect of the embodiment of the present application.

[0012] In a fourth aspect, an embodiment of the present application provides a storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the base station working parameter measurement method provided in the first aspect of the embodiment of the present application.

[0013] The technical solution provided by the embodiment of the present application controls a laser tracker to measure the positions of n calibration points indoors and m calibration points on the surface of a base station, generates first transformation information between a world coordinate system and a laser coordinate system based on the first measured position information and the actual position information of the n calibration points, generates second transformation information between the laser coordinate system and the base station coordinate system based on the second measured position information and the actual position information of the m calibration points, and generates target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information, thereby automatically deducing the engineering parameter data of the base station based on the target transformation information, without the need for manual on-site measurement, reducing errors introduced by manual measurement, and improving the measurement efficiency and accuracy of the engineering parameter data of the base station. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] FIG1 is a schematic diagram of a scenario applicable to the base station working parameter measurement method provided in an embodiment of the present application;

[0015] FIG2 is a schematic diagram of the relative relationship between coordinate systems provided in an embodiment of the present application;

[0016] FIG3 is a schematic diagram of Euler angles of a base station provided in an embodiment of the present application;

[0017] FIG4 is a schematic diagram of the transformation of a point p between different coordinate systems provided by an embodiment of the present application;

[0018] FIG5 is a flow chart of a method for measuring base station working parameters according to an embodiment of the present application;

[0019] FIG6 is a schematic diagram of a flow chart of a process for determining first transformation information or second transformation information according to an embodiment of the present application;

[0020] FIG7 is a schematic structural diagram of a device for measuring working parameters of a base station provided in an embodiment of the present application;

[0021] FIG8 is a schematic structural diagram of a communication system provided in an embodiment of the present application;

[0022] FIG9 is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The specific embodiments described herein are merely for explaining the present application. The embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0024] The technical solution provided by the embodiment of this application is suitable for indoor wireless positioning scenarios. As shown in Figure 1, a laser tracker is installed indoors, which can be combined with the laser tracker to measure the working parameter data of the indoor base station, thereby assisting in achieving high-precision wireless positioning. Among them, the surface of the base station shell is flat and has good laser emission performance, so that the laser tracker can collect the measurement position information of the calibration points on the surface of the base station. The base station here mainly refers to the base station antenna. For the sake of convenience, the base station antenna will be referred to as the base station below.

[0025] To facilitate understanding by those skilled in the art, some concepts are introduced below:

[0026] The present application embodiment involves three coordinate systems, as shown in FIG2 :

[0027] World coordinate system O w : The coordinate system used for calibration during measurement, upon which all other coordinate systems are based. The world coordinate system is established based on the building and is fixed to it.

[0028] Laser coordinate system O1: The coordinate system established by the laser tracking system, fixed to the laser tracker. The measurement values ​​obtained by the laser tracker are generated based on this coordinate system.

[0029] Base station coordinate system O b : A coordinate system fixed to the base station, with its origin fixed at any corner of the base station and its three coordinate axes parallel to the three edges of the base station housing.

[0030] The working parameter data of the base station in the embodiment of the present application includes but is not limited to the location information of the base station, the three Euler angles of the base station (such as azimuth angle θ, pitch angle The base station's location information may refer to the three-dimensional coordinates of the origin of the base station's coordinate system in the world coordinate system. The three Euler angles of the base station refer to the rotation angles of the base station's coordinate system relative to the world coordinate system.

[0031] As shown in Figure 3, the three Euler angles of the base station are defined as follows:

[0032] Azimuth angle θ: the angle of rotation of the world coordinate system around the z-axis; pitch angle Roll angle γ: The angle of rotation around the newly generated z-axis based on the rotation of the world coordinate system around the z-axis.

[0033] As shown in Figure 4, transforming point p from coordinate system A to another coordinate system B is a linear transformation. The transformation process can be expressed by the following formula (1):

[0034] Among them, the rotation matrix Related to the Euler angles between coordinate systems, P A is the coordinate of point p in coordinate system A, P B is the coordinate of point p in coordinate system B, is the translation matrix between coordinate systems. If the rotation matrix around the three coordinate axes can be expressed by the following formula (2):

[0035] Then, the final rotation matrix between the two coordinate systems can be expressed by the following formula (3):

[0036] From this we can see that, given the known rotation matrix and the coordinates of point P in one coordinate system, the coordinates of point P in another coordinate system can be calculated; conversely, if the coordinates of the same point in two coordinate systems are known, the rotation matrix between the two coordinate systems can be inferred, and the rotation matrix is ​​related to the Euler angles, so the Euler angles can be calculated through the rotation matrix.

[0037] Based on this principle, the technical solution provided in the embodiment of the present application can combine the measurement position information of the laser tracker calibration point to generate target transformation information (including target rotation matrix and target translation matrix) between the base station coordinate system and the world coordinate system, and derive the engineering parameter data of the base station.

[0038] Next, the technical solutions provided by the embodiments of this application are introduced:

[0039] The following method embodiments may be implemented as a base station operating parameter measurement device. This device may be implemented as part or all of an electronic device through software, hardware, or a combination of software and hardware. The electronic device may be a personal computer, server, or other such device. The following method embodiments are described using an electronic device as an example.

[0040] FIG5 is a flow chart of a method for measuring base station working parameters provided by an embodiment of the present application. As shown in FIG5 , the method may include:

[0041] S501: Control a laser tracker to measure positions of n indoor calibration points to obtain first measurement position information.

[0042] In this embodiment, in order to obtain the engineering parameter data of the base station, it is first necessary to measure the target transformation information between the world coordinate system and the base station coordinate system. In this process, the laser tracker plays an intermediary role. The laser tracker can be used to first measure the first transformation information between the world coordinate system and the laser coordinate system, and then the laser tracker can be used to measure the second transformation information between the laser coordinate system and the base station coordinate system. The first transformation information and the second transformation information are then used to determine the target transformation information between the world coordinate system and the base station coordinate system.

[0043] The above n is a natural number greater than or equal to 4. The laser tracker can measure the spherical coordinates of any point in space relative to the instrument itself. n calibration points are selected in the world coordinate system, and their global positions should be known. The laser tracker is controlled to sequentially measure the positions of the n calibration points to obtain the first measured position information of the n calibration points.

[0044] S502: Control the laser tracker to measure the positions of m calibration points on the surface of the base station to obtain second measured position information.

[0045] The m is a natural number greater than or equal to 4. The laser tracker can measure the spherical coordinates of any point on the base station surface relative to the instrument itself. m calibration points are selected on the base station housing, and their positions in the base station coordinate system are known. The laser tracker is controlled to sequentially measure the positions of the m calibration points to obtain second measured position information for the m calibration points. To facilitate data measurement by the laser tracker, the m calibration points can be corner points of the base station housing.

[0046] S503 : Generate first transformation information between the world coordinate system and the laser coordinate system according to the first measured position information and the actual position information of the n calibration points.

[0047] The first transformation information may include a first rotation matrix and a first translation matrix between the world coordinate system and the laser coordinate system. After obtaining the first measured position information of the n calibration points by the laser tracker, the first rotation matrix and the first translation matrix between the world coordinate system and the laser coordinate system can be inferred by combining the first measured position information of the n calibration points with the actual position information of the n calibration points. The first rotation matrix reflects the rotation between the coordinate axes of the world coordinate system and the laser coordinate system, and the first translation matrix reflects the relative displacement between the origins of the world coordinate system and the laser coordinate system.

[0048] S504: Generate second transformation information between the laser coordinate system and the base station coordinate system according to the second measured position information and the actual position information of the m calibration points.

[0049] The second transformation information may include a second rotation matrix and a second translation matrix between the laser coordinate system and the base station coordinate system. After obtaining the second measured position information of the laser tracker for the m calibration points, the second measured position information of the m calibration points and the actual position information of the m calibration points can be combined to infer the second rotation matrix and the second translation matrix between the laser coordinate system and the base station coordinate system. The second rotation matrix reflects the rotation between the coordinate axes of the laser coordinate system and the base station coordinate system, and the second translation matrix reflects the relative displacement between the origins of the laser coordinate system and the base station coordinate system.

[0050] S505 : Generate target transformation information between the world coordinate system and the base station coordinate system according to the first transformation information and the second transformation information.

[0051] The target transformation information includes a target rotation matrix and a target translation matrix between the world coordinate system and the base station coordinate system. After obtaining the first transformation information and the second transformation information, corresponding operations can be performed on the first transformation information and the second transformation information to obtain the target transformation information between the world coordinate system and the base station coordinate system.

[0052] The above-mentioned S505 process can be: generating a target rotation matrix between the world coordinate system and the base station coordinate system based on the first rotation matrix between the world coordinate system and the laser coordinate system and the second rotation matrix between the laser coordinate system and the base station coordinate system; determining the target translation matrix between the world coordinate system and the base station coordinate system based on the first rotation matrix, the first translation matrix between the world coordinate system and the laser coordinate system and the second translation matrix between the laser coordinate system and the base station coordinate system.

[0053] The product of the first rotation matrix and the second rotation matrix can be determined as the target rotation matrix between the world coordinate system and the base station coordinate system. When calculating the target translation matrix, the product of the first rotation matrix and the first translation matrix can be first calculated, and then the difference between the product and the second translation matrix can be determined as the target translation matrix between the world coordinate system and the base station coordinate system.

[0054] S506: Determine the working parameter data of the base station according to the target transformation information.

[0055] After obtaining the target translation matrix, the target translation matrix is ​​determined as the location information of the base station. After obtaining the target rotation matrix R, the azimuth angle θ and the pitch angle of the base station can be determined based on the following formula (4) or a variation of formula (4): and the roll angle γ.

[0056] Among them, R n′m′ is the element in the n′th row and m′th column of the target rotation matrix R.

[0057] The embodiment of the present application provides a method for measuring the working parameters of a base station, which controls a laser tracker to measure the positions of n calibration points indoors and m calibration points on the surface of the base station, generates first transformation information between a world coordinate system and a laser coordinate system based on the first measured position information and the actual position information of the n calibration points, generates second transformation information between the laser coordinate system and the base station coordinate system based on the second measured position information and the actual position information of the m calibration points, and generates target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information, thereby automatically deducing the working parameter data of the base station based on the target transformation information, without the need for manual on-site measurement, reducing errors introduced by manual measurement, and improving the measurement efficiency and accuracy of the working parameter data of the base station.

[0058] In one embodiment, as shown in FIG6 , the process of determining the first transformation information or the second transformation information is as follows:

[0059] S601: Determine the rotation matrix between the target coordinate system and the laser coordinate system according to the measured position information of the calibration point.

[0060] When the calibration points are n indoor calibration points, the target coordinate system is the world coordinate system. When the calibration points are m calibration points on the surface of the base station, the target coordinate system is the base station coordinate system.

[0061] As an implementation manner, the above-mentioned process of S601 may be:

[0062] S6011a. Construct a real symmetric matrix based on the measured position information of the calibration points and the actual position information of the calibration points.

[0063] S6012a. Perform eigenvalue decomposition on the real symmetric matrix, and obtain the first eigenvector corresponding to the maximum eigenvalue.

[0064] S6013a. Determine the rotation matrix between the target coordinate system and the laser coordinate system based on the first eigenvector.

[0065] The process of determining the first transformation information is taken as an example to introduce it, and it is assumed that the actual position information of n calibration points is {A1, A2, ..., A n}, the first measurement position information obtained by the laser tracker from measuring n calibration points is {B1, B2, ..., B n}.

[0066] First, the actual position information of the n calibration points and the first measured position information are centralized according to the following formula (5) or a variation of formula (5).

[0067] Among them, a iis the actual position information of n calibration points after centralized processing, b i The first measurement position information of n calibration points is the data after being centrally processed.

[0068] Next, construct the following four matrices based on the centralized data: M=NN T (7) α=[M 23 M 31 M 12 ] (8)

[0069] The above D is a real symmetric matrix, and I is the identity matrix.

[0070] Perform eigenvalue decomposition on the constructed real symmetric matrix D, and obtain the first eigenvector q corresponding to the maximum eigenvalue.

[0071] After obtaining the first eigenvector q, the first rotation matrix R1 between the world coordinate system and the laser coordinate system can be determined based on the following formula (11) or a variation of formula (11).

[0072] Similarly, the second measured position information of the m calibration points and the actual position information of the m calibration points can be processed according to the above process to determine the second rotation matrix R2 between the laser coordinate system and the base station coordinate system. This embodiment will not be repeated here.

[0073] As another embodiment, the calibration points are from at least three mutually perpendicular planes, and the process of S601 may be:

[0074] S6011b. Determine the orientation information of each plane based on the measured position information of the point cloud in each plane.

[0075] S6012b. Generate a rotation matrix between the target coordinate system and the laser coordinate system based on the orientation information of each plane.

[0076] In practical applications, based on the idea that the more calibration points, the smaller the angular error, in order to improve the measurement accuracy of the base station's Euler angles, the laser tracker can also be controlled to scan at least three mutually perpendicular planes of the base station housing, such as the bottom surface, side surface, and front surface of the base station housing, to generate point cloud data. The scanned base station point cloud is then plane-fitted to obtain the orientation information of the base station coordinate system. This orientation information of the base station coordinate system is used to generate the second rotation matrix R2 between the base station coordinate system and the laser coordinate system. Furthermore, the laser tracker can also be controlled to scan three mutually perpendicular planes within a building. The scanned building point cloud is plane-fitted to obtain the orientation information of the world coordinate system. This orientation information of the world coordinate system is used to generate the first rotation matrix R1 between the world coordinate system and the laser coordinate system.

[0077] The process of determining the orientation information of each plane based on the measured position information of the point cloud in each plane can be: constructing the covariance matrix of each plane based on the measured position information of the point cloud in each plane; performing eigenvalue decomposition on each covariance matrix, and obtaining the second eigenvector corresponding to the minimum eigenvalue of each covariance matrix; and determining each second eigenvector as the orientation information of each plane.

[0078] The generation process of the first rotation matrix R1 is taken as an example for description. It is assumed that the point cloud data obtained by scanning a plane by a laser tracker is M.

[0079] First, M is centralized according to the following formula (12) or a variation of formula (12) to obtain the matrix D.

[0080] Next, the matrix D is processed according to the following formula (13) or a variation of formula (13) to obtain the covariance matrix C. C = D T D (13)

[0081] Perform eigenvalue decomposition on the covariance matrix C, obtain the second eigenvector corresponding to the minimum eigenvalue, and determine the second eigenvector as the orientation information of the plane.

[0082] After obtaining the second eigenvectors corresponding to the planes, the second eigenvectors corresponding to the planes are spliced ​​together to obtain a first rotation matrix R1 between the world coordinate system and the laser coordinate system.

[0083] Similarly, the point cloud data of the plane scanned by the laser tracker in the building can be processed according to the above process to obtain the second rotation matrix R2 between the laser coordinate system and the base station coordinate system. This embodiment will not be described in detail here.

[0084] By controlling the laser tracker to scan at least three mutually perpendicular surfaces of the base station and processing the scanned point cloud data, a second rotation matrix between the laser coordinate system and the base station coordinate system is generated; and by controlling the laser tracker to scan at least three mutually perpendicular surfaces in the building and processing the scanned point cloud data, a first rotation matrix between the world coordinate system and the laser coordinate system is generated. When the number of scanning points increases, the accuracy of the first rotation matrix and the second rotation matrix is ​​greatly improved, and the accuracy of the base station engineering parameter data is improved.

[0085] S602 : Determine a translation matrix between the target coordinate system and the laser coordinate system according to the measured position information of the calibration points, the actual position information of the calibration points, and the rotation matrix.

[0086] After obtaining the measured position information of the calibration point, the actual position information of the calibration point, and the rotation matrix, the translation matrix between the target coordinate system and the laser coordinate system can be determined according to the following process:

[0087] According to the measured position information of the calibration points, the average measured position of all calibration points is determined; according to the actual position information of the calibration points, the average actual position of all calibration points is determined; according to the measured position average, the actual position average and the rotation matrix, the translation matrix between the target coordinate system and the laser coordinate system is determined.

[0088] Taking the generation process of the first translation matrix T1 between the world coordinate system and the laser coordinate system as an example, the first translation matrix T1 can be determined according to the following formula (14) or a variation of formula (14):

[0089] in, is the average value of the actual position information of n calibration points, is the average value of the first measured position information of the n calibration points, and R1 is the first rotation matrix between the world coordinate system and the laser coordinate system.

[0090] Similarly, the second measured position information and actual position information of the m calibration points on the base station surface can be processed according to the above process to obtain the second translation matrix T2 between the laser coordinate system and the base station coordinate system. This embodiment will not be repeated here.

[0091] The accuracy of the base station engineering parameter data measured by the technical solution provided in the embodiment of this application is related to the accuracy of the laser tracker. When the laser tracker accuracy is within 1cm, the technical solution provided in the embodiment of this application can achieve a base station attitude error of less than 1° and a base station position error of less than 6mm, which can meet the requirements of high-precision positioning. Moreover, when the number of scanning points reaches more than 1000, the technical solution provided in the embodiment of this application can achieve a base station attitude error of less than 0.25°, which is sufficient to meet the requirements of high-precision wireless positioning.

[0092] In this embodiment, a laser tracker is used as an intermediary to generate a rotation matrix between the base station coordinate system / world coordinate system and the laser coordinate system based on the measured position information of the calibration points and / or the actual position information of the calibration points by the laser tracker, and a translation matrix between the base station coordinate system / world coordinate system and the laser coordinate system is generated based on the measured position information of the calibration points, the actual position information of the calibration points and the rotation matrix, thereby improving the accuracy of the rotation matrix and the translation matrix between the coordinate systems and thereby improving the measurement accuracy of the base station engineering parameter data.

[0093] FIG7 is a schematic diagram of a structure of a device for measuring base station working parameters according to an embodiment of the present application. As shown in FIG7 , the device may include: a control module 701 and a processing module 702 .

[0094] The control module 701 is used to control the laser tracker to measure the positions of n calibration points indoors to obtain first measurement position information; the control module 701 is also used to control the laser tracker to measure the positions of m calibration points on the surface of the base station to obtain second measurement position information; the processing module 702 is used to generate first transformation information between the world coordinate system and the laser coordinate system based on the first measurement position information and the actual position information of the n calibration points; the processing module 702 is also used to generate second transformation information between the laser coordinate system and the base station coordinate system based on the second measurement position information and the actual position information of the m calibration points; the processing module 702 is also used to generate target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information; the processing module 702 is also used to determine the engineering parameter data of the base station based on the target transformation information; wherein, n and m are both natural numbers greater than or equal to 4.

[0095] Based on the above embodiment, the processing module 702 is used to determine the rotation matrix between the target coordinate system and the laser coordinate system based on the measured position information of the calibration points; determine the translation matrix between the target coordinate system and the laser coordinate system based on the measured position information of the calibration points, the actual position information of the calibration points and the rotation matrix; wherein, when the calibration points are n calibration points indoors, the target coordinate system is the world coordinate system, and when the calibration points are m calibration points on the surface of the base station, the target coordinate system is the base station coordinate system.

[0096] Based on the above embodiment, the processing module 702 is also used to construct a real symmetric matrix based on the measured position information of the calibration point and the actual position information of the calibration point; decompose the eigenvalues ​​of the real symmetric matrix separately, and obtain the first eigenvector corresponding to the maximum eigenvalue; and determine the rotation matrix between the target coordinate system and the laser coordinate system based on the first eigenvector.

[0097] Based on the above embodiment, the calibration points come from at least three mutually perpendicular planes; the processing module 702 is also specifically used to determine the orientation information of each plane based on the measurement position information of the point cloud in each plane; and generate a rotation matrix between the target coordinate system and the laser coordinate system based on the orientation information of each plane.

[0098] Based on the above embodiment, the processing module 702 is also used to construct the covariance matrix of each plane based on the measured position information of the point cloud in each plane; perform eigenvalue decomposition on each covariance matrix, and obtain the second eigenvector corresponding to the minimum eigenvalue of each covariance matrix; and determine each second eigenvector as the orientation information of each plane.

[0099] Based on the above embodiment, the processing module 702 is also used to determine the measured position average value of all calibration points based on the measured position information of the calibration points; determine the actual position average value of all calibration points based on the actual position information of the calibration points; and determine the translation matrix between the target coordinate system and the laser coordinate system based on the measured position average value, the actual position average value and the rotation matrix.

[0100] Based on the above embodiment, the processing module 702 is also used to generate a target rotation matrix between the world coordinate system and the base station coordinate system based on the first rotation matrix between the world coordinate system and the laser coordinate system and the second rotation matrix between the laser coordinate system and the base station coordinate system; and determine the target translation matrix between the world coordinate system and the base station coordinate system based on the first rotation matrix, the first translation matrix between the world coordinate system and the laser coordinate system and the second translation matrix between the laser coordinate system and the base station coordinate system.

[0101] In one embodiment, as shown in FIG8 , a communication system is provided, including: a laser tracker 801 and an electronic device 802; the laser tracker 801 is configured to measure the position of a calibration point and transmit the obtained measured position information to the electronic device 802; the electronic device 802 includes a memory and multiple processors, wherein the memory stores a computer program, and when one of the multiple processors executes the computer program, the following operations are performed:

[0102] Control the laser tracker to measure the positions of n calibration points indoors to obtain first measurement position information; control the laser tracker to measure the positions of m calibration points on the surface of the base station to obtain second measurement position information; generate first transformation information between the world coordinate system and the laser coordinate system based on the first measurement position information and the actual position information of the n calibration points; generate second transformation information between the laser coordinate system and the base station coordinate system based on the second measurement position information and the actual position information of the m calibration points; generate target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information; determine the engineering parameter data of the base station based on the target transformation information; wherein, n and m are both natural numbers greater than or equal to 4.

[0103] In one embodiment, the internal structure diagram of the electronic device 802 can be shown in Figure 9. The electronic device 802 includes a processor, a memory, a network interface, and a database connected via a system bus. The processor of the electronic device 802 is used to provide computing and control capabilities. The memory of the electronic device 802 includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and computer program in the non-volatile storage medium. The database of the electronic device 802 is used to store data generated during the measurement of base station working parameters. The network interface of the electronic device 802 is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, a method for measuring base station working parameters is implemented.

[0104] Those skilled in the art will understand that the structure shown in Figure 9 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the electronic device 802 to which the solution of the present application is applied. The electronic device 802 may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0105] The present application also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the following operations are performed:

[0106] Control the laser tracker to measure the positions of n calibration points indoors to obtain first measurement position information; control the laser tracker to measure the positions of m calibration points on the surface of the base station to obtain second measurement position information; generate first transformation information between the world coordinate system and the laser coordinate system based on the first measurement position information and the actual position information of the n calibration points; generate second transformation information between the laser coordinate system and the base station coordinate system based on the second measurement position information and the actual position information of the m calibration points; generate target transformation information between the world coordinate system and the base station coordinate system based on the first transformation information and the second transformation information; determine the engineering parameter data of the base station based on the target transformation information; wherein, n and m are both natural numbers greater than or equal to 4.

[0107] The computer storage medium of the embodiment of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. Computer-readable storage media include (a non-exhaustive list): an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by an instruction execution system, device or device or used in combination with it.

[0108] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, the data signal carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0109] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0110] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination of multiple programming languages, including object-oriented programming languages ​​(such as Java, Smalltalk, C++, Ruby, Go), and conventional procedural programming languages ​​(such as "C" or similar programming languages). The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0111] It will be appreciated by those skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable web browser or a vehicle-mounted mobile station.

[0112] In general, various embodiments of the present application may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. For example, some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although the present application is not limited thereto.

[0113] Embodiments of the present application may be implemented by executing computer program instructions by a data processor of a mobile device, for example, in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0114] Any block diagram of a logical flow in the drawings of this application may represent program operations, or may represent interconnected logical circuits, modules and functions, or may represent a combination of program operations and logical circuits, modules and functions. A computer program may be stored on a memory. The memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, read-only memory (ROM), random access memory (RAM), optical memory devices and systems (digital versatile discs DVD or CD), etc. Computer-readable media may include non-transitory storage media. The data processor may be of any type suitable for the local technical environment, such as, but not limited to, a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (FPGA), and a processor based on a multi-core processor architecture.

Claims

1. A method for measuring working parameters of a base station, comprising: Controlling the laser tracker to measure the positions of n calibration points indoors to obtain first measurement position information; Controlling the laser tracker to measure the positions of the m calibration points on the surface of the base station to obtain second measurement position information; generating first transformation information between a world coordinate system and a laser coordinate system according to the first measured position information and the actual position information of the n calibration points; generating second transformation information between the laser coordinate system and the base station coordinate system according to the second measured position information and the actual position information of the m calibration points; Generate target transformation information between a world coordinate system and a base station coordinate system according to the first transformation information and the second transformation information; Determining the working parameter data of the base station according to the target transformation information; Wherein, n and m are both natural numbers greater than or equal to 4.

2. The method according to claim 1, wherein: The process of determining the first transformation information or the second transformation information is as follows: Determining a rotation matrix between a target coordinate system and the laser coordinate system according to measurement position information of a plurality of calibration points; Determine a translation matrix between the target coordinate system and the laser coordinate system according to the measured position information of the multiple calibration points, the actual position information of the multiple calibration points and the rotation matrix; Wherein, when the multiple calibration points are n calibration points indoors, the target coordinate system is the world coordinate system; and when the multiple calibration points are m calibration points on the surface of the base station, the target coordinate system is the base station coordinate system.

3. The method according to claim 2, wherein: The step of determining a rotation matrix between a target coordinate system and the laser coordinate system according to the measurement position information of the plurality of calibration points comprises: Constructing a real symmetric matrix according to the measured position information of the plurality of calibration points and the actual position information of the plurality of calibration points; Performing eigenvalue decomposition on multiple eigenvalues ​​in the real symmetric matrix respectively, and obtaining a first eigenvector corresponding to the maximum eigenvalue; A rotation matrix between the target coordinate system and the laser coordinate system is determined according to the first eigenvector.

4. The method according to claim 2, wherein: The multiple calibration points are from at least three mutually perpendicular planes; and determining the rotation matrix between the target coordinate system and the laser coordinate system according to the measurement position information of the multiple calibration points includes: Determining orientation information of each plane according to the measured position information of the point cloud in the at least three mutually perpendicular planes; A rotation matrix between the target coordinate system and the laser coordinate system is generated according to the orientation information of the at least three mutually perpendicular planes.

5. The method according to claim 4, wherein: Determining the orientation information of each plane according to the measured position information of the point cloud in the at least three mutually perpendicular planes includes: Constructing a covariance matrix of each plane according to the measured position information of the point cloud in each plane; Performing eigenvalue decomposition on the covariance matrix, and obtaining a second eigenvector corresponding to the minimum eigenvalue of the covariance matrix; The second eigenvector is determined as the orientation information of the plane.

6. The method according to any one of claims 2 to 5, wherein: The step of determining the translation matrix between the target coordinate system and the laser coordinate system according to the measured position information of the multiple calibration points, the actual position information of the multiple calibration points and the rotation matrix comprises: Determining an average value of the measured positions of all the calibration points according to the measured position information of the multiple calibration points; Determine the average value of the actual positions of all the calibration points according to the actual position information of the multiple calibration points; A translation matrix between the target coordinate system and the laser coordinate system is determined according to the measured position average value, the actual position average value and the rotation matrix.

7. The method according to any one of claims 2 to 5, wherein: The generating target transformation information between the world coordinate system and the base station coordinate system according to the first transformation information and the second transformation information includes: Generate a target rotation matrix between the world coordinate system and the base station coordinate system according to a first rotation matrix between the world coordinate system and the laser coordinate system and a second rotation matrix between the laser coordinate system and the base station coordinate system; A target translation matrix between the world coordinate system and the base station coordinate system is determined according to the first rotation matrix, a first translation matrix between the world coordinate system and the laser coordinate system, and a second translation matrix between the laser coordinate system and the base station coordinate system.

8. A device for measuring working parameters of a base station, comprising: The control module is configured to control the laser tracker to measure the positions of n calibration points in the room. To the first measurement position information; The control module is further configured to control the laser tracker to measure the positions of the m calibration points on the surface of the base station to obtain second measurement position information; a processing module, configured to generate first transformation information between a world coordinate system and a laser coordinate system according to the first measured position information and the actual position information of the n calibration points; The processing module is further configured to generate second transformation information between the laser coordinate system and the base station coordinate system according to the second measured position information and the actual position information of the m calibration points; The processing module is further configured to generate target transformation information between a world coordinate system and a base station coordinate system according to the first transformation information and the second transformation information; The processing module is further configured to determine the working parameter data of the base station according to the target transformation information; Wherein, n and m are both natural numbers greater than or equal to 4.

9. A communication system comprising: laser trackers and electronics; The laser tracker is configured to measure the position of the calibration point and send the obtained measured position information to the electronic device; The electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the method for measuring base station working parameters according to any one of claims 1 to 7 when executing the computer program.

10. A storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method for measuring base station working parameters according to any one of claims 1 to 7.

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