CN109991569B - A method and device for locating a reflector based on a millimeter-wave robot - Google Patents

Abstract

The embodiment of the invention provides a reflector positioning method and device based on a millimeter wave robot, wherein the method comprises the following steps: summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path with the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path; under the condition that the sum exceeds a threshold value, determining the incidence angle of the first reflection path as a target incidence angle, determining the first reflection path corresponding to the target incidence angle as a target reflection path, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target emission path from the second reflection path to obtain a residual emission path; and deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset coefficient threshold, and then determining the position of the reflector.

Description

A method and device for locating a reflector based on a millimeter-wave robot

technical field

The invention relates to the technical field of artificial intelligence, in particular to a method and device for locating a reflector based on a millimeter-wave robot.

Background technique

With the rapid development of artificial intelligence technology, in a more complex environment, the existing technology often uses a robot equipped with a millimeter wave module to travel around the complex environment. , the receiving end receives the millimeter wave signal reflected by the reflector, and locates the position of the reflector in turn.

Taking Fig. 1 as an example, the process of using a robot equipped with a millimeter wave signal module to locate the position of a reflector in the prior art is as follows: Assume that in a room, the entire room is divided into countless small pieces using the grid method, and the robot is in the grid. The millimeter wave signal is emitted to reflector A at each junction of . The angle between the direction in which the robot transmits the millimeter-wave signal and the horizontal direction is the emission angle, and the angle between the direction in which the robot receives the millimeter-wave signal and the horizontal direction is the angle of incidence, and the virtual symmetry points A1 and A2 of A are constructed, the receiving end of the robot. The millimeter wave signals returned by reflectors A, A1 and A2 are received. Draw circle 1 on A and A1 so that A and A1 are on the circular outline, then draw circle 2 on A and A2 so that A and A2 are on the circular outline, and the incident angles of the millimeter wave signals returned by A, A1 and A2 are known , the emission angle of the millimeter-wave signal, the intersection of circle 1 and circle 2, and the distance between A and A1, and then from all the intersections in the traversal grid, according to the principle of trigonometric functions to calculate the position of multiple A, The position of A that satisfies the optimal solution formula of grid search is selected and determined as the position of the reflector.

In the prior art, the incident angle of the millimeter wave signal received by the receiving end of the robot will be interfered by various factors, resulting in a large difference between the incident angle received by the receiving end and the actual incident angle. The position of the reflector is often quite different from the real position of the reflector. Therefore, the accuracy of locating the position of the reflector in the prior art is not high.

SUMMARY OF THE INVENTION

The purpose of the embodiments of the present invention is to provide a method and device for locating a reflector based on a millimeter-wave robot, which improves the accuracy of locating the position of the reflector by improving the accuracy of determining the incident angle. The specific technical solutions are as follows:

In a first aspect, a method for locating a reflector based on a millimeter-wave robot provided by an embodiment of the present invention includes:

Step A: Obtain the signal strength RSS of the first reflection path of the receiving end and the RSS of the second transmission path of the transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the first reflection path The RSS of the robot is that the transmitter of the robot transmits a millimeter wave signal to the external environment according to the preset emission angle, and it is measured at the receiving end; the RSS of the second transmission path is that the receiver of the robot transmits the millimeter wave signal to the external environment according to the preset emission angle. Wave signal, measured at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;

Step B, in the case that the robot rotates one circle according to the preset rotation angle increment, respectively determine the first correlation coefficient and the second correlation coefficient for the same rotation angle;

The first correlation coefficient is the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path; the second correlation coefficient is the correlation coefficient between the RSS sequence of the transmitting end and the RSS of the second transmitting path; the RSS sequence of the receiving end Contains a preset number of elements, each element is the sum of the contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence at the transmitting end contains a preset number of elements, each element is each beam mode Below, the sum of the contribution components of the RSS of the second transmit path;

Step C, the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path is summed with the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

Step D, when the sum exceeds the threshold, the incident angle of the first reflection path is determined as the target incident angle, and the emission angle of the second emission path is determined as the target reflection angle;

Step E, determining the first reflection path corresponding to the target incident angle as the target reflection path, and determining the second reflection path corresponding to the target emission angle as the target emission path;

Step F, remove the target reflection path from the first reflection path to obtain the remaining reflection path, and remove the target emission path from the second reflection path to obtain the remaining emission path;

Step G, from the RSS sequence of the receiving end, delete the contribution component of the RSS of the target reflection path to obtain the remaining RSS sequence of the receiving end, and delete the RSS contribution component of the target transmission path from the RSS sequence of the transmitting end to obtain the remaining RSS of the transmitting end sequence;

Step H, judge whether the correlation coefficient of the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than the preset threshold, if not, use the remaining RSS sequence of the receiving end to update the RSS sequence of the receiving end, use the remaining reflection path to update the first reflection path, use The remaining RSS sequence of the transmitting end updates the RSS sequence of the transmitting end, uses the remaining transmission path to update the first transmission path, and returns to and continues to perform step C to step H, until the correlation coefficient between the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than the preset coefficient threshold ;

Step 1: Determine the position of the reflector according to the target reflection paths corresponding to all target incident angles.

Optionally, in the case where the robot rotates one circle according to the preset rotation angle increment, the first correlation coefficient and the second correlation coefficient are respectively determined for the same rotation angle, including:

Use the correlation coefficient formula to determine the first correlation coefficient and the second correlation coefficient for the same rotation angle when the robot rotates one circle in a preset rotation angle incrementing manner;

κ(x,y)代表相关系数，x和y分别代表输入变量，cov(x,y)为x与y的协方差，var[y]代表x的方差，var[y]代表y的方差。Among them, the correlation coefficient formula is

κ(x, y) represents the correlation coefficient, x and y represent the input variables respectively, cov(x, y) is the covariance of x and y, var[y] represents the variance of x, and var[y] represents the variance of y.

Optionally, sum the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path, including:

Use the formula:

summing the first correlation coefficient and the second correlation coefficient;

p_A代表第一反射路径的序号，

α(p_A)代表第p_A条第一反射路径的入射角，g(p_A)代表第p_A条第一反射路径的路径增益，

代表第一反射路径数量，σ代表噪声，V(α(p_A))代表入射角α的第p_A条第一反射路径的RSS。Among them, α represents the emission angle, β represents the incident angle, Vr represents the RSS sequence at the receiving end, V(α) represents the RSS of the first reflection path at the incident angle α, Vt represents the RSS sequence at the transmitting end, and V(β) represents the emission angle as β is the signal strength RSS of the second transmit path,

p _A represents the sequence number of the first reflection path,

α(p _A ) represents the incident angle of the p _A first reflection path, g(p _A ) represents the path gain of the p _A first reflection path,

represents the number of the first reflection paths, σ represents the noise, and V(α(p _A )) represents the RSS of the p _A -th first reflection path at the incident angle α.

Optionally, in the case where the sum exceeds the threshold, the incident angle of the first reflection path is determined as the target incident angle, and the emission angle of the second emission path is determined as the target reflection angle, including:

In the case that the sum exceeds the threshold, the incident angle corresponding to the first reflection path is determined when the sum is the maximum, as the target incident angle;

In the case that the sum exceeds the threshold, the emission angle corresponding to the second emission path when the sum is the largest is determined as the target emission angle.

Optionally, when the number of sums is greater than 1, and the sum exceeds the threshold, the incident angle of the first reflection path is determined as the target incident angle, and the emission angle of the second emission path is determined as the target reflection angle. ,include:

In the case that the sum exceeds the threshold, from the sum when the difference between the sum does not exceed the difference threshold, the incident angle corresponding to the first reflection path when the sum is the largest is selected as the target incident angle;

When the sum exceeds the threshold, from the sum when the difference between the sum does not exceed the difference threshold, the emission angle corresponding to the second emission path when the sum is the largest is selected as the target emission angle.

Optionally, delete the RSS contribution component of the target reflection path from the RSS sequence at the receiving end to obtain the remaining RSS sequence at the receiving end, and delete the RSS contribution component of the target transmission path from the RSS sequence at the transmitting end to obtain the remaining RSS at the transmitting end. RSS sequences, including:

Using the formula V' _r =V _r -g ^* (p _A )V(α ^* ), delete the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end;

Using the formula V' _t =V _t -g ^* (p _B )V(β ^* ), from the RSS sequence of the transmitter, delete the contribution component of the RSS of the target transmission path to obtain the remaining RSS sequence of the transmitter;

p_A代表第一反射路径的序号，

α(p_A)代表第p_A条第一反射路径的入射角，g(p_A)代表第p_A条第一反射路径的路径增益，

代表第一反射路径数量，σ代表噪声，V(α(p_A))代表V(α(p_A))代表入射角α的第p_A条第一反射路径的RSS。V′_r代表剩余的反射路径的RSS序列，g^*(p_A)代表目标发射角α^*对应的第一反射路径p_A的路径增益；V(β^*)代表目标发射角β^*对应的目标发射路径的RSS，Vt代表发射端的信号强度RSS序列，

p_B代表第二发射路径的序号，

β(p_B)代表第p_B条第二发射路径的发射角，g(p_B)代表第p_B条第二反射路径的路径增益，

代表第二发射路径数量，σ代表噪声，V(β(p_B))代表入射角β的第p_B条第二反射路径的RSS，ω(α，β)代表第一相关系数与第二相关系数的和，V′_t代表剩余的发射路径的RSS序列，g^*(p_B)代表目标发射角β^*对应的第p_B条第二发射路径增益，A、B是区分第一反射路径参数和第二发射路径参数的标号。Among them, α ^* represents the target emission angle, β ^* represents the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V(α ^* ) represents the RSS of the target reflection path corresponding to the target incident angle α ^* ,

p _A represents the sequence number of the first reflection path,

α(p _A ) represents the incident angle of the p _A first reflection path, g(p _A ) represents the path gain of the p _A first reflection path,

represents the number of first reflection paths, σ represents noise, and V(α(p _A )) represents V(α(p _A )) represents the RSS of the p _A -th first reflection path at the incident angle α. V′ _r represents the RSS sequence of the remaining reflection paths, g ^* (p _A ) represents the path gain of the first reflection path p _A corresponding to the target emission angle α ^* ; V(β ^* ) represents the target corresponding to the target emission angle β ^* RSS of the transmit path, Vt represents the signal strength RSS sequence of the transmit end,

p _B represents the sequence number of the second transmit path,

β(p _B ) represents the emission angle of the p _-th second transmission path, g(p _B ) represents the path gain of the p-th _B -th second reflection path,

represents the number of second emission paths, σ represents noise, V(β(p _B )) represents the RSS of the p _-th second reflection path of incident angle β, ω(α, β) represents the first correlation coefficient and the second correlation The sum of the coefficients, V′ _t represents the RSS sequence of the remaining transmission paths, g ^* (p _B ) represents the gain of the second transmission path of the p-th _B corresponding to the target transmission angle β ^* , and A and B are the parameters to distinguish the first reflection path and the label of the second transmit path parameter.

Optionally, determine the position of the reflector according to the target reflection paths corresponding to all target incident angles, including:

Determine the number of clusters for clustering all target reflection paths;

According to the RSS of each target reflection path and the size of the target incident angle, the PCA principal component analysis clustering algorithm is used to cluster the target reflection paths, and the clusters equal to the number of clusters are obtained;

Determine the virtual position of the reflector by determining the convergence point of the target reflection path in the same cluster in all the obtained clusters;

The position of the reflector is determined as the position of the intersection point where the line connecting the virtual position of the reflector and the transmitting end and the line connecting the virtual position of the reflector and the receiving end intersect.

Optionally, determine the number of clusters for clustering all target reflection paths, including:

From the preset value range of K, determine the value of K when the change rate of the metric value η(K) of the cluster is the largest;

The K value is determined as the number of clusters for the target reflection path to be clustered;

Ψ(k)是属于第k个簇的目标反射路径的集合，c(k)是第k个簇的中心，(i,c(k))是Ψ(k)中第i个目标反射路径与簇的中心之间的欧几里德距离，K代表簇的个数，k是簇的序号，K取值范围是正整数集，Δ是欧氏距离运算符。in,

Ψ(k) is the set of target reflection paths belonging to the kth cluster, c(k) is the center of the kth cluster, (i, c(k)) is the ith target reflection path in Ψ(k) and The Euclidean distance between the centers of the clusters, K represents the number of clusters, k is the serial number of the cluster, the value range of K is a set of positive integers, and Δ is the Euclidean distance operator.

In a second aspect, a reflector positioning device based on a millimeter-wave robot provided by an embodiment of the present invention includes:

The first acquisition module is used to acquire the signal strength RSS of the first reflection path of the receiving end and the RSS of the second transmission path of the transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; The RSS of the first reflection path is that the transmitter of the robot transmits millimeter wave signals to the external environment according to the preset emission angle, and is measured at the receiver; the RSS of the second emission path is the receiver of the robot according to the preset emission angle. The millimeter wave signal emitted by the external environment is measured at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;

a first determination module, configured to determine the first correlation coefficient and the second correlation coefficient respectively for the same rotation angle when the robot rotates one circle in a preset rotation angle incrementing manner;

The first correlation coefficient is the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path; the second correlation coefficient is the correlation coefficient between the RSS sequence of the transmitting end and the RSS of the second transmitting path; the RSS sequence of the receiving end Contains a preset number of elements, each element is the sum of the contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence at the transmitting end contains a preset number of elements, each element is each beam mode Below, the sum of the contribution components of the RSS of the second transmit path;

The coefficient summation module is used to sum the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

a second determination module, configured to determine the incident angle of the first reflection path as the target incident angle when the sum exceeds the threshold, and determine the emission angle of the second emission path as the target reflection angle;

a third determination module, configured to determine the first reflection path corresponding to the target incident angle as the target reflection path, and determine the second reflection path corresponding to the target emission angle as the target emission path;

a first removal module, configured to remove the target reflection path from the first reflection path to obtain the remaining reflection path, and remove the target emission path from the second reflection path to obtain the remaining emission path;

The first deletion module is used to delete the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end, and from the RSS sequence of the transmitting end, delete the contribution component of the RSS of the target transmission path to obtain The remaining RSS sequence at the transmitter;

The coefficient judgment module is used for judging whether the correlation coefficient between the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than the preset threshold, if not, use the remaining RSS sequence of the receiving end to update the RSS sequence of the receiving end, and use the remaining reflection path to update the first reflection path, use the remaining RSS sequence of the sender to update the RSS sequence of the sender, use the remaining transmission path to update the first transmission path, return the coefficient summation module to the first deletion module and continue to execute until the remaining RSS sequence of the receiver and the RSS of the remaining reflection path. The correlation coefficient is less than the preset coefficient threshold;

The position positioning module is used to determine the position of the reflector according to the target reflection paths corresponding to all target incident angles.

A method and device for locating a reflector based on a millimeter-wave robot provided by an embodiment of the present invention. A, obtaining the signal strength RSS of the first reflection path of the receiving end and the RSS of the second transmission path of the transmitting end; step B, according to the preset The rotation angle is increased according to the rotation angle, and when the robot rotates a circle, the first correlation coefficient and the second correlation coefficient are determined respectively for the same rotation angle; Step C, the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path is determined. , sum the correlation coefficient between the RSS sequence of the transmitting end and the RSS of the second transmitting path; Step D, when the sum exceeds the threshold, determine the incident angle of the first reflection path as the target incident angle, and the second transmitting path The emission angle is determined as the target reflection angle; Step E, the first reflection path corresponding to the target incident angle is determined as the target reflection path, and the second reflection path corresponding to the target emission angle is determined as the target emission path; Step F, from In the first reflection path, remove the target reflection path to obtain the remaining reflection path, and from the second reflection path, remove the target transmission path to obtain the remaining transmission path; Step G, delete the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end, and from the RSS sequence of the transmitting end, delete the contribution component of the RSS of the target transmission path to obtain the remaining RSS sequence of the transmitting end; Step H, determine the difference between the remaining RSS sequence of the receiving end and the remaining reflection path Whether the correlation coefficient of RSS is less than the preset threshold, if not, use the remaining RSS sequence of the receiver to update the RSS sequence of the receiver, use the remaining reflection path to update the first reflection path, use the remaining RSS sequence of the sender to update the RSS sequence of the sender, and use the remaining transmit The path updates the first transmission path, and returns to and continues to perform step C to step H, until the correlation coefficient of the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than the preset coefficient threshold; Step I, according to the target reflection paths corresponding to all target incident angles , to determine the position of the reflector. Compared with the prior art that uses the received incident angle and uses the principle of trigonometric functions to calculate the position of the positioned reflector, the embodiment of the present invention uses the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path, and the RSS of the transmitting end. Summing the correlation coefficients of the sequence and the RSS of the second transmission path; when the sum exceeds the threshold, and in the case where the sum exceeds the threshold, determine the incident angle of the first reflection path as the target incident angle, and repeat steps C to H to The accuracy of determining the incident angles of all targets is improved, and then the positions of the reflectors are determined according to the target reflection paths corresponding to all the target incident angles, so the accuracy of locating the positions of the reflectors can be improved. Of course, it is not necessary for any product or method of the present invention to achieve all of the advantages described above at the same time.

Description of drawings

In order to illustrate the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that are required in the description of the embodiments or the prior art.

FIG. 1 is a schematic diagram of using a robot to carry a millimeter wave signal module to locate the position of a reflector in the prior art;

2 is a flowchart of a method for locating a reflector based on a millimeter-wave robot provided by an embodiment of the present invention;

3 is a schematic diagram of determining a target incident angle according to an embodiment of the present invention;

4 is a schematic diagram of a result of determining the number of clusters provided by an embodiment of the present invention;

5 is a schematic diagram of determining the position of a reflector according to an embodiment of the present invention;

6 is a structural diagram of a device for path planning of an unmanned aerial vehicle according to an embodiment of the present invention;

FIG. 7 is a structural diagram of an electronic device according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

First, a method for locating a reflector based on a millimeter-wave robot provided by an embodiment of the present invention is introduced.

As shown in FIG. 2 , a method for locating a reflector based on a millimeter-wave robot provided by an embodiment of the present invention includes:

S201, acquiring the signal strength RSS of the first reflection path of the receiving end and the RSS of the second transmission path of the transmitting end;

Among them, the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the RSS of the first reflection path is that the transmitting end of the robot transmits millimeter wave signals to the external environment according to the preset emission angle, and the It is measured by the receiving end; the RSS of the second transmission path is measured at the transmitting end by the receiving end of the robot transmitting a millimeter wave signal to the external environment according to the preset transmission angle; each reflection path has an incident angle, and each transmission The path has a launch angle;

The preset launch angle is an angle value preset by humans, which can be changed according to the actual situation.

S202, in the case that the robot rotates one circle in a manner of increasing the preset rotation angle, for the same rotation angle, determine the first correlation coefficient and the second correlation coefficient respectively;

The first correlation coefficient is the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path; the second correlation coefficient is the correlation coefficient between the RSS sequence of the transmitting end and the RSS of the second transmitting path; the RSS sequence of the receiving end Contains a preset number of elements, each element is the sum of the contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence at the transmitting end contains a preset number of elements, each element is each beam mode below, the sum of the contribution components of the RSS of the second transmit path.

Among them, the preset rotation angle increment method is to divide 360 degrees into equal parts in advance, and divide it into a preset number of rotation angles, starting from 0 degrees and ending at 360 degrees, and the rotation angle is incremented, and the robot rotates a circle.

的采样点[Lm1，Lm2，...，LmN]处发送60GHz毫米波信号，每个毫米波信号拥有36个波束模式，每个波束模式的功率不同，Tx在每个信标间隔的发送一系列定向信标，Rx将记录每个信标的RSS，形成信标RSS序列。该信标RSS序列为接收端的RSS序列。机器人的位置用Lm表示，m∈[1，M]，m代表机器人的位置序号，M代表机器人的位置总数，N代表间隔采样点的总数。Among them, in the way of increasing the rotation angle, the robot is equipped with two radio modules. The two radio modules are the transmitter and the receiver respectively. The transmitter is represented by Tx and the receiver is represented by Rx. The robot is at N equal intervals of

The 60GHz millimeter wave signal is sent at the sampling points [Lm1, Lm2, ..., LmN], each millimeter wave signal has 36 beam patterns, and the power of each beam pattern is different. A series of directional beacons, Rx will record the RSS of each beacon, forming a sequence of beacon RSS. The beacon RSS sequence is the RSS sequence of the receiver. The position of the robot is represented by Lm, m∈[1,M], m represents the position number of the robot, M represents the total number of positions of the robot, and N represents the total number of interval sampling points.

S203, sum the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

S204, under the maximum situation that the sum exceeds the threshold, the incident angle of the first reflection path is determined as the target incident angle, and the emission angle of the second emission path is determined as the target reflection angle;

The value of the target incident angle is equal to the value of the target reflection angle, and the threshold value is a preset value.

S205, determining the first reflection path corresponding to the target incident angle as the target reflection path, and determining the second reflection path corresponding to the target emission angle as the target emission path;

S206, remove the target reflection path from the first reflection path to obtain the remaining reflection path, and remove the target emission path from the second reflection path to obtain the remaining emission path;

S207, delete the RSS contribution component of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end, and delete the RSS contribution component of the target transmission path from the RSS sequence of the transmitting end to obtain the remaining RSS sequence of the transmitting end ;

The following example illustrates the process of deleting the RSS contribution component of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end.

Assuming that the RSS sequence of the receiving end is [20, 15, 40, 37, 60], and the contribution component of the RSS of the target reflection path is 7, then subtract the contribution component of the RSS of the target reflection path from each element of the RSS sequence of the receiving end 7. The remaining RSS sequence at the receiving end is [13, 8, 33, 30, 53], and obtaining the remaining RSS sequence at the transmitting end is the same as obtaining the remaining RSS sequence at the receiving end, and will not be repeated here.

S208, determine whether the correlation coefficient between the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than a preset threshold, if not, use the remaining RSS sequence of the receiving end to update the RSS sequence of the receiving end, use the remaining reflection path to update the first reflection path, and use the sending The remaining RSS sequence of the terminal updates the RSS sequence of the sending terminal, and the remaining transmission path is used to update the first transmission path, and returns to continue to perform step S203 to step S207 until the correlation coefficient of the remaining RSS sequence of the receiving terminal and the RSS of the remaining reflection path is less than the preset coefficient threshold;

S209: Determine the position of the reflector according to the target reflection paths corresponding to all the target incident angles.

In order to improve the accuracy of determining the position of the reflector, the above S202 may adopt at least one implementation manner to determine the first correlation coefficient and the second correlation coefficient respectively;

In a possible implementation manner, a correlation coefficient formula is used to determine the first correlation coefficient and the second correlation coefficient with respect to the same rotation angle when the robot rotates one circle in a preset rotation angle incrementing manner;

κ(x,y)代表相关系数，x和y分别代表输入变量，cov(x,y)为x与y的协方差，var[y]代表x的方差，var[y]代表y的方差。Among them, the correlation coefficient formula is

κ(x, y) represents the correlation coefficient, x and y represent the input variables respectively, cov(x, y) is the covariance of x and y, var[y] represents the variance of x, and var[y] represents the variance of y.

In order to improve the accuracy of determining the position of the reflector, the above S203 can adopt at least one embodiment to compare the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path Summation:

In one possible implementation, the formula is used:

summing the first correlation coefficient and the second correlation coefficient;

代表第一反射路径的序号，

α(p_A)代表第p_A条第一反射路径的入射角，g(p_A)代表第p_A条第一反射路径的路径增益，

代表第一反射路径的数量，σ代表噪声，V(α(p_A))代表入射角α的第p_A条第一反射路径的RSS。Among them, α represents the emission angle, β represents the incident angle, Vr represents the RSS sequence at the receiving end, V(α) represents the RSS of the first reflection path at the incident angle α, Vt represents the RSS sequence at the transmitting end, and V(β) represents the emission angle as β is the signal strength RSS of the second transmit path,

represents the sequence number of the first reflection path,

α(p _A ) represents the incident angle of the p _A first reflection path, g(p _A ) represents the path gain of the p _A first reflection path,

represents the number of the first reflection paths, σ represents the noise, and V(α(p _A )) represents the RSS of the p _A th first reflection path at the incident angle α.

In order to improve the accuracy of determining the position of the reflector, the above S204 may adopt at least one embodiment to determine the incident angle of the first reflection path as the target incident angle under the condition that the maximum value exceeds the threshold value, and the second emission angle is determined as the target incident angle. The emission angle of the path, determined as the target reflection angle:

In a possible implementation manner, when the sum exceeds the threshold, when the sum is determined to be the maximum, the incident angle corresponding to the first reflection path is taken as the target incident angle, and when the sum exceeds the threshold, when the sum is determined to be the maximum, The emission angle corresponding to the second emission path is taken as the target emission angle.

Referring to Fig. 3, when the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path, and the sum of the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path exceeds the threshold, the reflection angles of the first reflection path are respectively 25 degrees, 40 degrees, 41 degrees, 43 degrees and 45 degrees, when the sum is the maximum, the incident angle corresponding to the first reflection path is about 25 degrees, so the incident angle of 25 degrees is taken as the target incident angle, The launch angle is the target launch angle.

In another possible implementation, when the number of sums is greater than 1, in the case that the sum exceeds the threshold, from the sum when the difference between the sums does not exceed the difference threshold, select the first sum when the sum is the largest The incident angle corresponding to the reflection path is taken as the target incident angle, and when the sum exceeds the threshold, from the sum when the difference between the sum does not exceed the difference threshold, select the emission angle corresponding to the second emission path when the sum is the largest , as the target launch angle.

The difference threshold is a preset value.

Referring to Fig. 3, when the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path, and the sum of the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path exceeds the threshold, the incident angles of the first reflection path are respectively 20 degrees, 25 degrees, 40 degrees, 41 degrees, 43 degrees and 45 degrees, when the number of sums is greater than 1, and at the number of sums greater than 1, and the emission angles are 40 degrees, 41 degrees, 43 degrees and 45 degrees, The difference of the sum does not exceed the difference threshold. In the sum of the emission angles of 40 degrees, 41 degrees, 43 degrees and 45 degrees, the maximum incident angle is 43 degrees, so the incident angle of 43 degrees is used as the target incident. angle, take the launch angle of 43 degrees as the target launch angle.

In order to improve the accuracy of determining the position of the reflector, the above S207 may adopt at least one implementation manner to delete the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end, and from the RSS sequence of the transmitting end , delete the RSS contribution component of the target transmission path, and obtain the remaining RSS sequence at the transmitter:

In a possible implementation, the formula V′ _r =V _r -g ^* (p _A )V(α ^* ) is used to delete the RSS contribution component of the target reflection path in the RSS sequence at the receiving end to obtain the remainder of the receiving end RSS sequence; using the formula V′ _t =V _t -g ^* (p _B )V(β ^* ), from the RSS sequence of the transmitter, delete the contribution component of the RSS of the target transmission path to obtain the remaining RSS sequence of the transmitter;

p_A代表第一反射路径的序号，

α(p_A)代表第p_A条第一反射路径的入射角，g(p_A)代表第p_A条第一反射路径的路径增益，

代表第一反射路径数量，σ代表噪声，V(α(p_A))代表入射角α的第p_A条第一反射路径的RSS，V′_r代表剩余的反射路径的RSS序列，g^*(p_A)代表目标发射角α^*对应的第一反射路径p_A的路径增益；V(β^*)代表目标发射角β^*对应的目标发射路径的RSS，Vt代表发射端的信号强度RSS序列，

p_B代表第二发射路径的序号，

β(p_B)代表第p_B条第二发射路径的发射角，g(p_B)代表第p_B条第二反射路径的路径增益，

代表第二发射路径数量，σ代表噪声，V(β(p_B))代表入射角β的第p_B条第二反射路径的RSS，ω(α，β)代表第一相关系数与第二相关系数的和，V′_t代表剩余的发射路径的RSS序列，g^*(p_B)代表目标发射角β^*对应的第p_B条第二发射路径增益，A、B是区分第一反射路径参数和第二发射路径参数的标号。Among them, α ^* represents the target emission angle, β ^* represents the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V(α ^* ) represents the RSS of the target reflection path corresponding to the target incident angle α ^* ,

p _A represents the sequence number of the first reflection path,

α(p _A ) represents the incident angle of the p _A first reflection path, g(p _A ) represents the path gain of the p _A first reflection path,

represents the number of the first reflection paths, σ represents the noise, V(α(p _A )) represents the RSS of the p- _th first reflection path at the incident angle α, V′ _r represents the RSS sequence of the remaining reflection paths, g ^* ( p _A ) represents the path gain of the first reflection path p _A corresponding to the target emission angle α ^* ; V(β ^* ) represents the RSS of the target emission path corresponding to the target emission angle β ^* , and Vt represents the signal strength RSS sequence of the transmitting end,

p _B represents the sequence number of the second transmit path,

β(p _B ) represents the emission angle of the p _-th second transmission path, g(p _B ) represents the path gain of the p-th _B -th second reflection path,

represents the number of second emission paths, σ represents noise, V(β(p _B )) represents the RSS of the p _-th second reflection path of incident angle β, ω(α, β) represents the first correlation coefficient and the second correlation The sum of the coefficients, V′ _t represents the RSS sequence of the remaining transmission paths, g ^* (p _B ) represents the gain of the second transmission path of the p-th _B corresponding to the target transmission angle β ^* , and A and B are the parameters to distinguish the first reflection path and the label of the second transmit path parameter.

In order to improve the accuracy of determining the position of the reflector, the above S209 may adopt at least one embodiment to determine the position of the reflector according to the target reflection paths corresponding to all the target incident angles:

In a possible implementation manner, the position of the reflector can be determined by the following steps:

Step 1: Determine the number of clusters for clustering all target reflection paths;

In a possible implementation, from the preset value range of K, determine the value of K when the change rate of the metric value η(K) of the cluster is the largest; the value of K is determined as the target reflection path for clustering the number of clusters.

Ψ(k)是属于第k个簇的目标反射路径的集合，c(k)是第k个簇的中心，(i,c(k))是Ψ(k)中第i个目标反射路径与簇的中心之间的欧几里德距离，K代表簇的个数，k是簇的序号，K取值范围是正整数集，Δ是欧氏距离运算符，预设的K的取值范围是预先设定的，取决于环境的复杂程度，簇的度量值是衡量簇的个数K取值好坏的标准。in,

Ψ(k) is the set of target reflection paths belonging to the kth cluster, c(k) is the center of the kth cluster, (i, c(k)) is the ith target reflection path in Ψ(k) and The Euclidean distance between the centers of clusters, K represents the number of clusters, k is the serial number of the cluster, the value range of K is the set of positive integers, Δ is the Euclidean distance operator, and the preset value range of K is Pre-set, depending on the complexity of the environment, the metric value of the cluster is a standard to measure the quality of the number of clusters K.

Referring to Figure 4, the horizontal axis is the number of K, and the vertical axis is the cluster metric value η(K).

Step 2: According to the RSS of each target reflection path and the size of the target incident angle, use the PCA principal component analysis clustering algorithm to cluster the target reflection paths, and obtain clusters equal to the number of clusters;

Step 3: Determine the virtual position of the reflector by determining the convergence point of the target reflection path in the same cluster in all the obtained clusters;

Step 4: Determine the position of the reflector by determining the position of the intersection point between the virtual position of the reflector and the line connecting the transmitting end, and the intersection of the virtual position of the reflector and the line connecting the receiving end.

Referring to Figure 5, it is assumed that the receiving end is set at the outer edge of the robot, the transmitting end is set at the center of the robot, and the reflector is a small area in a wall. To 3 target incident angles, the number of target reflection paths is also 3, the convergence point of the three target reflection paths is determined as the virtual position of the target reflector, and the virtual position of the reflector is connected with the vertical line of the transmitting end, The position of the intersection with the virtual position of the reflector and the connecting line of the receiving end is determined as the position of the reflector.

Compared with the prior art that uses the received incident angle and uses the principle of trigonometric functions to calculate the position of the positioned reflector, the embodiment of the present invention uses the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path, and the RSS of the transmitting end. Summing the correlation coefficients of the sequence and the RSS of the second transmission path; when the sum exceeds the threshold, in the case where the sum exceeds the threshold, determine the incident angle of the first reflection path as the target incident angle, and repeat steps S203 to S207 to The accuracy of determining the incident angles of all targets is improved, and then the positions of the reflectors are determined according to the target reflection paths corresponding to all the target incident angles, so the accuracy of locating the positions of the reflectors can be improved.

As shown in FIG. 6 , a device for positioning a reflector based on a millimeter-wave robot provided by an embodiment of the present invention includes:

The first acquisition module 601 is used to acquire the signal strength RSS of the first reflection path of the receiving end and the RSS of the second transmission path of the transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end ; The RSS of the first reflection path is that the transmitter of the robot transmits a millimeter wave signal to the external environment according to the preset emission angle, and is measured at the receiving end; the RSS of the second emission path is the receiver of the robot according to the preset emission angle. The millimeter wave signal is emitted to the external environment and measured at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;

The first determination module 602 is configured to determine the first correlation coefficient and the second correlation coefficient respectively for the same rotation angle when the robot rotates one circle in a preset rotation angle incrementing manner;

The first correlation coefficient is the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path; the second correlation coefficient is the correlation coefficient between the RSS sequence of the transmitting end and the RSS of the second transmitting path; the RSS sequence of the receiving end Contains a preset number of elements, each element is the sum of the contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence at the transmitting end contains a preset number of elements, each element is each beam mode Below, the sum of the contribution components of the RSS of the second transmit path;

Coefficient summation module 603, for summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

The second determination module 604 is configured to determine the incident angle of the first reflection path as the target incident angle when the sum exceeds the threshold, and determine the emission angle of the second emission path as the target reflection angle;

The third determining module 605 is configured to determine the first reflection path corresponding to the target incident angle as the target reflection path, and determine the second reflection path corresponding to the target emission angle as the target emission path;

The first removing module 606 is configured to remove the target reflection path from the first reflection path to obtain the remaining reflection path, and remove the target emission path from the second reflection path to obtain the remaining emission path;

The first deletion module 607 is used to delete the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end, to obtain the remaining RSS sequence of the receiving end, and from the RSS sequence of the transmitting end, delete the contribution component of the RSS of the target transmission path, Obtain the remaining RSS sequence of the transmitter;

The coefficient judgment module 608 is used for judging whether the correlation coefficient between the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than the preset threshold, if not, use the remaining RSS sequence of the receiving end to update the RSS sequence of the receiving end, and use the remaining reflection path to update the first Reflection path, use the remaining RSS sequence of the sender to update the RSS sequence of the sender, use the remaining transmission path to update the first transmission path, return the coefficient summation module to the first deletion module and continue to execute until the remaining RSS sequence of the receiver and the RSS of the remaining reflection path The correlation coefficient of is less than the preset coefficient threshold;

The position positioning module 609 is configured to determine the position of the reflector according to the target reflection paths corresponding to all target incident angles.

Optionally, the first determination module is specifically used for:

Use the correlation coefficient formula to determine the first correlation coefficient and the second correlation coefficient for the same rotation angle when the robot rotates one circle in a preset rotation angle incrementing manner;

κ(x,y)代表相关系数，x和y分别代表输入变量，cov(x,y)为x与y的协方差，var[y]代表x的方差，var[y]代表y的方差。Among them, the correlation coefficient formula is

κ(x, y) represents the correlation coefficient, x and y represent the input variables respectively, cov(x, y) is the covariance of x and y, var[y] represents the variance of x, and var[y] represents the variance of y.

Optionally, the coefficient summing block is specifically used to:

Use the formula:

summing the first correlation coefficient and the second correlation coefficient;

p_A代表第一反射路径的序号，

α(p_A)代表第p_A条第一反射路径的入射角，g(p_A)代表第p_A条第一反射路径的路径增益，

代表第一反射路径数量，σ代表噪声，V(α(p_A))代表入射角α的第p_A条第一反射路径的RSS。Among them, α represents the emission angle, β represents the incident angle, Vr represents the RSS sequence at the receiving end, V(α) represents the RSS of the first reflection path at the incident angle α, Vt represents the RSS sequence at the transmitting end, and V(β) represents the emission angle as β is the signal strength RSS of the second transmit path,

p _A represents the sequence number of the first reflection path,

α(p _A ) represents the incident angle of the p _A first reflection path, g(p _A ) represents the path gain of the p _A first reflection path,

represents the number of the first reflection paths, σ represents the noise, and V(α(p _A )) represents the RSS of the p _A -th first reflection path at the incident angle α.

Optionally, the second determining module is specifically used for:

When the sum exceeds the threshold, determine the incident angle corresponding to the first reflection path when the sum is the maximum, as the target incident angle;

In the case that the sum exceeds the threshold, the emission angle corresponding to the second emission path when the sum is the maximum is determined as the target emission angle.

Optionally, the second determining module is specifically used for:

In the case that the sum exceeds the threshold, from the first correlation coefficient sum when the difference between the sum does not exceed the difference threshold, select the incident angle corresponding to the first reflection path at the maximum time as the target incident angle;

In the case that the sum exceeds the threshold, from the second correlation coefficient sum when the difference between and does not exceed the difference threshold, select the second correlation coefficient and the emission angle corresponding to the second emission path when the maximum is as the target emission angle .

Optionally, the first deletion module is specifically used for:

Using the formula V' _r =V _r -g ^* (p _A )V(α ^* ), delete the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end;

Using the formula V' _t =V _t -g ^* (p _B )V(β ^* ), from the RSS sequence of the transmitter, delete the contribution component of the RSS of the target transmission path to obtain the remaining RSS sequence of the transmitter;

p_A代表第一反射路径的序号，

α(p_A)代表第p_A条第一反射路径的入射角，g(p_A)代表第p_A条第一反射路径的路径增益，

代表第一反射路径数量，σ代表噪声，V(α(p_A))代表入射角α的第p_A条第一反射路径的RSS，V′_r代表剩余的反射路径的RSS序列，g^*(p_A)代表目标发射角α^*对应的第一反射路径p_A的路径增益；V(β^*)代表目标发射角β^*对应的目标发射路径的RSS，Vt代表发射端的信号强度RSS序列，

p_B代表第二发射路径的序号，

β(p_B)代表第p_B条第二发射路径的发射角，g(p_B)代表第p_B条第二反射路径的路径增益，

代表第二发射路径数量，σ代表噪声，V(β(p_B))代表入射角β的第p_B条第二反射路径的RSS，ω(α，β)代表第一相关系数与第二相关系数的和，V′_t代表剩余的发射路径的RSS序列，g^*(p_B)代表目标发射角β^*对应的第p_B条第二发射路径增益，A、B是区分第一反射路径参数和第二发射路径参数的标号。Among them, α ^* represents the target emission angle, β ^* represents the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V(α ^* ) represents the RSS of the target reflection path corresponding to the target incident angle α ^* ,

p _A represents the sequence number of the first reflection path,

α(p _A ) represents the incident angle of the p _A first reflection path, g(p _A ) represents the path gain of the p _A first reflection path,

represents the number of the first reflection paths, σ represents the noise, V(α(p _A )) represents the RSS of the p- _th first reflection path at the incident angle α, V′ _r represents the RSS sequence of the remaining reflection paths, g ^* ( p _A ) represents the path gain of the first reflection path p _A corresponding to the target emission angle α ^* ; V(β ^* ) represents the RSS of the target emission path corresponding to the target emission angle β ^* , and Vt represents the signal strength RSS sequence of the transmitting end,

p _B represents the sequence number of the second transmit path,

β(p _B ) represents the emission angle of the p _-th second transmission path, g(p _B ) represents the path gain of the p-th _B -th second reflection path,

represents the number of second emission paths, σ represents noise, V(β(p _B )) represents the RSS of the p _-th second reflection path of incident angle β, ω(α, β) represents the first correlation coefficient and the second correlation The sum of the coefficients, V′ _t represents the RSS sequence of the remaining transmission paths, g ^* (p _B ) represents the gain of the second transmission path of the p-th _B corresponding to the target transmission angle β ^* , and A and B are the parameters to distinguish the first reflection path and the label of the second transmit path parameter.

Optionally, the location positioning module is specifically used for:

Determine the number of clusters for clustering all target reflection paths;

According to the RSS of each target reflection path and the size of the target incident angle, the PCA principal component analysis clustering algorithm is used to cluster the target reflection paths, and the clusters equal to the number of clusters are obtained;

Determine the virtual position of the reflector by determining the convergence point of the target reflection path in the same cluster in all the obtained clusters;

The position of the reflector is determined as the position of the intersection point where the line connecting the virtual position of the reflector and the transmitting end and the line connecting the virtual position of the reflector and the receiving end intersect.

Optionally, the location positioning module is specifically used for:

From the preset value range of K, determine the value of K when the change rate of the metric value η(K) of the cluster is the largest;

The K value is determined as the number of clusters for the target reflection path to be clustered;

Ψ(k)是属于第k个簇的目标反射路径的集合，c(k)是第k个簇的中心，(i,c(k))是Ψ(k)中第i个目标反射路径与簇的中心之间的欧几里德距离，K代表簇的个数，k是簇的序号，K取值范围是正整数集，Δ是欧氏距离运算符。in,

Ψ(k) is the set of target reflection paths belonging to the kth cluster, c(k) is the center of the kth cluster, (i, c(k)) is the ith target reflection path in Ψ(k) and The Euclidean distance between the centers of the clusters, K represents the number of clusters, k is the serial number of the cluster, the value range of K is a set of positive integers, and Δ is the Euclidean distance operator.

An embodiment of the present invention further provides an electronic device, as shown in FIG. 7 , including a processor 701 , a communication interface 702 , a memory 703 and a communication bus 704 , wherein the processor 701 , the communication interface 702 , and the memory 703 pass through the communication bus 704 complete communication with each other,

a memory 703 for storing computer programs;

When the processor 701 is used to execute the program stored in the memory 703, the following steps are implemented:

Step A: Obtain the signal strength RSS of the first reflection path of the receiving end and the RSS of the second transmission path of the transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the first reflection path The RSS is measured by the receiving end of the robot transmitting a millimeter wave signal to the transmitting end according to the preset emission angle; Wave signal, measured at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;

Step B, in the case that the robot rotates one circle according to the preset rotation angle increment, respectively determine the first correlation coefficient and the second correlation coefficient for the same rotation angle;

The first correlation coefficient is the correlation coefficient between the RSS sequence of the receiving end and the RSS of the first reflection path; the second correlation coefficient is the correlation coefficient between the RSS sequence of the transmitting end and the RSS of the second transmitting path; the RSS sequence of the receiving end Contains a preset number of elements, each element is the sum of the contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence at the transmitting end contains a preset number of elements, each element is each beam mode Below, the sum of the contribution components of the RSS of the second transmit path;

Step C, the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path is summed with the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

Step D, when the sum exceeds the threshold, the incident angle of the first reflection path is determined as the target incident angle, and the emission angle of the second emission path is determined as the target reflection angle;

Step E, determining the first reflection path corresponding to the target incident angle as the target reflection path, and determining the second reflection path corresponding to the target emission angle as the target emission path;

Step F, remove the target reflection path from the first reflection path to obtain the remaining reflection path, and remove the target emission path from the second reflection path to obtain the remaining emission path;

Step G, from the RSS sequence of the receiving end, delete the contribution component of the RSS of the target reflection path to obtain the remaining RSS sequence of the receiving end, and delete the RSS contribution component of the target transmission path from the RSS sequence of the transmitting end to obtain the remaining RSS of the transmitting end sequence;

Step H, judge whether the correlation coefficient of the remaining RSS sequence of the receiving end and the RSS of the remaining reflection path is less than the preset threshold, if not, use the remaining RSS sequence of the receiving end to update the RSS sequence of the receiving end, use the remaining reflection path to update the first reflection path, use The remaining RSS sequence of the sending end updates the RSS sequence of the sending end, uses the remaining transmission path to update the first transmission path, and returns to and continues to perform step C to step H, until the correlation coefficient between the remaining RSS sequence at the receiving end and the RSS of the remaining reflection path is less than the preset coefficient threshold ;

Step 1: Determine the position of the reflector according to the target reflection paths corresponding to all target incident angles.

The communication bus mentioned in the above electronic device may be a Peripheral Component Interconnect (PCI for short) bus or an Extended Industry Standard Architecture (EISA for short) bus or the like. The communication bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of presentation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

The communication interface is used for communication between the above electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM for short), and may also include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

The above-mentioned processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; it may also be a digital signal processor (Digital Signal Processing, DSP for short) , Application Specific Integrated Circuit (ASIC for short), Field-Programmable Gate Array (FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, and discrete hardware components.

In yet another embodiment provided by the present invention, a computer-readable storage medium is also provided, where instructions are stored in the computer-readable storage medium, when the computer-readable storage medium is run on a computer, the computer is made to execute any one of the above-mentioned embodiments. The described method for locating a reflector based on a millimeter-wave robot.

In yet another embodiment provided by the present invention, there is also provided a computer program product including instructions, which, when run on a computer, enables the computer to execute the millimeter-wave robot-based millimeter-wave robot described in any of the foregoing embodiments. Reflector positioning method.

In the above-mentioned embodiments, it may be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present invention are generated. The computer may be a general purpose computer, special purpose computer, computer network, or other programmable device. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be downloaded from a website site, computer, server, or data center Transmission to another website site, computer, server, or data center is by wire (eg, coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (eg, infrared, wireless, microwave, etc.). The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that includes an integration of one or more available media. The usable media may be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (eg, DVD), or semiconductor media (eg, Solid State Disk (SSD)), among others.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus. Without further limitation, an element qualified by the phrase "comprising a..." does not preclude the presence of additional identical elements in a process, method, article or apparatus that includes the element.

Each embodiment in this specification is described in a related manner, and the same and similar parts between the various embodiments may be referred to each other, and each embodiment focuses on the differences from other embodiments. Especially, for the apparatus/electronic device/computer-readable storage medium/computer program product embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and for related details, please refer to the partial description of the method embodiment.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims (9)

1. A reflector positioning method based on a millimeter wave robot is characterized by comprising the following steps:

step A, acquiring the signal intensity RSS of a first reflection path of a receiving end and the RSS of a second transmission path of a transmitting end; the first reflection path is each reflection path of a receiving end, and the second transmission path is each transmission path of a transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by the transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at the receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to the preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;

step B, respectively determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental manner of the rotation angle;

the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of a first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of a second transmitting path; the RSS sequence of the receiving end includes preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of contribution components of the RSS of the second transmitting path in each beam mode;

step C, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

a step D of determining an incident angle of the first reflection path as a target incident angle and determining an emission angle of the second reflection path as a target reflection angle in the case where the sum exceeds a threshold value;

step E, determining a first reflection path corresponding to the target incidence angle as a target reflection path, and determining a second reflection path corresponding to the target emission angle as a target emission path;

step F, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;

step G, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;

step H, judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, updating the RSS sequence of the receiving end by using the residual RSS sequence of the receiving end, updating the first reflection path by using the residual reflection path, updating the RSS sequence of the transmitting end by using the residual RSS sequence of the transmitting end, updating the first transmission path by using the residual transmission path, and returning to continue to execute the steps C to H until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient threshold value;

step I, determining the positions of reflectors according to target reflection paths corresponding to all target incidence angles;

wherein, the determining the position of the reflector according to the target reflection paths corresponding to all the target incidence angles comprises:

determining the cluster number of all target reflection paths for clustering;

clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the size of the target incidence angle to obtain clusters with the same number as the clusters;

determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;

and determining the position of the reflector as the intersection point position of the vertical line of the connecting line of the virtual position of the reflector and the transmitting end and the intersecting line of the virtual position of the reflector and the receiving end.

2. The method of claim 1, wherein the determining the first correlation coefficient and the second correlation coefficient respectively for a same rotation angle when the robot rotates for one circle in a manner of increasing a preset rotation angle comprises:

determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle by using a correlation coefficient formula according to a preset incremental rotation angle mode;

wherein the correlation coefficient is expressed by

K (x, y) represents the correlation coefficient, x and y represent the input variables, respectively, cov (x, y) is the covariance of x and y, var [ y ]]Represents the variance of x, var [ y]Representing the variance of y.

3. The method of claim 2, wherein summing the correlation coefficients of the RSS sequence at the receiving end and the RSS at the first reflection path and the correlation coefficients of the RSS sequence at the transmitting end and the RSS at the second transmission path comprises:

using the formula:

summing the first correlation coefficient and the second correlation coefficient;

where α represents an emission angle, β represents an incidence angle, Vr represents an RSS sequence of a receiving end, V (α) represents an RSS of a first reflection path of the incidence angle α, Vt represents an RSS sequence of the emitting end, V (β) represents a signal strength RSS of a second transmission path of the emission angle β,

p_Aa serial number representing the first reflected path,

α(p_A) Represents the p th_AAngle of incidence, g (p), of the first reflection path of the strip_A) Represents the p th_AThe path gain of the first reflected path of the strip,

representing the number of first reflection paths, sigma representing noise, V (alpha (p)_A) P-th representing the incident angle alpha_ARSS of the first reflection path of the strip.

4. The method of claim 1, wherein determining an incident angle of the first reflection path as a target incident angle and an emission angle of the second reflection path as a target reflection angle if the sum exceeds a threshold comprises:

when the sum exceeds a threshold value, determining an incident angle corresponding to the first reflection path when the sum is maximum as a target incident angle;

and when the sum exceeds a threshold value, determining the emission angle corresponding to the second emission path as a target emission angle when the sum is maximum.

5. The method according to claim 1, wherein when the number of the sums is greater than 1, determining an incident angle of a first reflection path as a target incident angle and determining an emission angle of a second reflection path as a target reflection angle if the sum exceeds a threshold value comprises:

selecting an incident angle corresponding to the first reflection path at the maximum as a target incident angle from the sums when the difference between the sums does not exceed the difference threshold value in the case where the sum exceeds the threshold value;

and selecting the emission angle corresponding to the second emission path at the maximum as the target emission angle from the sum when the difference between the sums does not exceed the difference threshold value in the case that the sum exceeds the threshold value.

6. The method of claim 1, wherein the removing the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain a remaining RSS sequence of the receiving end, and removing the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain a remaining RSS sequence of the transmitting end comprises:

using formula V'_r＝V_r-g^*(p_A)V(α^*) Deleting the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end;

using formula V'_t＝V_t-g^*(p_B)V(β^*) Deleting the contribution component of the RSS of the target transmitting path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;

wherein alpha is^*Representing the target emission angle, beta^*Representing the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V (alpha)^*) Representing the target angle of incidence alpha^*The RSS of the corresponding target reflection path,

p_Arepresenting the first reflectionThe sequence number of the path is set to,

α(p_A) Represents the p th_AAngle of incidence, g (p), of the first reflection path of the strip_A) Represents the p th_AThe path gain of the first reflected path of the strip,

representing the number of first reflection paths, sigma representing noise, V (alpha (p)_A) Represents V (. alpha. (p))_A) P-th representing the incident angle alpha_ARSS, V 'of the first reflection path'_rRSS sequence, g, representing the remaining reflection path^*(p_A) Representing the target emission angle alpha^*Corresponding first reflection path p_AThe path gain of (1); v (. beta.) of^*) Representing target emission angle beta^*The RSS of the corresponding target transmission path, Vt represents the signal strength RSS sequence of the transmitting end,

p_Ba sequence number representing the second transmit path,

β(p_B) Represents the p th_BEmission angle of the second emission path, g (p)_B) Represents the p th_BThe path gain of the second reflected path of the strip,

representing the number of second transmit paths, sigma representing noise, V (beta (p)_B) P-th representing the angle of incidence β_BRSS, ω (α, β) of the second reflection path represents the sum, V ', of the first correlation coefficient and the second correlation coefficient'_tRSS sequences, g, representing the remaining transmission paths^*(p_B) Representing target emission angle beta^*Corresponding p (th)_BThe bar second transmit path gain, A, B, is a label that distinguishes the first reflected path parameter from the second transmit path parameter.

7. The method of claim 1, wherein determining the number of clusters in which all target reflection paths are clustered comprises:

determining the value of K when the change rate of the metric eta (K) of the cluster is maximum from the preset value range of K;

determining the K value as the cluster number of clustering performed on the target reflection path;

wherein,

Ψ (K) is a set of target reflection paths belonging to the kth cluster, c (K) is the center of the kth cluster, and (i, c (K)) is the euclidean distance between the ith target reflection path in Ψ (K) and the center of the cluster, K represents the number of clusters, K is the cluster number, K is a positive integer set, and Δ is the euclidean distance operator.

8. A reflector positioning apparatus based on a millimeter wave robot, the apparatus comprising:

the first acquisition module is used for acquiring the signal intensity RSS of a first reflection path of the receiving end and the RSS of a second transmission path of the transmitting end; the first reflection path is each reflection path of a receiving end, and the second transmission path is each transmission path of a transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by the transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at the receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to the preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;

the robot comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a first correlation coefficient and a second correlation coefficient respectively aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental mode of the rotation angle;

the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of a first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of a second transmitting path; the RSS sequence of the receiving end includes preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of contribution components of the RSS of the second transmitting path in each beam mode;

the coefficient summing module is used for summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;

a second determining module for determining an incident angle of the first reflection path as a target incident angle and an emission angle of the second reflection path as a target reflection angle if the sum exceeds a threshold;

the third determining module is used for determining the first reflection path corresponding to the target incidence angle as a target reflection path and determining the second reflection path corresponding to the target emission angle as a target emission path;

the first removing module is used for removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;

the first deleting module is used for deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;

the coefficient judgment module is used for judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, the residual RSS sequence of the receiving end is used for updating the RSS sequence of the receiving end, the residual reflection path is used for updating the first reflection path, the residual RSS sequence of the sending end is used for updating the RSS sequence of the sending end, the residual transmission path is used for updating the first transmission path, and the coefficient summation module is returned to the first deletion module to continue execution until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient;

the position positioning module is used for determining the positions of the reflectors according to the target reflection paths corresponding to all the target incidence angles;

wherein, the position location module is specifically configured to:

determining the cluster number of all target reflection paths for clustering;

clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the target incidence angle to obtain clusters with the same number as the clusters;

determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;

and determining the position of the reflector as the intersection point position of the vertical line connecting the virtual position of the reflector and the transmitting end and the intersection point position of the virtual position of the reflector and the receiving end.

9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;

a memory for storing a computer program;

a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.

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