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CN118075867A - Angle accuracy verification method, system and storage medium of AoA positioning base station - Google Patents

Angle accuracy verification method, system and storage medium of AoA positioning base station Download PDF

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Publication number
CN118075867A
CN118075867A CN202410192059.9A CN202410192059A CN118075867A CN 118075867 A CN118075867 A CN 118075867A CN 202410192059 A CN202410192059 A CN 202410192059A CN 118075867 A CN118075867 A CN 118075867A
Authority
CN
China
Prior art keywords
base station
plane
positioning base
angle
aoa positioning
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202410192059.9A
Other languages
Chinese (zh)
Inventor
马奔腾
殷承良
杨晓亮
吴越鹏
高亮全
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Songyang Enterprise Management Co ltd
Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
Original Assignee
Shanghai Songyang Enterprise Management Co ltd
Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Songyang Enterprise Management Co ltd, Shanghai Intelligent and Connected Vehicle R&D Center Co Ltd filed Critical Shanghai Songyang Enterprise Management Co ltd
Priority to CN202410192059.9A priority Critical patent/CN118075867A/en
Publication of CN118075867A publication Critical patent/CN118075867A/en
Pending legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/04—Systems for determining distance or velocity not using reflection or reradiation using radio waves using angle measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0205—Details
    • G01S5/021—Calibration, monitoring or correction
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The invention discloses a method, a system and a storage medium for verifying the angle precision of an AoA positioning base station, wherein the method comprises the following steps: s1, manufacturing an equiangular line diagram of an arrival angle of an AoA positioning base station on a second plane; s2, a signal transmitter arranged on a specified equal angle line of the second plane transmits an excitation signal, and an angle corresponding to the specified equal angle line is recorded as a theoretical angle value; s3, obtaining an actual angle value of the excitation signal through the AoA positioning base station to be detected, comparing the actual angle value with the theoretical angle value, judging whether the difference value of the actual angle value and the theoretical angle value is in a threshold range, and if so, judging that the angle precision of the AoA positioning base station meets the design requirement.

Description

Angle accuracy verification method, system and storage medium of AoA positioning base station
Technical Field
The invention belongs to the technical field of AoA positioning, and particularly relates to an angle accuracy verification method, an angle accuracy verification system and a computer readable storage medium of an AoA positioning base station.
Background
An Angle-of-Arrival (AoA) based positioning algorithm is a typical ranging-based positioning algorithm, in which the direction of Arrival of a transmitting node signal is perceived by some hardware device, the relative position or Angle between a receiving node and an anchor node is calculated, and then the position of an unknown node is calculated by triangulation or other means. The positioning algorithm based on the signal arrival angle (AoA) is a common wireless sensor network node self-positioning algorithm, and has low algorithm communication overhead and higher positioning precision.
AoA base stations are commonly used in wireless positioning systems, such as indoor positioning, device tracking, and the like. Verifying the angular accuracy of an AoA is a precondition for a positioning system to provide accurate position information, the accuracy of which is critical for many applications. The accuracy of the AoA positioning base station is one of important indexes for determining the positioning performance of the base station. For the angle precision of the AoA positioning base station, no mature precision verification method exists at present.
Disclosure of Invention
The invention aims to provide an angle accuracy verification method and device for an AoA positioning base station, so as to solve the problems. For this purpose, the invention adopts the following technical scheme:
According to a first aspect of the present invention, there is provided a method for verifying angular accuracy of an AoA positioning base station, the method comprising the steps of:
s1, manufacturing an equiangular line diagram of an antenna array of the AoA positioning base station on the second plane;
S2, the signal transmitter placed on a specified equal angle line of a second plane sends out an excitation signal, and an angle corresponding to the specified equal angle line is recorded as a theoretical angle value; and
S3, obtaining an actual angle value of the excitation signal transmitted by the signal transmitter through the AoA positioning base station to be detected, comparing the actual angle value with the theoretical angle value, judging whether the difference value of the actual angle value and the theoretical angle value is within a threshold range, and if so, judging that the angle precision of the AoA positioning base station meets the design requirement.
In one embodiment, S1 comprises:
s11, the height of the first plane is recorded as a first height, and the height of the second plane is recorded as a second height;
s12, solving an equiangular line of the space position projection of the antenna array on a second plane according to the relative position relation of the first height, the second height and the antenna array;
S13, drawing the equiangular line on the second plane according to a preset interval angle.
In one embodiment, for a linear array antenna, the specific process of S12 is: the first antenna is placed at the center of the first plane, other antennas are sequentially arranged along the positive direction of the x axis, the position of the first antenna is assumed to be a conical vertex, the straight line along the arrangement direction of the antennas is defined as a conical central axis, the cones with different angles are constructed according to different included angles between conical generatrix and the central axis, and then the intersection lines of the cones with different angles and the second plane on the second plane are equal angle lines of the second plane, and the curve equation of the equal angle lines can be solved by the following equation:
Wherein f (x, y, z, θ) is a conic equation, x, y, z are coordinates, θ is an angle between a conic generatrix and the central axis, g (x, y, z) is a second plane equation, and z 0 is a second height.
In one embodiment, the theoretical angle value ranges from 60 ° to 120 °.
In an embodiment, the angular intervals of the equal angle lines are 1 °, 2 °, 5 ° or 10 °.
In an embodiment, the AoA positioning base station is a bluetooth AoA positioning base station, and the signal transmitter is a bluetooth terminal.
In one embodiment, the threshold range is-0.5 to +0.5.
In an embodiment, the distance between the first plane and the second plane is less than 1m.
According to a second aspect of the present invention there is provided an angular accuracy verification system for an AoA positioning base station, wherein the system comprises a processor and a memory, the memory storing a computer program, the processor executing the computer program to implement the method as described above.
According to a third aspect of the present invention there is provided a computer readable storage medium having stored thereon a computer program, wherein the computer program is executable by a processor to implement a method as described above.
The invention can realize the angle precision evaluation of the AoA base station, so that a developer can more conveniently acquire the accuracy of an angle estimation algorithm.
Drawings
Fig. 1 is a flowchart of a method for verifying angular accuracy of an AoA positioning base station according to an embodiment of the present invention;
fig. 2 is a schematic diagram of calculation of the theoretical angle of the antenna array of the AoA positioning base station;
FIG. 3 is an isometric view of the antenna array with vertical and 10 angular spacing;
fig. 4 is an isometric view of the antenna array tilted 30 ° and angularly spaced 10 °.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the attached drawings so that the objects, features and advantages of the present invention will be more clearly understood. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the invention, but rather are merely illustrative of the true spirit of the invention.
In the following description, for the purposes of explanation of various disclosed embodiments, certain specific details are set forth in order to provide a thorough understanding of the various disclosed embodiments. One skilled in the relevant art will recognize, however, that an embodiment may be practiced without one or more of the specific details. In other instances, well-known devices, structures, and techniques associated with the present application may not be shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.
Reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
In the following description, for the purposes of clarity of presentation of the structure and manner of operation of the present invention, the description will be made with the aid of directional terms, but such terms as "forward," "rearward," "left," "right," "outward," "inner," "outward," "inward," "upper," "lower," etc. are to be construed as convenience, and are not to be limiting.
As shown in fig. 1 to 4, according to a first embodiment of the present invention, there is provided an angle accuracy verification method of an AoA positioning base station. The method comprises the following steps:
S1, manufacturing an equiangular line drawing of an antenna array of the AoA positioning base station on a second plane. Specifically, first, the relative positional relationship of the signal transmitter and the antenna array of the AoA positioning base station, that is, the coordinates (x 0, y0, z 0) of the antenna array and the coordinates (x, y, z) of the signal transmitter are obtained. As shown in fig. 2, the antenna plane of the AoA positioning base station is denoted as a first plane A1, the height is denoted as a first height, the mounting plane of the signal transmitter is denoted as a second plane A2, the height is denoted as a second height, and an equiangular line of the spatial position of the antenna array projected on the second plane is solved according to the first height, the second height and the relative positional relationship of the antenna array. Taking a linear antenna as an example, a first antenna is placed at the center of a first plane, and the rest antennas are arranged along the positive direction of an X axis, namely, a second antenna, a third antenna, a fourth antenna and … … are sequentially arranged on the right side of the first antenna. Assuming that the position of the first antenna is a conical vertex P, a straight line along the antenna arrangement direction (X axis) is defined as a conical central axis h, and according to different included angles theta between a conical generatrix l and the central axis h, cones with different angles are constructed at different interval angles, and then the intersection line of the cones with different angles and the second plane on the second plane is an equal angle line of the second plane, and a curve equation of the equal angle line can be obtained by solving the following equation set.
Wherein f (x, y, z, θ) is a conic equation, x, y, z are coordinates, θ is an angle between a conic generatrix and the central axis, g (x, y, z) is a second plane equation, and z 0 is a second height. The angular interval of the equal angle lines can be set according to the precision requirement of the actual product, for example: 1 °,2 °,5 °, or 10 °. Drawing equiangular lines with different intervals on a second plane according to different antenna arrangement and angle precision requirements, as shown in fig. 3 and 4, wherein fig. 3 is an equiangular line diagram with an antenna array vertical and an angle interval of 10 degrees; fig. 4 is an isometric view of the antenna array tilted 30 ° and angularly spaced 10 °. The drawing of the equiangular line graph can be realized by programming a corresponding computer program. The isocratic line graph may be printed or projected on the second plane.
In an embodiment, the AoA positioning base station is a bluetooth AoA positioning base station, and the signal transmitter is a bluetooth terminal, for example, a bluetooth transmitter specifically customized for testing, or a portable electronic device with bluetooth function, for example, a mobile phone, an earphone, or a speaker, etc.
S2, a signal transmitter arranged on a specified equal angle line of the second plane sends out an excitation signal, and an angle corresponding to the specified equal angle line is recorded as a theoretical angle value. For example, when the signal emitters are placed on an equiangular line of 90 °, the theoretical angle value at this time is 90 °. To ensure that the signal transmitters are received by the AoA positioning base station, the signal transmitters are typically placed on an equiangular line in the range of 60 ° to 120 °. The theoretical angle value can be input manually or the camera shoots an equiangular line graph, and then the shot image is identified to obtain the theoretical angle value.
S3, obtaining an actual angle value of the excitation signal through the AoA positioning base station to be detected, comparing the actual angle value with the theoretical angle value, judging whether the difference value of the actual angle value and the theoretical angle value is within a threshold range (for example, -0.5 degrees to +0.5 degrees), and if yes, judging that the angle precision of the AoA positioning base station meets the design requirement. The actual angle value is obtained through an angle resolving algorithm built in the AoA positioning base station, so that the method can also verify the accuracy of the angle resolving algorithm.
In some embodiments, steps S2-S3 may be repeated multiple times, i.e., multiple tests (e.g., 3-5 times) may be performed by placing the signal transmitters on different equiangular lines, and if each test result meets the design requirement or more than half of the test results meet the design requirement, the AoA positioning base station is indicated as being a good, and otherwise the AoA positioning base station is indicated as being a bad.
It should be noted that the installation position of the AoA positioning base station to be tested needs to be ensured to be the same as the installation position of the AoA positioning base station when calculating the theoretical angle value during the test, so as to ensure the correctness of the method. For this purpose, the installation location of the AoA positioning base station can be marked.
The invention creatively provides an angle precision method of an AoA positioning base station, and the angle precision of the AoA positioning base station can be verified simply and conveniently through the method, so that the efficiency is high.
The invention also provides an angle precision verification system of the AoA positioning base station, which is used for realizing the angle precision verification method of the AoA positioning base station. In some embodiments, the angular accuracy verification system may include a signal transmitter, an AoA location base station to be tested, and a server communicatively coupled to the AoA location base station and including a processor and a memory storing a computer program that when executed by the processor implements an angular accuracy verification method for an AoA location base station as described above.
The computer program may be divided into one or more modules/units, which are stored in the memory and executed by the processor to perform the method of the present invention, for example. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions for describing the execution of the computer program in an angular accuracy verification system of the AoA positioning base station.
A server may include, but is not limited to, a processor and memory, for example, it may also include input-output devices, network access devices, buses, and the like.
The Processor may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), off-the-shelf Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. The general processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor is a control center of the intelligent parking system, and connects various parts of the angle accuracy verification system of the entire AoA positioning base station by using various interfaces and lines.
The memory can be used for storing computer programs and/or modules, and the processor can realize tracking of the vacant parking spaces of the parking lot and the like by running or executing the computer programs and/or modules stored in the memory and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function, and the like; the storage data area can store working data of an angle accuracy verification system of the AoA positioning base station. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart memory card (SMART MEDIA CARD, SMC), secure Digital (SD) card, flash memory card (FLASH CARD), at least one disk storage device, flash memory device, or other volatile solid-state storage device.
Yet another embodiment of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the angular accuracy verification method of an AoA positioning base station as described above.
Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
While the preferred embodiments of the present application have been described in detail, it will be appreciated that those skilled in the art, upon reading the above teachings, may make various changes and modifications to the application. Such equivalents are also intended to fall within the scope of the application as defined by the following claims.

Claims (10)

1. A method for verifying angular accuracy of an AoA positioning base station, characterized in that an antenna array plane of the AoA positioning base station is denoted as a first plane, and an installation plane of a signal transmitter is denoted as a second plane, wherein the first plane is parallel to the second plane, the method comprising the steps of:
s1, manufacturing an equiangular line diagram of an antenna array of the AoA positioning base station on the second plane;
S2, the signal transmitter placed on the appointed equal angle line of the second plane sends out an excitation signal, and an angle corresponding to the appointed equal angle line is recorded as a theoretical angle value; and
S3, obtaining an actual angle value of the excitation signal through the AoA positioning base station to be detected, comparing the actual angle value with the theoretical angle value, judging whether the difference value of the actual angle value and the theoretical angle value is in a threshold range, and if yes, judging that the angle precision of the AoA positioning base station meets the design requirement.
2. The method for verifying angular accuracy of an AoA positioning base station of claim 1, wherein S1 comprises:
s11, the height of the first plane is recorded as a first height, and the height of the second plane is recorded as a second height;
s12, solving an equiangular line of the space position projection of the antenna array on a second plane according to the relative position relation of the first height, the second height and the antenna array;
S13, drawing the equiangular line on the second plane according to a preset interval angle.
3. The method for verifying angular accuracy of AoA positioning base station according to claim 2, wherein for a linear array antenna, the specific procedure of S12 is: the first antenna is placed at the center of the first plane, other antennas are sequentially arranged along the positive direction of the x axis, the position of the first antenna is assumed to be a conical vertex, the straight line along the arrangement direction of the antennas is defined as a conical central axis, the cones with different angles are constructed according to different included angles between conical generatrix and the central axis, and then the intersection lines of the cones with different angles and the second plane on the second plane are equal angle lines of the second plane, and the curve equation of the equal angle lines can be solved by the following equation:
Wherein f (x, y, z, θ) is a conic equation, x, y, z are coordinates, θ is an angle between a conic generatrix and the central axis, g (x, y, z) is a second plane equation, and z 0 is a second height.
4. The method for verifying angular accuracy of an AoA positioning base station of claim 1, wherein the theoretical angular value ranges from 60 ° to 120 °.
5. The method for verifying angular accuracy of an AoA positioning base station of claim 1, wherein the angular interval of the equal angle lines is 1 °,2 °,5 ° or 10 °.
6. The method for verifying angular accuracy of an AoA positioning base station of claim 1, wherein the AoA positioning base station is a bluetooth AoA positioning base station and the signal transmitter is a bluetooth terminal.
7. The method for verifying angular accuracy of an AoA positioning base station of claim 1, wherein the threshold range is-0.5 ° to +0.5°.
8. The method of angle accuracy verification of an AoA positioning base station of claim 1, wherein a distance between the first plane and the second plane is less than 1 meter.
9. An angular accuracy verification system of an AoA positioning base station, characterized in that the system comprises a processor and a memory, the memory storing a computer program, the processor executing the computer program to implement the method of any one of claims 1-8.
10. A computer readable storage medium having stored thereon a computer program, wherein the computer program is executable by a processor to implement the method of any of claims 1-8.
CN202410192059.9A 2024-02-21 2024-02-21 Angle accuracy verification method, system and storage medium of AoA positioning base station Pending CN118075867A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202410192059.9A CN118075867A (en) 2024-02-21 2024-02-21 Angle accuracy verification method, system and storage medium of AoA positioning base station

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202410192059.9A CN118075867A (en) 2024-02-21 2024-02-21 Angle accuracy verification method, system and storage medium of AoA positioning base station

Publications (1)

Publication Number Publication Date
CN118075867A true CN118075867A (en) 2024-05-24

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Country Status (1)

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