CN113702962A - Real-time positioning method, cloud server, real-time positioning system and storage medium - Google Patents
Real-time positioning method, cloud server, real-time positioning system and storage medium Download PDFInfo
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- CN113702962A CN113702962A CN202010444355.5A CN202010444355A CN113702962A CN 113702962 A CN113702962 A CN 113702962A CN 202010444355 A CN202010444355 A CN 202010444355A CN 113702962 A CN113702962 A CN 113702962A
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
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- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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- H—ELECTRICITY
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- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H04W—WIRELESS COMMUNICATION NETWORKS
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Abstract
The application discloses a real-time positioning method based on a millimeter wave radar, which relates to the technical field of intelligent control, and comprises the following steps: acquiring first monitoring data acquired by a first millimeter wave radar and second monitoring data acquired by a second millimeter wave radar; acquiring a relevant position relation between the first millimeter wave radar and the second millimeter wave radar; processing the first monitoring data and the second monitoring data according to the position relation to obtain effective monitoring data; and clustering the effective monitoring data to determine the position information of the target user. The application also provides a cloud server, a real-time positioning system based on the millimeter wave radar and a computer readable storage medium. The reflection interference in the indoor environment is reduced through mutual limitation of multiple data, so that the accuracy of indoor positioning is improved.
Description
Technical Field
The application relates to the technical field of intelligent control, in particular to a real-time positioning method based on a millimeter wave radar, a cloud server, a real-time positioning system based on the millimeter wave radar and a computer readable storage medium.
Background
With the development of the internet of things technology, the functions of the smart home become more and more abundant, and the household appliances integrate sensors on the basis of the original traditional functions to realize the intelligent functions. With the gradual realization of the whole-house interconnection scene, the real-time monitoring of the indoor position of the user becomes a necessary requirement for intelligent control and interaction.
The traditional method for realizing user positioning and tracking is to realize positioning of the user position by utilizing a radar, and when a user enters a radar detectable area, the radar is utilized to send and receive signals to realize positioning of the user position. Therefore, positioning of users or objects can be achieved, but in an indoor environment, due to the fact that the environment is narrow relatively and home equipment is staggered, interference of signal reflection is large when radar detection is conducted, and positioning accuracy is affected.
Therefore, a real-time positioning method for improving the indoor positioning accuracy is needed.
Disclosure of Invention
The application provides a real-time positioning method based on a millimeter wave radar, a cloud server, a real-time positioning system based on the millimeter wave radar and a computer readable storage medium, so as to improve indoor positioning accuracy.
In a first aspect, the present application provides a real-time positioning method based on a millimeter wave radar, where the method includes:
acquiring first monitoring data acquired by a first millimeter wave radar and second monitoring data acquired by a second millimeter wave radar;
acquiring a relevant position relation between the first millimeter wave radar and the second millimeter wave radar;
processing the first monitoring data and the second monitoring data according to the position relation to obtain effective monitoring data;
and clustering the effective monitoring data to determine the position information of the target user.
In a second aspect, the present application further provides a cloud server, where the cloud server includes a processor and a memory; the memory is used for storing a computer program; the processor is used for executing the computer program and realizing the real-time positioning method based on the millimeter wave radar when the computer program is executed.
In a third aspect, the present application further provides a real-time positioning system based on millimeter wave radar, where the system includes a plurality of millimeter wave radars and the cloud server as described above.
In a fourth aspect, the present application further provides a storage medium storing computer-readable instructions, which when executed by one or more processors, cause the one or more processors to perform the steps of the millimeter wave radar-based real-time positioning method described above.
In the real-time positioning method based on the millimeter wave radar, when the current position of a user is positioned in real time, monitoring data monitored by the two millimeter wave radars capable of detecting the position information of the user are obtained, relative position information between the two millimeter wave radars is obtained simultaneously, then the monitoring data detected by the two millimeter wave radars are screened according to the obtained relative position information, effective monitoring data capable of positioning the position of the user are obtained, and finally the obtained effective monitoring data are clustered to determine the current position information of the target user. Through mutual limitation of multiple data, reflection interference in indoor environment is reduced, and accuracy of indoor positioning is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a block diagram of a real-time positioning system based on millimeter-wave radar in an embodiment of the present application;
fig. 2 is a schematic flowchart of a real-time positioning method based on a millimeter wave radar in an embodiment of the present application;
fig. 3a and fig. 3b are schematic views of a scene of a positional relationship between two millimeter wave radars in an embodiment of the present application;
FIG. 4 is a flowchart illustrating the steps of determining relevant location information according to one embodiment of the present application;
FIGS. 5a and 5b are schematic diagrams illustrating determination of relative position relationships in one embodiment of the present application;
FIG. 6 is a flowchart illustrating steps for obtaining valid monitoring data according to an embodiment of the present application;
FIGS. 7a, 7b, and 7c are schematic diagrams of first/second coordinate information and a common coordinate system in one embodiment of the present application;
FIG. 8 is a flow chart illustrating the steps of fitting to a common coordinate system in one embodiment of the present application;
fig. 9 is a schematic block diagram of a structure of a cloud server provided in an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
It is to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The embodiment of the application provides a real-time positioning method, a cloud server, a real-time positioning system and a storage medium based on a millimeter wave radar, so as to improve indoor positioning accuracy.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a block diagram illustrating a real-time positioning system based on millimeter-wave radar according to an embodiment of the present disclosure.
Specifically, this system includes a plurality of millimeter wave radars and high in the clouds server, and wherein the millimeter wave radar is used for carrying out radar detection, and the high in the clouds server is used for carrying out data processing. In practical application, when the position of the user is located, the more data detected, the more accurate the location of the user position, so that although the location of the user position is completed by using two millimeter wave radars in the present application, the more millimeter wave radars can be used to actually locate the user position. Here, explanation will be made with position positioning implemented using two millimeter wave radars.
In the positioning system that this application corresponds, this real-time positioning system 100 based on millimeter wave radar includes first millimeter wave radar 101, second millimeter wave radar 102 and high in the clouds server 103, and high in the clouds server 103 carries out analysis processes through the data to first millimeter wave radar 101 and the detection of second millimeter wave radar 102 to obtain the current position information under indoor environment of user.
When the first millimeter wave radar 101 and the second millimeter wave radar 102 work, the modulated continuous waves with the working frequencies in the time from 60GHz to 67GHz are broadcasted and transmitted, the positioning accuracy can be effectively improved by the specific high-frequency working frequency, and meanwhile, the interference caused by the use of electromagnetic waves with other frequencies is avoided.
In addition, before the position of the user is located, that is, before the first millimeter wave radar 101 and the second millimeter wave radar 102 are in an operating state, calibration of the position therebetween is also required in order to subsequently locate the position of the user.
Referring to fig. 2, fig. 2 is a schematic flowchart illustrating a real-time positioning method based on a millimeter-wave radar according to an embodiment of the present disclosure.
The real-time positioning method based on the millimeter wave radar applies the real-time positioning system based on the millimeter wave radar described above. Specifically, the real-time positioning method includes steps S201 to S204.
Step S201, first monitoring data acquired by the first millimeter wave radar and second monitoring data acquired by the second millimeter wave radar are acquired.
The whole house interconnection and the home intelligence are derived products in the modern technology development process, are closer to the life of people, and reasonably and accurately realize the intelligent control on the intelligent home equipment according to the behaviors or intentions of the user so as to better improve the life experience of people. In order to accurately realize the interactive linkage with each household device according to the behavior intention of the user, it is essential to accurately position the indoor position information of the user in real time.
When realizing being in indoor user location, use millimeter wave radar to realize the definite to user's position, wherein the millimeter wave radar carries out information transmission's radar module for using high frequency signal, and this millimeter wave radar's operating frequency is 60GHz ~ 67GHz, adopts FMCW (frequency modulation continuous wave) for transmission waveform, and its advantage lies in the bandwidth height for signal transmission efficiency is higher, and the volume is littleer, the better integration of being convenient for on each intelligent household equipment.
When the position information of a user is positioned, the position of the user is determined through data information collected by the millimeter wave radar, and in the actual use process, the more the number of the millimeter wave radars used for determining the position of the user is obviously, the more accurate the positioning is inevitably, but under the common condition, the two millimeter wave radars can also determine the position of the user more accurately, so that the real-time positioning of the position of the user is explained by the two millimeter wave radars in the application, but the method is not limited to the determination of the position information only by adopting the two millimeter wave radars in the application.
In the application, when the user position is determined, first monitoring data collected by a first millimeter wave radar and second monitoring data collected by a second millimeter wave radar are acquired, so that the user position is positioned and determined by using the first monitoring data and the second monitoring data.
When radar is used for positioning, electromagnetic waves with specific frequency are sent by the radar, echo signals of the electromagnetic waves generated by the reflection of an object are received, and the position relation between the object reflecting the echo signals and the radar is determined by analyzing and processing the echo signals. In the application, the millimeter wave radar transmits continuous modulation waves with the working frequency of 60 GHz-67 GHz through broadcasting so as to obtain monitoring data acquired by the millimeter wave radar by receiving corresponding echo signals. For all millimeter wave radars including the first millimeter wave radar and the second millimeter wave radar, each millimeter wave can actually detect the indoor situation, that is, whether a user exists in the detectable range of the radar and the position information of the user are determined when the determination is made, and the determination is specifically made through the collected echo signals.
It should be noted that, because the location information of the indoor user is accurately located in real time, for the first monitoring data and the second monitoring data, data information detected at the same time needs to be ensured, and therefore, the time stamps associated with the first monitoring data and the second monitoring data need to be ensured to be the same when the first monitoring data and the second monitoring data are acquired, that is, the time for generating the monitoring data is the same as the time for uploading the monitoring data to the cloud server.
Step S202, relevant position information of the first millimeter wave radar and the second millimeter wave radar is obtained.
For each millimeter wave radar, the collected monitoring data contains part of useless data information, such as echo signals generated by reflection of some household appliances or furniture, so that corresponding preprocessing needs to be performed on the data before the position information of a user is obtained according to the monitoring data, specifically, data filtering is performed, and useless data or interference data in the monitoring data are removed, so that the accuracy and timeliness of positioning are guaranteed.
Therefore, after the first monitoring information and the second monitoring information are obtained, the relevant position information of the first millimeter wave radar and the second millimeter wave radar, specifically, the relative position relationship of the first millimeter wave radar and the second millimeter wave radar, is obtained.
In practical application, not all millimeter wave radars have certain interaction, the interaction refers to positioning the position of a user through monitoring data acquired by the two millimeter wave radars, when the detectable regions of the two millimeter wave radars are completely not intersected, as shown in fig. 3a, the two millimeter wave radars do not realize position positioning through data interaction, as shown in fig. 3b, when the two millimeter wave radars are intersected by the detection region, the position of the user can be positioned by the user.
In the cloud server, position information corresponding to all indoor started millimeter wave radars is recorded, the relative position relation among the millimeter wave radars is determined, and then the positions and the corresponding position relations of the corresponding millimeter wave radars are read when positioning is carried out.
The relevant position information of the first millimeter wave radar and the second millimeter wave radar is stored in advance, so that when the millimeter wave radar is started, the position information needs to be determined, as shown in fig. 4, where fig. 4 is a schematic flow chart of a step of determining the relevant position information in an embodiment of the present application. This step includes substeps S401 to substep S403.
And a substep S401 of sending a calibration instruction to the first millimeter wave radar and the second millimeter wave radar when it is determined that the first millimeter wave radar and/or the second millimeter wave radar satisfy a calibration condition.
When the millimeter wave radar installed or arranged in an indoor environment needs to be subjected to position calibration, the millimeter wave radar is subjected to position calibration, and specific position information is uploaded to a server which is correspondingly associated, so that the millimeter wave radar can be used for subsequent position positioning.
According to practical application, the time at which the position calibration of the millimeter wave radar is required at least includes: the millimeter wave radar is used for the first time, restarted, and subjected to position shifting, etc., that is, the calibration condition is that a new radar is added to the positioning system, or that a radar already existing in the positioning system is restarted, or that a radar already existing in the positioning system is shifted. The explanation here is given taking as an example that the first millimeter wave radar and the second millimeter wave radar need to perform position calibration.
And when the first millimeter wave radar and/or the second millimeter wave radar are determined to meet the calibration condition, sending a calibration instruction to the first millimeter wave radar and the second millimeter wave radar so that the first millimeter wave radar and the second millimeter wave radar respond to and calibrate the calibration instruction.
For the first millimeter wave radar and the second millimeter wave radar, corresponding position calibration needs to be performed on the first millimeter wave radar and the second millimeter wave radar, which means that the first millimeter wave radar and the second millimeter wave radar can be used for positioning the position of the user in an actual scene, and therefore, the position relationship between the first millimeter wave radar and the second millimeter wave radar in the actual scene can be as shown in fig. 3 b.
It should be noted that when calibration is required, it is actually required to send a calibration instruction to all the millimeter wave radars in the positioning system, so that all the millimeter wave radars perform position calibration at the same time. That is, when there is one millimeter wave radar satisfying the calibration condition, it is necessary to send a calibration instruction to all the millimeter wave radars, and for better explanation, the positioning system only includes two millimeter wave radars for explanation.
And a substep S402 of controlling the first millimeter wave radar and the second millimeter wave radar to respond to the calibration instruction according to a preset calibration mode.
After the calibration instruction is sent to the first millimeter wave radar and the second millimeter wave radar, the first millimeter wave radar and the second millimeter wave radar are controlled to respond to the calibration instruction, and specifically, the first millimeter wave radar and the second millimeter wave radar realize position calibration by utilizing each other. According to the operation principle of the radar, the radar is controlled to send corresponding electromagnetic waves when position calibration is carried out, so that when the first millimeter wave radar and the second millimeter wave radar carry out position calibration, the first millimeter wave radar (or the second millimeter wave radar) sends frequency modulation continuous waves with specific working frequencies, the second millimeter wave radar (or the second millimeter wave radar) feeds back corresponding signals according to the received frequency modulation continuous waves to enable the first millimeter wave radar to receive, and first position information of the second millimeter wave radar relative to the first millimeter wave radar, such as the distance between the second millimeter wave radar and the first millimeter wave radar and the azimuth of the second millimeter wave radar in the first millimeter wave radar, is determined.
Likewise, the second millimeter wave radar determines second position information of the first millimeter wave radar with respect to itself in the same manner.
Further, when controlling the first millimeter wave radar and the second millimeter wave radar to respond to the calibration instruction, the method includes: controlling the first millimeter wave radar to broadcast a first signal so that the first millimeter wave radar receives a first feedback signal sent by the second millimeter wave radar in response to the first signal; and controlling the second millimeter wave radar to broadcast a second signal so that the second millimeter wave radar receives a second feedback signal sent by the first millimeter wave radar in response to the second signal.
When carrying out the position calibration, because there will be mutual interference between the radar, consequently can not control each millimeter wave radar simultaneously and carry out the position calibration, the event needs calibrate according to certain mode, for example calibration order in advance to two millimeter wave radars, to avoid two millimeter wave radars to send the modulation continuous wave of specific operating frequency, consequently can control first millimeter wave radar earlier and broadcast, in order to receive the echo signal of second millimeter wave radar at first millimeter wave radar, the modulation continuous wave of feedback promptly, the broadcast of modulating continuous wave is carried out controlling second millimeter wave radar.
It should be noted that the first millimeter wave radar may be a second millimeter wave radar, that is, the broadcasting sequence of the first millimeter wave radar and the second millimeter wave radar may be variable. Similarly, when the number of the millimeter wave radars is greater than 2, the millimeter wave radars may be numbered to sequentially complete respective broadcasts according to the numbering sequence.
Step S403, receiving first data information and second data information uploaded by the first millimeter wave radar and the second millimeter wave radar in response to the calibration instruction, so as to determine the relative position relationship according to the first data information and the second data information.
After the calibration instruction is sent to the first millimeter wave radar and the second millimeter wave radar, the first millimeter wave radar and the second millimeter wave radar can respond to the calibration instruction, and then result data obtained through response are uploaded. And after receiving the first data information and the second data information uploaded by the first millimeter wave radar and the second millimeter wave radar, the cloud server processes the first data information and the second data information to determine the relative position relationship between the first millimeter wave radar and the second millimeter wave radar.
When determining the relative positional relationship of the first millimeter wave radar and the second millimeter wave radar, the method includes: obtaining first position information of the second millimeter wave radar relative to the first millimeter wave radar according to the first signal and the first feedback signal and a preset relative position calculation formula; and obtaining second position information of the first millimeter wave radar relative to the second millimeter wave radar according to the second signal and the second feedback signal and a preset relative position calculation formula.
In practical applications, the position of the second object relative to the first object may be determined by determining the position of the first object relative to the second object, but in order to improve the accuracy of the positioning between the two objects, in the present application, it is necessary to complete and determine the position of the first millimeter wave radar relative to the second millimeter wave radar in addition to the position of the second millimeter wave radar relative to the first millimeter wave radar.
When the first position information of the second millimeter wave radar relative to the first millimeter wave radar is obtained according to the first signal and the first feedback information and the preset relative position calculation company, the method is realized by adopting a phase angle judgment principle and a frequency difference distance judgment principle, and the explanation are given by using fig. 4 as a scene of performing position calibration on the two millimeter wave radars.
When the first millimeter wave radar is used for position calibration, the frequency modulation continuous wave with the specific working frequency is broadcasted and emitted, so that the second millimeter wave radar is analyzed and processed after receiving the frequency modulation continuous wave, further feedback is carried out in the same mode, specifically, signal transmission is carried out through the frequency modulation continuous wave with the same working frequency, and finally, the position calibration between the first millimeter wave radar and the second millimeter wave radar is realized after the first millimeter wave radar receives the feedback of the second millimeter wave radar.
Specifically, for any one feedback signal, as shown in fig. 5a, the thick lines are the transmission signals (e.g., the first signal and the second signal in this application), the thin lines are the feedback signals (e.g., the second feedback signal and the second feedback signal in this application), the feedback signals have a fixed frequency difference Δ f from the transmission signals in the same period at any time, and the value of Δ f is proportional to the time delay Δ t of the reflection signal relative to the transmission signals, and L ═ c ═ Δ t/2 is the distance between two radars.
In addition, when determining the azimuth of the second millimeter wave radar as compared with the first millimeter wave radar, the determination process of the azimuth angle θ is: when the target reflects back an electromagnetic wave signal, it is received by multiple receiving antennas. As shown in fig. 5b, when the first signal does not arrive along the normal direction, the path length to each receiving antenna is actually different, and since the unit magnitude of the distance between the first millimeter wave radar and the second millimeter wave radar is m (meters), which is much larger than the wavelength (5mm) of the radar signals of 60 GHz-67 GHz transmitted in the air, the arrival angle of the first feedback signal to the receiving antenna is nearly the same. Let the arrival angle be θ, then the geometric relationship indicates that the difference between the distances from the signal to the two receiving antennas is Δ L ═ d0Sin θ, wherein d0If the distance between the transmitting unit and the receiving unit of the radar is Δ L ═ λ × Δ Φ, λ is the wavelength, Δ Φ is the phase difference between the two receiving antenna signals, and the phase difference is set and can be read, then: θ ═ arcsin (λ × Δ Φ/d)0). Similarly, the same applies to the determination of the orientation of the first millimeter wave radar as compared with the second millimeter wave radar.
It should be noted that, in practical applications, a plurality of millimeter wave radars are generally installed in an indoor environment, and it is explained by taking an example that 6 millimeter wave radars are installed in the indoor environment, each millimeter wave radar has a detectable region corresponding to each millimeter wave radar, if a millimeter wave radar with a reference number of 1 (hereinafter, referred to as "millimeter wave radar 1") needs to be position-calibrated due to restart at this time, a calibration instruction is sent to all the 6 millimeter wave radars at this time, and in order to ensure the order of calibration, when the 6 millimeter wave radars receive the calibration instruction, the millimeter wave radars are controlled to perform position calibration according to a set calibration sequence included in the calibration instruction, for example, calibration is performed according to the reference number sequence of the millimeter wave radars, and then, for example, calibration is performed according to the order of different regions.
Taking calibration according to the sequence of the labels as an example for explanation, when position calibration is required, the millimeter wave radar No. 1 will send a frequency modulated continuous wave with a working frequency in a time of 60GHz to 67GHz, then another 5 millimeter wave radars will receive the frequency modulated continuous wave sent by the millimeter wave radar No. 1 at this time, and the characteristics of the received frequency modulated continuous wave are read to determine that the position calibration is performed, and at this time, the frequency modulated continuous wave will be fed back, specifically, the same frequency modulated continuous wave is fed back, so that the millimeter wave radar No. 1 can receive the frequency modulated continuous wave fed back by the other 5 millimeter wave radars. And further the relative positions of the other 5 millimeter wave radars to the millimeter wave radar No. 1 can be determined according to the received related information according to the millimeter wave radar No. 1. After completing the position calibration of the No. 1 millimeter wave radar, completing the position calibration of the remaining 5 millimeter wave radars in turn in the same way.
Step S203, processing the first monitoring data and the second monitoring data according to the position relation to obtain effective monitoring data.
For the monitoring data collected by the millimeter wave radar, not all the data is effective for positioning the user, so after the first monitoring data and the second monitoring data are obtained, the first monitoring data and the second monitoring data are processed to obtain effective monitoring data which can be used for positioning the user.
In practical application, when the millimeter wave radar is detecting, all objects in a detectable region can be subjected to signal detection, the detected objects comprise users, homes, household appliances and the like, and in order to enable the users to be positioned more accurately, a plurality of millimeter wave radars are preset to be used for positioning, such as two millimeter wave radars, so that only the data detected by the two millimeter wave radars is the effective monitoring data for positioning the users.
As shown in fig. 6, when valid monitoring data is obtained, step S203 includes sub-steps S601 to S603.
And a substep S601, coordinating the first monitoring data and the second monitoring data according to a preset rule to obtain corresponding first coordinate information and second coordinate information.
And for the obtained first monitoring data and the second monitoring data, constructing the corresponding coordinate information according to the recorded data. Specifically, a coordinate system based on a radar position corresponding to the millimeter wave radar is established when the coordinate system is established, and then monitoring data collected by the millimeter wave radar is fitted in a standard coordinate system, so that corresponding first coordinate information and second coordinate information are obtained according to the first monitoring data and the second monitoring data.
The constructed first coordinate information and second coordinate information may be, as shown in fig. 7a and 7b, a coordinate system constructed with the millimeter wave radar as an origin, and then data detected by each millimeter wave radar is placed in the coordinate system to obtain coordinate information corresponding to each millimeter wave radar.
And a substep S602, constructing a common coordinate system according to the relative position relation, and fitting the first coordinate information and the second coordinate information into the common coordinate system.
After the first coordinate information and the second coordinate information are obtained, fitting the first coordinate information and the second coordinate information to the same coordinate system, specifically, establishing a common coordinate system according to the obtained relative position information of the first millimeter wave radar and the second millimeter wave radar, and further fitting the first coordinate information and the second coordinate information to the established common coordinate system.
As shown in fig. 8, the sub-step S602 includes sub-steps 801 to 803 when fitting the first coordinate information and the second coordinate information to a common coordinate system.
And a substep S801, constructing a common coordinate system, and coinciding the coordinate axis of the first coordinate information with the coordinate axis of the common coordinate system.
When the first coordinate information and the second coordinate information are fitted into the common coordinate system, the common coordinate system is constructed, and then the coordinate axis of the first coordinate information is overlapped with the coordinate axis of the common coordinate system, so that the first coordinate information is fitted into the common coordinate system.
It should be noted that, when fitting the first coordinate information and the second coordinate information into the common coordinate system, the first coordinate information may be fitted into the common coordinate system according to the substep S801, and the second coordinate information may also be fitted into the common coordinate system, which is not limited in particular.
And a substep S802 of determining a target coordinate corresponding to the second millimeter wave radar in the common coordinate system according to the relative position relation.
After fitting the first coordinate information into the constructed common coordinate system, fitting the second coordinate information into the common coordinate system. When fitting the second coordinate information into the common coordinate system, according to the relative position relationship between the first millimeter wave radar and the second millimeter wave radar, after fixing the position of the first coordinate information corresponding to the first millimeter wave radar in the common coordinate system, fitting the second coordinate information into the common coordinate system by using the relative position relationship.
Taking two points as an example, the position of the second point relative to the first point is: the direction is northeast and the distance is 5 meters, when two points are fitted into the same coordinate system, if the first point is taken as the origin, that is, the coordinate of the first point is (0, 0), the coordinate of the second point in the coordinate system can be calculated according to the two parameters of the direction and the distance, specifically, the coordinate of the second point can be calculated to be (5/√ 2), and then the position of the second point is marked directly in the coordinate system.
And a substep S803, rotating the second coordinate information, so as to fit the rotated second coordinate information into the common coordinate system according to the target coordinate.
In practical applications, the detected orientation and the effective area of each millimeter wave radar are different, and the specific detected area and orientation of each millimeter wave radar can be determined according to the position of each millimeter wave radar in the indoor environment. The detection area of the general radar during signal detection is a sector area, the direction of the millimeter wave radar for vertically sending millimeter electromagnetic waves is taken as the detection direction when the detection direction of the millimeter wave radar is recorded, and the areas on the left side and the right side of the detection direction are symmetrical, so that the monitoring data obtained by detecting the two millimeter wave radars can be fitted in a coordinate system.
After the target coordinates of the origin of the second coordinate information in the common coordinate system are determined, the second coordinate information will be fitted into the common coordinate system, but because of the difference in the detection orientation and the area of each millimeter wave radar, when fitting the second coordinate information into the common coordinate system, the second coordinate information is first rotated in accordance with the detection orientation of the second millimeter wave radar, and then the second coordinate information after rotation is fitted into the common coordinate system in accordance with the resultant target coordinates.
When the second coordinate information is rotated, the rotation is not performed only in accordance with the direction and the area detected by the second millimeter wave radar, but also a specific rotation manner needs to be determined in accordance with the detection direction of the first millimeter wave radar. And how the rotation is specific is with respect to the first millimeter wave radar.
For example, the detection direction of the first millimeter wave radar is due north, the detection direction of the second millimeter wave radar is due south, and since the vertical axis is usually pointed to due north and the horizontal axis is pointed to due east when the coordinate system is constructed, after the first coordinate information corresponding to the first millimeter wave radar is fitted into the common coordinate system, when the second coordinate information is fitted into the common coordinate system, the due north of the vertical axis in the second coordinate information needs to be changed into due south, and therefore, when the second coordinate information is fitted into the common coordinate system, the second coordinate information needs to be rotated so that the data areas corresponding to the two millimeter wave radars are consistent with the detection areas of the respective corresponding millimeter wave radars. And meanwhile, the actual distance between the two is quantized to be displayed in a coordinate system reasonably.
And a substep S603 of determining a coordinate overlapping area of the common coordinate system so as to use coordinate information contained in the coordinate overlapping area as effective monitoring data.
After the first coordinate information and the second coordinate information are fitted into a common coordinate system, a current corresponding coordinate overlapping area is obtained in the common coordinate system, so that the coordinate information contained in the coordinate overlapping area is used as effective monitoring data, and the position of a user is positioned according to the effective monitoring data.
In practical application, the first coordinate information and the second coordinate information both show data detection results in one region, that is, in the coordinate system, one coordinate region corresponds to monitoring data of one millimeter wave radar, so that when the two regions are overlapped, a corresponding region overlapping portion is obtained, and in the coordinate system, the two coordinate regions are overlapped, as shown in fig. 7C, after the two monitoring data are coordinated and correspondingly processed, a situation shown in fig. 7C is obtained, where C is an overlapping portion of the two coordinate regions, and coordinate information included in the overlapping portion is effective monitoring data which can be used for positioning a user position.
And step S204, clustering the effective monitoring data to determine the position information of the target user.
After the effective monitoring data capable of positioning the position of the user is obtained, clustering processing is carried out on the effective monitoring data to determine the current position information of the target user, namely, the positioning of the position of the user is completed.
When the location information of the user is determined according to the effective monitoring data, the method specifically further includes: clustering data contained in the effective monitoring data to obtain a plurality of groups; carrying out shape reduction on the data contained in each group to obtain the shape corresponding to each group; and identifying the body to obtain the body corresponding to the target user, and determining the position information of the target user based on the body corresponding to the target user.
For data, the data have characteristics or features thereof, so that different data can be classified into the same category or group, and after effective monitoring data are obtained, the effective monitoring data are clustered to obtain a plurality of groups of data in different groups, wherein each group represents one type of data.
In an indoor environment, different objects have corresponding shapes, for example, a refrigerator is generally square, when the positions of the objects in the room are detected and positioned, the millimeter wave radar performs clustering processing on detected monitoring data, for example, data obtained by detecting the refrigerator is classified into one group/class, and data obtained by detecting a sofa is classified into one group/class. In fact, when effective monitoring data is exemplified, that is, data information is classified, then a body restoration is performed according to the obtained data, a body corresponding to data included in each group is obtained, and then a body corresponding to a target user is obtained by identifying the body, so as to determine position information of the target user according to the group of data.
It should be noted that, when accurately positioning the position of the user, in addition to determining according to the form and volume of the object itself, data delay and determination may be used, specifically, for the user, the user is in a moving state in general, and then the positions of the user detected at different times are different when the millimeter wave radar detects, so when determining the position information of the target user, the method may further include: and acquiring monitoring data obtained by re-detecting the first millimeter wave radar and the second millimeter wave radar at adjacent short time intervals, and comparing the effective monitoring data obtained twice to determine the data with offset so as to realize the positioning of the position of the user.
The time set for the adjacent short time interval is short, for example, 1 second, and within the time of 1 second, the user may have a position change, so that there may be a data deviation in the two adjacent effective monitoring data, and the data with the data deviation is the data fed back by the user, that is, the position of the user may be determined.
In the real-time positioning method based on the millimeter wave radar, when the current position of a user is positioned in real time, monitoring data monitored by the two millimeter wave radars capable of detecting the position information of the user are obtained, the relative position information between the two millimeter wave radars is obtained at the same time, then the monitoring data detected by the two millimeter wave radars are screened according to the obtained relative position information, effective monitoring data capable of positioning the position of the user are obtained, and finally the obtained effective monitoring data are clustered to determine the current position information of the target user. Through mutual limitation of multiple data, reflection interference in indoor environment is reduced, and accuracy of indoor positioning is improved.
As shown in fig. 9, fig. 9 is a schematic block diagram of a structure of a cloud server provided in an embodiment of the present application. The cloud server 10 includes a memory 11 and a processor 12, and the processor 11 and the memory 12 are connected by a system bus 13, where the memory 11 may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store a computer program. The computer program includes program instructions that, when executed, cause the processor 11 to perform any one of the millimeter wave radar-based real-time positioning methods.
The processor 12 is used for providing computing and control capability, and supporting the operation of the whole cloud server.
The internal memory provides an environment for the execution of a computer program on a non-volatile storage medium, which when executed by the processor, causes the processor to perform any of the millimeter wave radar-based real-time location methods.
Those skilled in the art will appreciate that the configuration shown in fig. 9 is a block diagram of only a portion of the configuration associated with the present application and does not constitute a limitation on the terminal to which the present application is applied, and that a particular terminal may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
It should be understood that the Processor 12 may be a Central Processing Unit (CPU), and that the Processor 12 may be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, etc. The general purpose processor 12 may be a microprocessor or the processor may be any conventional processor or the like.
Wherein, in an embodiment, the memory has stored therein a computer program which, when executed by the processor 12, causes the processor to carry out the steps of:
acquiring first monitoring data acquired by a first millimeter wave radar and second monitoring data acquired by a second millimeter wave radar;
acquiring a relevant position relation between the first millimeter wave radar and the second millimeter wave radar;
processing the first monitoring data and the second monitoring data according to the position relation to obtain effective monitoring data;
and clustering the effective monitoring data to determine the position information of the target user.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
coordinating the first monitoring data and the second monitoring data according to a preset rule to obtain corresponding first coordinate information and second coordinate information;
constructing a common coordinate system according to the relative position relation, and fitting the first coordinate information and the second coordinate information into the common coordinate system;
and determining a coordinate overlapping area of the common coordinate system so as to take coordinate information contained in the coordinate overlapping area as effective monitoring data.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
and establishing a coordinate system based on the radar position corresponding to the millimeter wave radar so as to fit the monitoring data collected by the millimeter wave radar in a standard coordinate system to obtain first coordinate information and second coordinate information.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
constructing a common coordinate system, and coinciding the coordinate axis of the first coordinate information with the coordinate axis of the common coordinate system;
determining a target coordinate corresponding to the second millimeter wave radar in the common coordinate system according to the relative position relation;
and rotating the second coordinate information to fit the rotated second coordinate information into the public coordinate system according to the target coordinate.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
clustering data contained in the effective monitoring data to obtain a plurality of groups;
carrying out shape reduction on the data contained in each group to obtain the shape corresponding to each group;
and identifying the body to obtain the body corresponding to the target user, and determining the position information of the target user based on the body corresponding to the target user.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
when the calibration condition of the first millimeter wave radar and/or the second millimeter wave radar is determined, sending a calibration instruction to the first millimeter wave radar and the second millimeter wave radar, wherein the calibration condition is that the first millimeter wave radar and/or the second millimeter wave radar is used for the first time or restarted;
controlling the first millimeter wave radar and the second millimeter wave radar to respond to the calibration instruction according to a preset calibration mode;
and receiving first data information and second data information uploaded by the first millimeter wave radar and the second millimeter wave radar in response to the calibration instruction, so as to determine the relative position relationship according to the first data information and the second data information.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
controlling the first millimeter wave radar to broadcast a first signal so that the first millimeter wave radar receives a first feedback signal sent by the second millimeter wave radar in response to the first signal;
and controlling the second millimeter wave radar to broadcast a second signal so that the second millimeter wave radar receives a second feedback signal sent by the first millimeter wave radar in response to the second signal.
In one embodiment, the processor, when executing the computer program, further performs the steps of:
obtaining first position information of the second millimeter wave radar relative to the first millimeter wave radar according to the first signal and the first feedback signal and a preset relative position calculation formula;
and obtaining second position information of the first millimeter wave radar relative to the second millimeter wave radar according to the second signal and the second feedback signal and a preset relative position calculation formula.
It should be noted that, as will be clearly understood by those skilled in the art, for convenience and brevity of description, the specific working process of the cloud server described above may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
The embodiment of the application further provides a computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, the computer program comprises program instructions, and the processor executes the program instructions to implement any one of the real-time positioning methods based on the millimeter wave radar provided by the embodiment of the application.
The computer-readable storage medium may be an internal storage unit of the cloud server in the foregoing embodiment, for example, a hard disk or a memory of the cloud server. The computer readable storage medium may also be an external storage device of the cloud server, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are equipped on the cloud server.
While the invention has been described with reference to specific embodiments, the scope of the invention is not limited thereto, and those skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the invention. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (11)
1. A real-time positioning method based on millimeter wave radar is characterized by comprising the following steps:
acquiring first monitoring data acquired by a first millimeter wave radar and second monitoring data acquired by a second millimeter wave radar;
acquiring a relevant position relation between the first millimeter wave radar and the second millimeter wave radar;
processing the first monitoring data and the second monitoring data according to the position relation to obtain effective monitoring data;
and clustering the effective monitoring data to determine the position information of the target user.
2. The method of claim 1, wherein the processing the first monitoring data and the second monitoring data according to the position relationship to obtain valid monitoring data comprises:
coordinating the first monitoring data and the second monitoring data according to a preset rule to obtain corresponding first coordinate information and second coordinate information;
constructing a common coordinate system according to the relative position relation, and fitting the first coordinate information and the second coordinate information into the common coordinate system;
and determining a coordinate overlapping area of the common coordinate system so as to take coordinate information contained in the coordinate overlapping area as effective monitoring data.
3. The method according to claim 2, wherein the coordinating the first monitoring data and the second monitoring data according to a preset rule to obtain corresponding first coordinate information and second coordinate information comprises:
and establishing a coordinate system based on the radar position corresponding to the millimeter wave radar so as to fit the monitoring data collected by the millimeter wave radar in a standard coordinate system to obtain first coordinate information and second coordinate information.
4. The method according to claim 2, wherein the constructing a common coordinate system according to the relative positional relationship and fitting the first coordinate information and the second coordinate information into the common coordinate system comprises:
constructing a common coordinate system, and coinciding the coordinate axis of the first coordinate information with the coordinate axis of the common coordinate system;
determining a target coordinate corresponding to the second millimeter wave radar in the common coordinate system according to the relative position relation;
and rotating the second coordinate information to fit the rotated second coordinate information into the public coordinate system according to the target coordinate.
5. The method of claim 1, wherein clustering the valid monitoring data to determine location information of a target user comprises:
clustering data contained in the effective monitoring data to obtain a plurality of groups;
carrying out shape reduction on the data contained in each group to obtain the shape corresponding to each group;
and identifying the body to obtain the body corresponding to the target user, and determining the position information of the target user based on the body corresponding to the target user.
6. The method according to any one of claims 1 to 5, further comprising:
when the calibration condition of the first millimeter wave radar and/or the second millimeter wave radar is determined, sending a calibration instruction to the first millimeter wave radar and the second millimeter wave radar, wherein the calibration condition is that the first millimeter wave radar and/or the second millimeter wave radar is used for the first time or restarted;
controlling the first millimeter wave radar and the second millimeter wave radar to respond to the calibration instruction according to a preset calibration mode;
and receiving first data information and second data information uploaded by the first millimeter wave radar and the second millimeter wave radar in response to the calibration instruction, so as to determine the relative position relationship according to the first data information and the second data information.
7. The method of claim 6, wherein said controlling said first millimeter wave radar and said second millimeter wave radar in a preset calibration manner in response to said calibration command comprises:
controlling the first millimeter wave radar to broadcast a first signal so that the first millimeter wave radar receives a first feedback signal sent by the second millimeter wave radar in response to the first signal;
and controlling the second millimeter wave radar to broadcast a second signal so that the second millimeter wave radar receives a second feedback signal sent by the first millimeter wave radar in response to the second signal.
8. The method according to claim 6, wherein the determining the relative positional relationship from the first data information and the second data information comprises:
obtaining first position information of the second millimeter wave radar relative to the first millimeter wave radar according to the first signal and the first feedback signal and a preset relative position calculation formula;
and obtaining second position information of the first millimeter wave radar relative to the second millimeter wave radar according to the second signal and the second feedback signal and a preset relative position calculation formula.
9. A cloud server, wherein the cloud server comprises a processor and a memory;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and when executing the computer program, implement the millimeter wave radar-based real-time positioning method according to any one of claims 1 to 8.
10. A millimeter-wave radar-based real-time positioning system, comprising a plurality of millimeter-wave radars and a cloud server according to claim 9.
11. A computer-readable storage medium, which when executed by one or more processors, causes the one or more processors to perform the steps of the millimeter-wave radar-based real-time positioning method of any one of claims 1 to 8.
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