CN107534202A - A kind of method and apparatus for measuring antenna attitude - Google Patents
A kind of method and apparatus for measuring antenna attitude Download PDFInfo
- Publication number
- CN107534202A CN107534202A CN201580080053.1A CN201580080053A CN107534202A CN 107534202 A CN107534202 A CN 107534202A CN 201580080053 A CN201580080053 A CN 201580080053A CN 107534202 A CN107534202 A CN 107534202A
- Authority
- CN
- China
- Prior art keywords
- coordinate system
- antenna
- measured
- dimensional coordinates
- points
- 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.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/12—Supports; Mounting means
Abstract
The embodiment of the invention discloses a kind of method and apparatus for measuring antenna attitude, it is related to antenna attitude field of measuring technique, to solve in the prior art, because needing to be the problem of every antenna installs measuring apparatus additional, and the process of production antenna is more complicated caused by during antenna is produced.Method provided in an embodiment of the present invention includes：Electronic equipment is obtained from I image of the corresponding collection of I viewpoint；Wherein, each image includes antenna subgraph to be measured, and I >=2, I are integer；Obtain two-dimensional coordinate of each point in the duration set to be measured of each image in the I image under electronic equipment coordinate system；Wherein, duration set to be measured is the set of 1 points of compositions of antenna subgraph to be measured；Obtain three-dimensional coordinate of each point under antenna coordinate system；According to two-dimensional coordinate of each point under electronic equipment coordinate system and three-dimensional coordinate of each point under antenna coordinate system, the attitude information of antenna to be measured is determined.
Description
The invention relates to the technical field of antenna attitude measurement, in particular to a method and a device for measuring an antenna attitude.
In the antenna erection of outdoor communication, the antenna attitude has a very important influence on the coverage of signals and further influences the quality of network communication, so that the measurement of the antenna attitude is very important. Antenna attitude is typically reflected by antenna attitude information (e.g., downtilt, azimuth, etc.).
Currently, the antenna attitude is generally measured by the following method: each antenna is additionally provided with a measuring device, wherein the measuring device mainly comprises a sensor, a bracket and a wireless communication module, and the bracket is used for fixedly connecting the antenna and the sensor together; antenna attitude information is measured through the sensor, and the antenna attitude information measured by the sensor is transmitted to equipment needing to acquire the antenna attitude information through the wireless communication module.
Because the safety hidden danger exists when the measuring equipment is directly additionally arranged on the erected antenna, the measuring equipment is additionally arranged on each antenna in the process of producing the antenna generally; however, this results in a complicated process for producing the antenna.
Disclosure of Invention
The embodiment of the invention provides a method and a device for measuring antenna postures, which are used for solving the problem that in the prior art, a measuring device needs to be additionally arranged for each antenna in the process of producing the antenna, so that the process of producing the antenna is complex.
In order to achieve the above purpose, the embodiment of the invention adopts the following technical scheme:
in a first aspect, a method for measuring an antenna attitude is provided, including:
acquiring I images correspondingly acquired by electronic equipment from I viewpoints; each image comprises an antenna sub-image to be measured, wherein I is not less than 2 and is an integer;
acquiring two-dimensional coordinates of each point in the set to be measured of each image in the I images under an electronic equipment coordinate system; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured;
acquiring three-dimensional coordinates of each point under an antenna coordinate system;
and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic equipment coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
With reference to the first aspect, in a first possible implementation manner, the determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of each point in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system includes:
acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;
and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner, the determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system includes:
obtaining a rotation matrix between a world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;
and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system.
With reference to the second possible implementation manner of the first aspect, in a third possible implementation manner, the reference coordinate system is a calibration plate coordinate system; each of said images further comprising a calibration plate sub-image; the obtaining of the rotation matrix between the world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system includes:
obtaining a rotation matrix R from the coordinate system of the calibration board to the coordinate system of the antenna according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the coordinate system of the antennac2a；
Obtaining a rotation matrix R from the coordinate system of the electronic equipment to the coordinate system of the calibration plate according to the fact that each image comprises the sub-image of the calibration platep2c；
According to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system.
With reference to the first aspect and any one of the first possible implementation manner to the third possible implementation manner of the first aspect, in a fourth possible implementation manner, the set of to-be-measured values is: the antenna sub-image to be measured comprises a set formed by two end points of a long axis of the antenna sub-image to be measured, or a set formed by points on an outer contour of the antenna sub-image to be measured.
With reference to the first aspect and any one of the first possible implementation manner to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner, the attitude information of the antenna to be measured includes at least one of the following information: azimuth angle, inclination angle.
In a second aspect, an apparatus is provided, comprising:
the first acquisition unit is used for acquiring I images which are correspondingly acquired by the electronic equipment from I viewpoints; each image comprises an antenna sub-image to be measured, wherein I is not less than 2 and is an integer;
the second acquisition unit is used for acquiring two-dimensional coordinates of each point in the set to be measured of each image in the I images under the coordinate system of the electronic equipment; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured;
the third acquisition unit is used for acquiring three-dimensional coordinates of each point in an antenna coordinate system;
and the determining unit is used for determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic equipment coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
With reference to the second aspect, in a first possible implementation manner, the determining unit is specifically configured to:
acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;
and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
With reference to the first possible implementation manner of the second aspect, in a second possible implementation manner, the determining unit is specifically configured to:
obtaining a rotation matrix between a world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;
and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system.
With reference to the second possible implementation manner of the second aspect, in a third possible implementation manner, the reference coordinate system is a calibration plate coordinate system; each of said images further comprising a calibration plate sub-image; the determining unit is specifically configured to:
according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate systemMarking to obtain a rotation matrix R from the coordinate system of the calibration plate to the coordinate system of the antennac2a；
Obtaining a rotation matrix R from the coordinate system of the electronic equipment to the coordinate system of the calibration plate according to the fact that each image comprises the sub-image of the calibration platep2c；
According to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system.
With reference to the second aspect and any one of the first possible implementation manner to the third possible implementation manner of the second aspect, in a fourth possible implementation manner, the set of to-be-measured values is: the antenna sub-image to be measured comprises a set formed by two end points of a long axis of the antenna sub-image to be measured, or a set formed by points on an outer contour of the antenna sub-image to be measured.
With reference to the second aspect or any one of the first possible implementation manner to the fourth possible implementation manner of the second aspect, in a fifth possible implementation manner, the attitude information of the antenna to be measured includes at least one of the following information: azimuth angle, inclination angle.
In the method and the device for measuring the antenna attitude provided by the embodiment, I images correspondingly acquired from I viewpoints by electronic equipment are acquired, wherein each image comprises a sub-image of an antenna to be measured; and acquiring two-dimensional coordinates of at least two points of the sub-image of the antenna to be measured in the coordinate system of the electronic equipment according to the I images, and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the at least two points in the coordinate system of the electronic equipment and the three-dimensional coordinates of the points in the coordinate system of the antenna. According to the technical scheme, the attitude of the antenna is measured by utilizing the I images correspondingly collected from the I viewpoints, and any hardware equipment is not required to be additionally arranged on the antenna in the process, so that the problem that in the prior art, the measurement equipment is required to be additionally arranged on each antenna in the process of producing the antenna, and the process of producing the antenna is complex is solved. In addition, any hardware equipment is not required to be additionally arranged on the antenna in the process, and the cost for measuring the attitude of the antenna can be saved.
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic flowchart of a method for measuring an antenna attitude according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a method for measuring an antenna attitude according to a second embodiment of the present invention;
fig. 3 is a schematic flowchart of a method for measuring an antenna attitude according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of an apparatus according to a fifth embodiment of the present invention.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. 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 invention.
The term "plurality" herein means two or more.
Example one
Referring to fig. 1, a schematic flowchart of a method for measuring an antenna attitude according to an embodiment of the present invention is shown. The method shown in fig. 1 comprises:
s101: acquiring I images correspondingly acquired by electronic equipment from I viewpoints; wherein each image comprises an antenna sub-image to be measured, I is more than or equal to 2, and I is an integer.
The execution subject of the method for measuring the antenna attitude provided by the embodiment of the invention can be the electronic equipment, and can also be a virtual device or physical equipment different from the electronic equipment.
The electronic equipment is internally provided with a camera for collecting images; the electronic device may specifically be: smart phones, tablet computers, and the like.
"viewpoint" refers to the location where the electronic device is located; the images acquired by the electronic equipment at the same viewpoint are the same image. The 'I viewpoints' can be selected by a user, and can enable the electronic equipment to acquire any I positions of the sub-images of the antenna to be measured.
"the electronic equipment corresponds I image of gathering from I sight point", specifically includes: the electronic device acquires one image from each viewpoint.
For example, the electronic device correspondingly acquires I images from I viewpoints through a camera. Wherein, the I viewpoints may be: 4-5 viewpoints uniformly arranged within a range of 45-60 degrees centered on a certain orientation (e.g., a major axis direction or a minor axis direction, etc.) of the antenna to be measured. Of course, the I views may be determined in other ways. It should be noted that the larger the value of I is, the more accurate the finally obtained attitude information of the antenna to be measured is.
S102: in each image of the I images, acquiring two-dimensional coordinates of each point in a set to be measured in an electronic equipment coordinate system; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured.
The 'set to be measured' can be a set formed by any multiple points of the sub-image of the antenna to be measured; here, the "point" means a point in the mathematical sense, and is similar to an "intersection", "vertex", "midpoint", "end point", and the like in the mathematical sense. Each point in the set of values to be measured may be preset, or may be obtained by the executing entity in the process of executing the method.
Optionally, the set to be measured is a set formed by two end points of the long axis of the sub-image of the antenna to be measured, or a set formed by points on the outer contour of the sub-image of the antenna to be measured. In addition, the antenna sub-image to be measured may be a set formed by a specific point on the outer contour of the antenna sub-image to be measured, or a set formed by two end points of the short axis of the antenna sub-image to be measured, or the like. The "specific point" may be some preset point, for example, a point starting from a certain point on the outer contour of the antenna sub-image to be measured and having an integral multiple of a preset distance from the certain point, and the like.
The "electronic device coordinate system" is: a three-dimensional coordinate system formed by a two-dimensional plane where an image shot by the electronic equipment is located and an axis perpendicular to the two-dimensional plane; the two-dimensional plane is a plane where x and y axes in the electronic device coordinate system are located, and an axis perpendicular to the two-dimensional plane is a z axis in the electronic device coordinate system. The "two-dimensional coordinates in the electronic device coordinate system" are coordinates in a two-dimensional plane in which an image taken by the electronic device is located.
For example, if the electronic device (e.g. a smart phone) includes a screen and the screen is rectangular, the "electronic device coordinate system" may specifically be: the lower bottom edge of the screen of the electronic device is in the right direction of an x axis, the vertical edge of the screen is in the upper direction of a y axis, and the direction vertical to the screen is in the z axis.
S103: and acquiring the three-dimensional coordinates of each point in an antenna coordinate system.
For example, generally, before the method is performed, the execution subject has already been able to know information such as the shape of the antenna to be measured. The execution main body may previously build a three-dimensional model for the antenna to be measured according to information such as the shape of the antenna to be measured, and determine an antenna coordinate system. Theoretically, any direction in the three-dimensional model can be taken as any coordinate axis of the antenna coordinate system; optionally, the direction in which the long axis of the antenna sub-image to be measured in the three-dimensional model is located may be taken as the direction of the z-axis of the antenna coordinate system. The electronic equipment can directly obtain the three-dimensional coordinates of any point of the antenna to be measured in the antenna coordinate system.
S104: and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic equipment coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
Optionally, the attitude information of the antenna to be measured includes at least one of the following information: azimuth angle, inclination angle
Optionally, S104 may include: step 1), obtaining a rotation matrix between an antenna coordinate system and a world coordinate system according to two-dimensional coordinates of each point in an electronic equipment coordinate system and three-dimensional coordinates of each point in an antenna coordinate system; and 2) obtaining attitude information of the antenna to be measured according to the rotation matrix between the antenna coordinate system and the world coordinate system.
Specifically, the step 1) may include: step 11), obtaining a rotation matrix between an antenna coordinate system and an electronic equipment coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system; step 12), obtaining a rotation matrix between the coordinate system of the electronic equipment and the world coordinate system; and step 13), obtaining an antenna coordinate system and a world coordinate system according to the rotation matrix between the antenna coordinate system and the electronic equipment coordinate system and the rotation matrix between the electronic equipment coordinate system and the world coordinate system.
The implementation method for obtaining the rotation matrix between the antenna coordinate system and the electronic device coordinate system in step 11) may refer to the rotation matrix from the calibration board coordinate system to the antenna coordinate system obtained in embodiment two, and the specific implementation manner in step 12) may also refer to embodiment two, which is not described herein again.
Optionally, S104 may include: acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein, the reference coordinate system is a calibration plate coordinate system or a world coordinate system; and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
For example, the "reference coordinate system" may be a world coordinate system or a user-defined coordinate system; the user-defined coordinate system is referred to herein as the calibration plate coordinate system.
In the method for measuring the antenna attitude provided by the embodiment, I images correspondingly acquired from I viewpoints by electronic equipment are acquired, wherein each image comprises a sub-image of an antenna to be measured; and acquiring two-dimensional coordinates of at least two points of the sub-image of the antenna to be measured in the coordinate system of the electronic equipment according to the I images, and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the at least two points in the coordinate system of the electronic equipment and the three-dimensional coordinates of the points in the coordinate system of the antenna. According to the technical scheme, the attitude of the antenna is measured by utilizing the I images correspondingly collected from the I viewpoints, and any hardware equipment is not required to be additionally arranged on the antenna in the process, so that the problem that in the prior art, the measurement equipment is required to be additionally arranged on each antenna in the process of producing the antenna, and the process of producing the antenna is complex is solved. In addition, any hardware equipment is not required to be additionally arranged on the antenna in the process, and the cost for measuring the attitude of the antenna can be saved.
Example two
The "reference coordinate system" in the first embodiment is a calibration board coordinate system in the present embodiment.
It should be noted that the position of the calibration board is already set before the embodiment is executed; the position of the calibration board may be any position where an image of the antenna to be measured (i.e., a sub-image of the antenna to be measured) and an image of the calibration board (i.e., a sub-image of the calibration board) can be simultaneously acquired from the I viewpoints. The position of the calibration plate is not changed during the process of measuring the attitude of the antenna (i.e., the electronic device is performing the method shown in fig. 2). The closer the distance between the position of the calibration plate and the position of the antenna to be measured is, the more accurate the attitude information of the antenna to be measured obtained by the electronic equipment is.
Referring to fig. 2, a schematic flowchart of a method for measuring an antenna attitude according to an embodiment of the present invention is shown. The execution subject of the method shown in fig. 2 is an electronic device, and the method includes:
s201: correspondingly acquiring I images from I viewpoints; the method comprises the steps of acquiring an image from each viewpoint, wherein each image comprises an antenna sub-image to be measured and a calibration plate sub-image, I is not less than 2, and I is an integer.
The related description of step S201 may refer to the above, and is not repeated here.
In the present embodiment, the "I viewpoints" are viewpoints that enable the electronic device to simultaneously acquire the sub image containing the antenna to be measured and the calibration plate sub image.
S202: in each image of the I images, two-dimensional coordinates of each point in a set to be measured in an electronic equipment coordinate system are obtained.
In this embodiment, the set of measurements is a set formed by points on the outer contour of the sub-image of the antenna to be measured, or a set formed by two end points of the long axis of the sub-image of the antenna to be measured.
The electronic equipment can acquire two-dimensional coordinates of each point on the outer contour of the sub-image of the antenna to be measured in the image under a coordinate system of the electronic equipment by the following method: and taking the sub-image of the antenna to be measured in an image as a foreground, and taking the rest part of the image as a background to form a mask image. And calculating two-dimensional coordinates of each point on the outer contour of the sub-image of the antenna to be measured in the electronic equipment coordinate system on the mask image. For example, the electronic device may obtain two-dimensional coordinates of each point on the outer contour of the antenna sub-image to be measured in the electronic device coordinate system by calling a findContour function in an openncv (open source) data packet.
The electronic equipment can acquire the end point of the long axis of the sub image of the antenna to be measured in the image by the following method: forming a 2 multiplied by N matrix by the two-dimensional coordinates of the N foreground points on the mask image under the coordinate system of the electronic equipment, wherein the element on each column of the matrix is the two-dimensional coordinate of one foreground point under the coordinate system of the electronic equipment; a point K using the mean value of the elements on each column of the matrix as a coordinate and a feature vector L corresponding to a feature value of the matrix having a larger absolute value, that is, a long axis direction, are obtained. The straight line determined by K and L and the outline of the antenna sub-image to be measured must have two intersection points, and the two intersection points are two end points of the long axis of the antenna sub-image to be measured. Illustratively, the N foreground points are generally all foreground points on the mask image. The electronic device may obtain a mean value of elements on each column in the matrix by performing Principal Component Analysis (PCA) on the 2 × N matrix.
The number of elements in the set to be measured is assumed to be J, wherein J is more than or equal to 2 and is an integer; then, in the ith image, each point in the set of measurements can be represented as: the method comprises the steps of obtaining a j point in a set to be measured, wherein the j point in the set to be measured represents a vector formed by two-dimensional coordinates of the i point under an ith image; specifically, I is more than or equal to 1 and less than or equal to I, J is more than or equal to 1 and less than or equal to J, and I and J are integers.
S203: and acquiring the three-dimensional coordinates of each point in the coordinate system of the calibration plate according to the two-dimensional coordinates of each point in the coordinate system of the electronic equipment.
For example, the electronic device may obtain a three-dimensional coordinate of a jth point in the set to be measured in the calibration board coordinate system according to a principle of minimizing; wherein, it represents: and the distance between the projection of the three-dimensional coordinate of the jth point in the set to be measured on the ith image in the calibration plate coordinate system and the position of the jth point in the ith image (namely the two-dimensional coordinate of the jth point in the electronic equipment coordinate system). The method can be realized by the following steps:
1) obtaining PjThe foot of each reference line to the jth point, labeled Zj。
Wherein, PjRepresenting a vector formed by three-dimensional coordinates of a j point to be solved in a calibration plate coordinate system; optionally, PjThe initial value of (2) is the origin of the calibration plate coordinate system; of course, not limited thereto. The reference line at point j is: and the optical center of the camera under each viewpoint and the straight line of the position of the jth point in the image acquired by the electronic equipment at the viewpoint.
Straight line L between optical center of camera under ith viewpoint and position of jth point in ith imageiCan be expressed as: a rotation matrix representing the coordinate system of the electronic equipment to the coordinate system of a calibration plate (calibration) under the ith viewpoint and a transposition matrix represented by the rotation matrix; represents the kth element of the vector, k being 0 or 1.
The electronic equipment can obtain external parameters of the viewpoint electronic equipment under the viewpoint by using a calibration plate sub-image and an antenna sub-image to be measured in an image acquired by the viewpoint under the ith viewpoint by using the following method; wherein the extrinsic parameters include and represent a translation matrix from the coordinate system of the electronic device to the coordinate system of the calibration board at the ith viewpoint. Specifically, the electronic device may call a calibretanemura function of opencv according to the image acquired at each viewpoint, so as to obtain an external parameter of the electronic device at each viewpoint.
2) According to ZjUpdating Pj. Optionally, the electronic device may use the value as the updated Pj。
Executing M times steps 1) and 2), and finally updating the PjThe three-dimensional coordinates of the j point in the calibration board coordinate system obtained after the electronic device executes step S203. Wherein M is an integer greater than 1. The larger the value of M is, the more accurate the three-dimensional coordinate of the jth point obtained by the electronic equipment in the calibration plate coordinate system is; alternatively, M is 200.
S204: and acquiring the three-dimensional coordinates of each point in an antenna coordinate system.
The electronic equipment establishes a three-dimensional model for the antenna to be measured in advance and determines an antenna coordinate system. And taking the direction of the long axis of the sub-image of the antenna to be measured in the three-dimensional model as the direction of the z axis of the antenna coordinate system. The electronic equipment can directly obtain the three-dimensional coordinates of any point of the antenna to be measured in the antenna coordinate system.
Marking the vector formed by the three-dimensional coordinates of the jth point in the antenna coordinate system as Fj。
S205: and obtaining a rotation matrix from the calibration plate coordinate system to the antenna coordinate system according to the three-dimensional coordinates of the points in the calibration plate coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
For example, mapping the three-dimensional coordinates of each point in an antenna coordinate system into a calibration board coordinate system according to a rotation matrix R and a translation matrix T; taking R when the matching degree between the three-dimensional coordinates of each point under the calibration plate coordinate system and the corresponding mapped three-dimensional coordinates of each point under the calibration plate coordinate system is highest as a rotation matrix R from the calibration plate coordinate system to an antenna coordinate systemc2a。
For example, R can be determined by the following methodc2aAnd is of course not limited thereto. The method specifically comprises the following steps: respectively marking vectors formed by three-dimensional coordinates of J points in a calibration plate coordinate system as P1、P2、...、Pj、...、PJThe vectors formed by the three-dimensional coordinates of the J points in the antenna coordinate system are respectively marked as F1、F2、...、Fj、...、FJ(ii) a Then, the three-dimensional coordinates of the two end points of the J point in the antenna coordinate system are according to the rotation matrix R2And translation matrix T2After mapping into the coordinate system of the calibration plate, the obtained three-dimensional coordinates constitute R2F1+T2、R2F2+T2、...、R2Fj+T2、...、R2FJ+T2(ii) a Further, Rc2aTo minimize R2。
Note that R in each viewpointc2aAre all the same.
S206: and obtaining a rotation matrix from the world coordinate system to the antenna coordinate system according to the rotation matrix from the calibration board coordinate system to the antenna coordinate system.
For example, according to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system. The method can be realized by the following steps:
1) obtaining R under each viewpointw2pSpecifically, the method comprises the following steps:
obtaining R under the ith viewpoint according to a formulaw2pThat is, where phi, theta, psi are respectively the roll angle, the direction angle, and the elevation angle of the electronic device obtained by the electronic device according to the data measured by the acceleration sensor in the electronic device at the ith viewpoint.
It should be noted that, in a specific implementation, the electronic device further includes an acceleration sensor, and the method may further include: when the electronic equipment collects images at each viewpoint, data measured by an acceleration sensor in the electronic equipment are recorded so as to obtain a rotation matrix from a world coordinate system to an electronic equipment coordinate system at the viewpoint.
In addition, the data measured by the acceleration sensor in the electronic device is data in the sensor coordinate system. In the embodiments of the present invention, the electronic device coordinate system and the sensor coordinate system are consistent for explanation; the fact that the electronic device coordinate system is consistent with the sensor coordinate system means that each element in a rotation matrix between the electronic device coordinate system and the sensor coordinate system is 0. In a specific implementation, if the two coordinate systems are not consistent, the electronic device needs to first convert data measured by the acceleration sensor into data in the coordinate system of the electronic device, and then obtain a rotation matrix from the world coordinate system to the coordinate system of the electronic device. Wherein the sensor coordinate system is a coordinate system preset in the sensor.
2) Obtaining R under each viewpointp2cSpecifically, the method comprises the following steps:
r at the ith viewpointp2cThe above step S203 may be referred to for the acquisition process.
3) Obtaining R under each viewpointc2aSpecifically, the method comprises the following steps:
r at the ith viewpointc2aI.e. R obtained in the above step S205c2a。
4) Obtaining R under each viewpointw2aSpecifically, the method comprises the following steps:
obtaining R under the ith viewpoint according to a formulaw2aI.e. by
S207: and obtaining the attitude information of the antenna to be measured according to the rotation matrix from the world coordinate system to the antenna coordinate system. Wherein the attitude information includes a downtilt angle and an azimuth angle. Specifically, the method comprises the following steps:
1) obtaining the orientation [ f ] of the antenna to be measured in the world coordinate system according to a formulai，ni，si]. Wherein f isi、ni、siRespectively represent: in a world coordinate system, a long axis direction vector, a front surface normal vector and a side surface normal vector of an antenna sub-image to be measured; f. ofa、na、saRespectively represent: and on the three-dimensional model of the antenna to be measured, the long-axis direction vector, the front surface normal vector and the side surface normal vector of the sub-image of the antenna to be measured.
2) And acquiring the downward inclination angle and the azimuth angle of the antenna to be measured under each viewpoint. Specifically, the method comprises the following steps:
according to the formula li＝90-arccos(g′·fi) 180/arccos (-1), obtaining the down dip angle l of the antenna to be measured under the i viewpointi(ii) a Wherein g ═ g-g · siG represents a gravity vector, g is (0, 0, 1)TAnd g' represents a projection of g on the side surface of the antenna to be measured.
According to the formula zi＝arctan2(na′(0)，na' (1)) 180/arccos (-1) -90, and obtaining the azimuth angle z of the antenna to be measured under the ith viewpointi. Wherein n isa' (0) represents naThe kth element of' k is 0 or 1; n isa′＝(na(0)，na(1) 0), represents naProjection on a horizontal plane; n isa(k) Represents naThe kth element of (1).
3) And acquiring attitude information of the antenna to be measured. Specifically, the method comprises the following steps:
and obtaining the downward inclination angle l of the antenna to be measured according to a formula.
And obtaining the azimuth angle z of the antenna to be measured according to a formula.
In the method for measuring the antenna attitude provided by the embodiment, the electronic device correspondingly acquires I images from I viewpoints, wherein each image comprises an antenna sub-image to be measured; and acquiring three-dimensional coordinates of at least two points of the sub-image of the antenna to be measured in the calibration plate coordinate system according to the I images, and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the at least two points in the calibration plate coordinate system and the three-dimensional coordinates of the at least two points in the antenna coordinate system. According to the technical scheme, the attitude of the antenna is measured by utilizing the I images correspondingly collected from the I viewpoints, and any hardware equipment is not required to be additionally arranged on the antenna in the process, so that the problem that in the prior art, the measurement equipment is required to be additionally arranged on each antenna in the process of producing the antenna, and the process of producing the antenna is complex is solved. In addition, any hardware equipment is not required to be additionally arranged on the antenna in the process, and the cost for measuring the attitude of the antenna can be saved. In addition, since the stability of the reference coordinate system is higher when the calibration board coordinate system is used as the reference coordinate system in the present embodiment, the measurement result can be more accurate.
EXAMPLE III
The "reference coordinate system" in the first embodiment is a world coordinate system in the present embodiment.
Referring to fig. 3, a schematic flowchart of a method for measuring an antenna attitude according to an embodiment of the present invention is shown. The method shown in fig. 3 is applied to an electronic device, and the method includes:
s301: correspondingly acquiring I images from I viewpoints; each viewpoint collects an image, each image comprises a sub-image of the antenna to be measured, I is not less than 2, and I is an integer.
S302: in each image of the I images, two-dimensional coordinates of each point in a set to be measured in an electronic equipment coordinate system are obtained.
S303: and acquiring the three-dimensional coordinates of each point in a world coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system.
For example, the electronic device may obtain three-dimensional coordinates of each point in the world coordinate system according to the specific implementation method of step S203. Specifically, the electronic device replaces the "calibration board coordinate system" in the above-mentioned related explanation of step S203 with the "world coordinate system", so as to obtain the three-dimensional coordinates of each point in the world coordinate system.
S304: and acquiring the three-dimensional coordinates of each point in an antenna coordinate system.
S305: and obtaining a rotation matrix from the world coordinate system to the antenna coordinate system according to the three-dimensional coordinates of the points in the world coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
For example, according to the formula Rw2a＝Rw2pRp2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a. The method can be realized by the following steps:
1) obtaining ofR at each viewpointw2pSpecifically, the method comprises the following steps: reference may be made to the description relating to step S206 1) in embodiment two.
2) Obtaining R under each viewpointp2aSpecifically, the method comprises the following steps: the electronic device may obtain R according to the specific implementation manner of step S205 described abovew2a. Specifically, the electronic device replaces the "calibration board coordinate system" in the specific implementation of step S205 with the "world coordinate system", and replaces R with the "world coordinate systemc2aIs replaced by Rw2aObtaining Rw2a。
S306: and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system. Wherein the attitude information includes a downtilt angle and an azimuth angle.
It should be noted that, the step S101 may be referred to for the related description of the step S301, the step S202 may be referred to for the related description of the step S302, the step S204 in the second embodiment may be referred to for the related description of the step S304, and the step S207 in the second embodiment may be referred to for the related description of the step S305, which is not described again here.
In the method for measuring the antenna attitude provided by the embodiment, the electronic device correspondingly acquires I images from I viewpoints, wherein each image comprises an antenna sub-image to be measured; and acquiring three-dimensional coordinates of at least two points of the sub-image of the antenna to be measured in the world coordinate system according to the I images, and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the at least two points in the world coordinate system and the three-dimensional coordinates of the at least two points in the antenna coordinate system. According to the technical scheme, the attitude of the antenna is measured by utilizing the I images correspondingly collected from the I viewpoints, and any hardware equipment is not required to be additionally arranged on the antenna in the process, so that the problem that in the prior art, the measurement equipment is required to be additionally arranged on each antenna in the process of producing the antenna, and the process of producing the antenna is complex is solved. In addition, any hardware equipment is not required to be additionally arranged on the antenna in the process, and the cost for measuring the attitude of the antenna can be saved. In addition, in the present embodiment, the world coordinate system is used as the reference coordinate system, and the directions of the coordinate axes of the world coordinate system are known, so that the method for measuring the antenna attitude can be realized simply.
Example four
Referring to fig. 4, a schematic structural diagram of an apparatus provided in this embodiment is used to execute the method for measuring an antenna attitude provided in the first embodiment, and for the explanation of relevant contents in this embodiment, reference may be made to the first embodiment. The apparatus 4 as shown in fig. 4 may comprise:
a first obtaining unit 41, configured to obtain I images that are correspondingly collected from I viewpoints by an electronic device; each image comprises an antenna sub-image to be measured, wherein I is not less than 2 and is an integer;
a second obtaining unit 42, configured to obtain two-dimensional coordinates of each point in the set to be measured of each image in the I images in the electronic device coordinate system; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured;
a third obtaining unit 43, configured to obtain three-dimensional coordinates of each point in an antenna coordinate system;
a determining unit 44, configured to determine the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
In an implementation manner of this embodiment, the determining unit 44 is specifically configured to:
acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;
and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
In this implementation, optionally, the determining unit 44 is specifically configured to:
obtaining a rotation matrix between a world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;
and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system.
In this alternative, the reference coordinate system is, for example, a calibration plate coordinate system; each of said images further comprising a calibration plate sub-image; the determining unit 44 is specifically configured to:
obtaining a rotation matrix R from the coordinate system of the calibration board to the coordinate system of the antenna according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the coordinate system of the antennac2a；
Obtaining a rotation matrix R from the coordinate system of the electronic equipment to the coordinate system of the calibration plate according to the fact that each image comprises the sub-image of the calibration platep2c；
According to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system.
In any of the above manners of this embodiment, optionally, the set of measurements is: the antenna sub-image to be measured comprises a set formed by two end points of a long axis of the antenna sub-image to be measured, or a set formed by points on an outer contour of the antenna sub-image to be measured.
Optionally, the attitude information of the antenna to be measured includes at least one of the following information: azimuth angle, inclination angle.
The device 4 in the present embodiment may be the above-described "electronic apparatus" or may be a virtual device different from the electronic apparatus.
In the device provided by the embodiment, I images correspondingly acquired from I viewpoints by electronic equipment are acquired, wherein each image comprises an antenna sub-image to be measured; and acquiring two-dimensional coordinates of at least two points of the sub-image of the antenna to be measured in the coordinate system of the electronic equipment according to the I images, and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the at least two points in the coordinate system of the electronic equipment and the three-dimensional coordinates of the points in the coordinate system of the antenna. According to the technical scheme, the attitude of the antenna is measured by utilizing the I images correspondingly collected from the I viewpoints, and any hardware equipment is not required to be additionally arranged on the antenna in the process, so that the problem that in the prior art, the measurement equipment is required to be additionally arranged on each antenna in the process of producing the antenna, and the process of producing the antenna is complex is solved. In addition, any hardware equipment is not required to be additionally arranged on the antenna in the process, and the cost for measuring the attitude of the antenna can be saved.
EXAMPLE five
In terms of hardware implementation, the first obtaining Unit 41, the second obtaining Unit 42, the third obtaining Unit 43 and the determining Unit 44 in the fourth embodiment may be embedded in a memory of a device in a hardware form or independent from the device, so as to facilitate a processor to call and execute operations corresponding to the above respective modules, where the processor may be a Central Processing Unit (CPU), a microprocessor, a single chip, or the like.
Referring to fig. 5, a schematic structural diagram of an apparatus provided in this embodiment is used to execute the method for measuring an antenna attitude provided in the first embodiment, and for the explanation of relevant contents in this embodiment, reference may be made to the first embodiment. The apparatus 5 as shown in fig. 5 may comprise: memory 51, processor 52, wireless interface 53 and bus system 54.
The memory 51 and the processor 52 are coupled together by a bus system 54.
By way of example, the bus system 54 may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus system 54 may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
The wireless interface 53 is used for communication between the apparatus 5 and other devices.
The memory 51 stores programs. In particular, the program may include program code comprising computer operating instructions. For example, the Memory 51 may be a Random Access Memory (RAM), and may also be a non-volatile Memory (non-volatile Memory), such as at least one disk Memory.
The processor 52 executes the program stored in the memory 51 to implement the method for measuring the antenna attitude according to the first embodiment.
Processor 52 is configured to perform the following actions:
acquiring I images correspondingly acquired by electronic equipment from I viewpoints; each image comprises an antenna sub-image to be measured, wherein I is not less than 2 and is an integer;
acquiring two-dimensional coordinates of each point in the set to be measured of each image in the I images under an electronic equipment coordinate system; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured;
acquiring three-dimensional coordinates of each point under an antenna coordinate system;
and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic equipment coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
Optionally, the processor 52 is specifically configured to:
acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;
and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
Optionally, the processor 52 is specifically configured to:
obtaining a rotation matrix between a world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;
and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system.
Optionally, the reference coordinate system is a calibration plate coordinate system; each of said images further comprising a calibration plate sub-image; the processor 52 is specifically configured to:
obtaining a rotation matrix R from the coordinate system of the calibration board to the coordinate system of the antenna according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the coordinate system of the antennac2a；
Obtaining a rotation matrix R from the coordinate system of the electronic equipment to the coordinate system of the calibration plate according to the fact that each image comprises the sub-image of the calibration platep2c；
According to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system.
Optionally, the set of measurements to be measured is: the antenna sub-image to be measured comprises a set formed by two end points of a long axis of the antenna sub-image to be measured, or a set formed by points on an outer contour of the antenna sub-image to be measured.
Optionally, the attitude information of the antenna to be measured includes at least one of the following information: azimuth angle, inclination angle.
The device 5 in the present embodiment may be the above-described "electronic apparatus" or may be a virtual device different from the electronic apparatus. When the device 5 is the above "electronic device", referring to the above method embodiment, the device 5 may further include a camera; in some alternative implementations, the device 5 may further include a physical component such as an acceleration sensor.
In the device provided by the embodiment, I images correspondingly acquired from I viewpoints by electronic equipment are acquired, wherein each image comprises an antenna sub-image to be measured; and acquiring two-dimensional coordinates of at least two points of the sub-image of the antenna to be measured in the coordinate system of the electronic equipment according to the I images, and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the at least two points in the coordinate system of the electronic equipment and the three-dimensional coordinates of the points in the coordinate system of the antenna. According to the technical scheme, the attitude of the antenna is measured by utilizing the I images correspondingly collected from the I viewpoints, and any hardware equipment is not required to be additionally arranged on the antenna in the process, so that the problem that in the prior art, the measurement equipment is required to be additionally arranged on each antenna in the process of producing the antenna, and the process of producing the antenna is complex is solved. In addition, any hardware equipment is not required to be additionally arranged on the antenna in the process, and the cost for measuring the attitude of the antenna can be saved.
It will be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working processes of the system, the apparatus and the unit described above, reference may be made to the corresponding processes in the foregoing method embodiments, and details are not described here again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) or a processor to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (12)
- A method of measuring antenna attitude, comprising:acquiring I images correspondingly acquired by electronic equipment from I viewpoints; each image comprises an antenna sub-image to be measured, wherein I is not less than 2 and is an integer;acquiring two-dimensional coordinates of each point in the set to be measured of each image in the I images under an electronic equipment coordinate system; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured;acquiring three-dimensional coordinates of each point under an antenna coordinate system;and determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic equipment coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
- The method according to claim 1, wherein the determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system comprises:acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
- The method according to claim 2, wherein the determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system comprises:obtaining a rotation matrix between a world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system.
- The method of claim 3, wherein the reference coordinate system is a reticle coordinate system; each of said images further comprising a calibration plate sub-image; the obtaining of the rotation matrix between the world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system includes:obtaining a rotation matrix R from the coordinate system of the calibration board to the coordinate system of the antenna according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the coordinate system of the antennac2a；Obtaining a rotation matrix R from the coordinate system of the electronic equipment to the coordinate system of the calibration plate according to the fact that each image comprises the sub-image of the calibration platep2c；According to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system.
- The method according to any one of claims 1 to 4, wherein the set of measurements is: the antenna sub-image to be measured comprises a set formed by two end points of a long axis of the antenna sub-image to be measured, or a set formed by points on an outer contour of the antenna sub-image to be measured.
- The method according to any one of claims 1 to 5, wherein the attitude information of the antenna to be measured comprises at least one of the following information: azimuth angle, inclination angle.
- An apparatus, comprising:the first acquisition unit is used for acquiring I images which are correspondingly acquired by the electronic equipment from I viewpoints; each image comprises an antenna sub-image to be measured, wherein I is not less than 2 and is an integer;the second acquisition unit is used for acquiring two-dimensional coordinates of each point in the set to be measured of each image in the I images under the coordinate system of the electronic equipment; the set to be measured is a set formed by at least two points of the sub-image of the antenna to be measured;the third acquisition unit is used for acquiring three-dimensional coordinates of each point in an antenna coordinate system;and the determining unit is used for determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic equipment coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
- The apparatus according to claim 7, wherein the determining unit is specifically configured to:acquiring three-dimensional coordinates of each point in a reference coordinate system according to the two-dimensional coordinates of each point in the electronic equipment coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;and determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
- The apparatus according to claim 8, wherein the determining unit is specifically configured to:obtaining a rotation matrix between a world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;and obtaining the attitude information of the antenna to be measured according to the rotation matrix between the world coordinate system and the antenna coordinate system.
- The apparatus of claim 9, wherein the reference coordinate system is a calibration plate coordinate system; each of said images further comprising a calibration plate sub-image; the determining unit is specifically configured to:obtaining a rotation matrix R from the coordinate system of the calibration board to the coordinate system of the antenna according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the coordinate system of the antennac2a；Obtaining a rotation matrix R from the coordinate system of the electronic equipment to the coordinate system of the calibration plate according to the fact that each image comprises the sub-image of the calibration platep2c；According to the formula Rw2a＝Rw2pRp2cRc2aObtaining a rotation matrix R from the world coordinate system to the antenna coordinate systemw2a(ii) a Wherein R isw2pA rotation matrix from the world coordinate system to the electronic device coordinate system.
- The apparatus according to any one of claims 7-10, wherein the set of measurements is: the antenna sub-image to be measured comprises a set formed by two end points of a long axis of the antenna sub-image to be measured, or a set formed by points on an outer contour of the antenna sub-image to be measured.
- The apparatus according to any one of claims 7-11, wherein the attitude information of the antenna to be measured comprises at least one of the following information: azimuth angle, inclination angle.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2015/079596 WO2016187752A1 (en) | 2015-05-22 | 2015-05-22 | Method and device for measuring antenna attitude |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107534202A true CN107534202A (en) | 2018-01-02 |
| CN107534202B CN107534202B (en) | 2019-10-01 |
Family
ID=57393477
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580080053.1A Active CN107534202B (en) | 2015-05-22 | 2015-05-22 | A kind of method and apparatus measuring antenna attitude |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107534202B (en) |
| WO (1) | WO2016187752A1 (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110930344B (en) * | 2018-08-29 | 2023-05-05 | 杭州海康威视数字技术股份有限公司 | Target quality determination method, device and system and electronic equipment |
| CN110260849B (en) * | 2019-06-28 | 2021-07-27 | 宜通世纪物联网研究院(广州)有限公司 | Antenna attitude determination system based on image recognition and implementation method thereof |
| CN111879290A (en) * | 2020-07-16 | 2020-11-03 | 上海宇航系统工程研究所 | Method for measuring mechanical pointing accuracy of large antenna |
| CN114543746B (en) * | 2021-12-29 | 2024-02-20 | 西南技术物理研究所 | Photoelectric turntable attitude measurement method based on high-precision Beidou positioning |
| CN114993243A (en) * | 2022-08-04 | 2022-09-02 | 深圳粤讯通信科技有限公司 | Antenna attitude monitoring and early warning system based on Internet of things |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806906A (en) * | 2010-04-14 | 2010-08-18 | 上海华测导航技术有限公司 | Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System) |
| US20140205205A1 (en) * | 2011-07-01 | 2014-07-24 | Thomas Neubauer | Method and apparatus for determining and storing the position and orientation of antenna structures |
| CN104048648A (en) * | 2014-05-27 | 2014-09-17 | 清华大学深圳研究生院 | Relative pose measurement method for large size non-cooperative target |
| CN104155635A (en) * | 2014-08-23 | 2014-11-19 | 中国科学院成都生物研究所 | Ground penetrating radar single-channel electromagnetic spectrum three-dimensional positioning method |
| CN104457761A (en) * | 2014-11-18 | 2015-03-25 | 上海新跃仪表厂 | Characteristic relay method for relative position and attitude based on multi-vision |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100585834B1 (en) * | 2003-03-21 | 2006-06-01 | 에스케이 텔레콤주식회사 | Method and system for measuring and correcting resources of mobile telecommunications base station antenna |
| CN101839692B (en) * | 2010-05-27 | 2012-09-05 | 西安交通大学 | Method for measuring three-dimensional position and stance of object with single camera |
| CN102445177B (en) * | 2011-09-22 | 2013-10-09 | 华为技术有限公司 | Method, device and system for measuring azimuth angle and pitch angle of antenna |
-
2015
- 2015-05-22 WO PCT/CN2015/079596 patent/WO2016187752A1/en active Application Filing
- 2015-05-22 CN CN201580080053.1A patent/CN107534202B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101806906A (en) * | 2010-04-14 | 2010-08-18 | 上海华测导航技术有限公司 | Position coordinate real-time dynamic combination measuring device and method based on GNSS (Global Navigation Satellite System) |
| US20140205205A1 (en) * | 2011-07-01 | 2014-07-24 | Thomas Neubauer | Method and apparatus for determining and storing the position and orientation of antenna structures |
| CN104048648A (en) * | 2014-05-27 | 2014-09-17 | 清华大学深圳研究生院 | Relative pose measurement method for large size non-cooperative target |
| CN104155635A (en) * | 2014-08-23 | 2014-11-19 | 中国科学院成都生物研究所 | Ground penetrating radar single-channel electromagnetic spectrum three-dimensional positioning method |
| CN104457761A (en) * | 2014-11-18 | 2015-03-25 | 上海新跃仪表厂 | Characteristic relay method for relative position and attitude based on multi-vision |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2016187752A1 (en) | 2016-12-01 |
| CN107534202B (en) | 2019-10-01 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107223269B (en) | Three-dimensional scene positioning method and device | |
| US20210233275A1 (en) | Monocular vision tracking method, apparatus and non-transitory computer-readable storage medium | |
| CN112654886B (en) | External parameter calibration method, device, equipment and storage medium | |
| JP5920352B2 (en) | Information processing apparatus, information processing method, and program | |
| US11204249B2 (en) | Positioning method and robot with the same | |
| CN107534202A (en) | A kind of method and apparatus for measuring antenna attitude | |
| CN113048980B (en) | Pose optimization method and device, electronic equipment and storage medium | |
| CN110276774B (en) | Object drawing method, device, terminal and computer-readable storage medium | |
| CN107607090B (en) | Building projection correction method and device | |
| US20240071016A1 (en) | Mixed reality system, program, mobile terminal device, and method | |
| CN108564653B (en) | Human body skeleton tracking system and method based on multiple Kinects | |
| CN110163087A (en) | A kind of human face posture recognition methods and system | |
| CN110260857A (en) | Calibration method, device and the storage medium of vision map | |
| CN113361365B (en) | Positioning method, positioning device, positioning equipment and storage medium | |
| CN111862180A (en) | Camera group pose acquisition method and device, storage medium and electronic equipment | |
| CN108882156A (en) | A kind of method and device for calibrating locating base station coordinate system | |
| CN108958483A (en) | Rigid body localization method, device, terminal device and storage medium based on interaction pen | |
| CN112882576A (en) | AR interaction method and device, electronic equipment and storage medium | |
| CN109241233B (en) | Coordinate matching method and device | |
| CN117095002B (en) | Hub defect detection method and device and storage medium | |
| CN113362445A (en) | Method and device for reconstructing object based on point cloud data | |
| CN113610702A (en) | Picture construction method and device, electronic equipment and storage medium | |
| CN111161350B (en) | Position information and position relation determining method, position information acquiring device | |
| CN113052915A (en) | Camera external parameter calibration method and device, augmented reality system, terminal device and storage medium | |
| CN114926542A (en) | Mixed reality fixed reference system calibration method based on optical positioning system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |