CN109991569A

CN109991569A - A kind of reverberation localization method and device based on millimeter wave robot

Info

Publication number: CN109991569A
Application number: CN201910267288.1A
Authority: CN
Inventors: 周安福; 马华东; 杨绍元; 杨毅; 范誉航
Original assignee: Beijing University of Posts and Telecommunications
Current assignee: Beijing University of Posts and Telecommunications
Priority date: 2019-04-03
Filing date: 2019-04-03
Publication date: 2019-07-09
Anticipated expiration: 2039-04-03
Also published as: CN109991569B

Abstract

A kind of reverberation localization method and device based on millimeter wave robot provided in an embodiment of the present invention, method includes: the related coefficient of the RSS by the RSS sequence of receiving end Yu the first reflection path, is summed with the related coefficient of the RSS of the RSS sequence and the second transmission path of transmitting terminal；With being more than threshold value, the incidence angle of first reflection path is determined as target incident angle, corresponding first reflection path in target incident angle is determined as target reflection path, from the first reflection path, remove target reflection path, obtains residual reflection path, and from the second reflection path, remove objective emission path, obtains remaining transmission path；From the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path, the remaining RSS sequence of receiving end is obtained, until the related coefficient of the RSS of the remaining RSS sequence and residual reflection path of receiving end is less than predetermined coefficient threshold value, then determines the position of reverberation.

Description

A kind of reverberation localization method and device based on millimeter wave robot

Technical field

The present invention relates to field of artificial intelligence, position more particularly to a kind of reverberation based on millimeter wave robot Method and device.

Background technique

With the high speed development of artificial intelligence technology, in more complex environment, robot is commonly used in the prior art It carries millimeter wave module to tour around in more complex environment, emits millimeter wave in the transmitting terminal of each measurement position millimeter wave module After signal, receiving end receives the millimeter-wave signal that is reflected back of reverberation, successively positions the position of reverberation.

By taking Fig. 1 as an example, the process of millimeter-wave signal module positioning reflection object location is carried using robot in the prior art It is as follows: assuming that in a room, entire room to be divided into numerous fritter using grid method, robot is within a grid Emit millimeter-wave signal to reverberation A at each joint.By the direction of robot transmitting millimeter-wave signal and horizontal direction Angle becomes the angle of departure, and robot is received the direction of millimeter-wave signal and the angle of horizontal direction as incidence angle, constructs A's Virtual symmetric points A1 and A2, the receiving end of robot receive the millimeter-wave signal of reverberation A, A1 and A2 return.It is drawn in A and A1 Circle 1, so that A and A1 on circle contour, then draw circle 2 in A and A2, so that A and A2 are on circle contour, it is known that A, A1 and A2 are returned Millimeter-wave signal incidence angle, emit millimeter-wave signal the angle of departure, circle 1 and circle 2 joint and A and A1 between away from From then from all joints in traversal grid, being calculated the position of multiple A according to trigonometric function principle, selection meets The position of the A of grid search optimal solution formula, determines it as the position of reverberation.

Since in the prior art, the incidence angle that robot receiving end receives the millimeter-wave signal returned will receive various factors Interference, cause the received incidence angle in receiving end and the position difference of practical incidence angle larger, using trigonometric function principle calculate Usually there is larger difference in the position for the reverberation oriented with the actual position of reverberation, and therefore, the prior art positions reverberation Position accuracy rate it is not high.

Summary of the invention

The embodiment of the present invention is designed to provide a kind of reverberation localization method and device based on millimeter wave robot, Determine the accuracy rate of incidence angle, by improving to improve the accuracy rate of the position of positioning reverberation.Specific technical solution is as follows:

In a first aspect, a kind of reverberation localization method based on millimeter wave robot provided in an embodiment of the present invention, comprising:

Step A obtains the signal strength RSS of the first reflection path of receiving end and the second transmission path of transmitting terminal RSS；First reflection path is each reflection path of receiving end, and the second transmission path is each transmission path of transmitting terminal；First is anti- The RSS of rays diameter is that the receiving end of robot emits millimeter-wave signal according to the preset angular transmitting terminal of transmitting, is surveyed in receiving end It measures；The RSS of second transmission path is that the transmitting terminal of robot emits millimeter wave according to the preset angular transmitting terminal of transmitting Signal is obtained in transmitting terminal measurement；Each reflection path has an incidence angle, and each transmission path has an angle of departure；

Step B, in the case where robot rotates a circumference in such a way that preset rotation angle is incremented by, for Same rotation angle determines the first related coefficient and the second related coefficient respectively；

Wherein, the first related coefficient is the related coefficient between the RSS sequence of receiving end and the RSS of the first reflection path； Second related coefficient is the related coefficient between the RSS sequence of transmitting terminal and the RSS of the second transmission path；The RSS sequence of receiving end Column include default element, and each element is the contribution of the RSS of the first reflection path under each beam modes of millimeter-wave signal The sum of component；The RSS sequence of transmitting terminal includes default element, and each element is the second transmission path under each beam modes The sum of the contribution component of RSS；

Step C, the RSS sequence by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal The related coefficient of column and the RSS of the second transmission path is summed；

The incidence angle of first reflection path is determined as target incident angle with being more than threshold value by step D, and And by the angle of departure of the second transmission path, it is determined as target angle of reflection；

Corresponding first reflection path in target incident angle is determined as target reflection path by step E, and by objective emission Corresponding second reflection path in angle is determined as objective emission path；

Step F removes target reflection path from the first reflection path, obtains residual reflection path, and anti-from second In rays diameter, remove objective emission path, obtains remaining transmission path；

Step G, from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path obtains receiving end Remaining RSS sequence, and from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path is sent out Penetrate the remaining RSS sequence at end；

Step H, it is pre- whether the related coefficient of the remaining RSS sequence and the RSS in residual reflection path that judge receiving end is less than If threshold value, if not, updating the RSS sequence of receiving end using the remaining RSS sequence of receiving end, residual reflection routing update is used First reflection path is updated the RSS sequence of transmitting terminal using the remaining RSS sequence of transmitting terminal, is updated using remaining transmission path First transmission path, return continue to execute step C to step H, until the remaining RSS sequence of receiving end and residual reflection path The related coefficient of RSS is less than predetermined coefficient threshold value；

Step I determines the position of reverberation according to the corresponding target reflection path in all target incident angles.

Optionally, in the case where robot rotates a circumference in such a way that preset rotation angle is incremented by, for Same rotation angle determines the first related coefficient and the second related coefficient respectively, comprising:

Using formula of correlation coefficient, in such a way that preset rotation angle is incremented by, robot rotates a circumference In the case of, for same rotation angle, determine the first related coefficient and the second related coefficient；

Wherein, formula of correlation coefficient isκ (x, y) represents related coefficient, x and y difference Represent input variable, cov (x, y) be x and covariance, var [y] represents the variance of x, and var [y] represents the variance of y.

Optionally, the RSS sequence by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal The related coefficient of column and the RSS of the second transmission path is summed, comprising:

Use formula:

First related coefficient and the second related coefficient are summed；

Wherein, α represents the angle of departure, and β represents incidence angle, and Vr represents the RSS sequence of receiving end, and V (α) represents incident angle α The RSS of first reflection path, Vt represent the RSS sequence of transmitting terminal, and V (β) represents the angle of departure as the signal of the second transmission path of β Intensity RSS,p_AThe serial number of the first reflection path is represented, α(p_A) represent pth_AThe incidence angle of the first reflection path of item, g (p_A) represent pth_AThe path gain of the first reflection path of item, The first reflection path quantity is represented, σ represents noise, V (α (p_A)) represent the pth of incident angle α_AThe RSS of the first reflection path of item.

Optionally, with being more than threshold value, the incidence angle of the first reflection path is determined as target incident angle, and And by the angle of departure of the second transmission path, it is determined as target angle of reflection, comprising:

With being more than threshold value, when determining and maximum, the corresponding incidence angle of first reflection path, as mesh Mark incidence angle；

With being more than threshold value, when determining described and maximum, the corresponding angle of departure of the second transmission path, as mesh Mark the angle of departure.

Optionally, when the quantity of sum is greater than 1, with being more than threshold value, by the incidence of the first reflection path Angle is determined as target incident angle, and by the angle of departure of the second transmission path, is determined as target angle of reflection, comprising:

With being more than threshold value, from and between difference be less than difference threshold when and in, selection and maximum When the corresponding incidence angle of the first reflection path, as target incident angle；

With being more than threshold value, from and between difference be less than difference threshold when and in, selection and maximum When the corresponding angle of departure of the second transmission path, as objective emission angle.

Optionally, from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path obtains receiving end Remaining RSS sequence, and from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path is sent out Penetrate the remaining RSS sequence at end, comprising:

Use formula V '_r=V_r-g^*(p_A)V(α^*), the RSS of delete target reflection path in the RSS sequence of receiving end Component is contributed, the remaining RSS sequence of receiving end is obtained；

Use formula V '_t=V_t-g^*(p_B)V(β^*), from the RSS sequence of transmitting terminal, the RSS's of delete target transmission path Component is contributed, the remaining RSS sequence of transmitting terminal is obtained；

Wherein, α^*Represent objective emission angle, β^*Objective emission angle is represented, Vr represents the signal strength RSS sequence of receiving end, V (α^*) represent target incident angle α^*The RSS of corresponding target reflection path,p_A The serial number of the first reflection path is represented,α(p_A) represent pth_AThe incidence angle of the first reflection path of item, g (p_A) Represent pth_AThe path gain of the first reflection path of item,The first reflection path quantity is represented, σ represents noise, V (α (p_A)) generation Table V (α (p_A)) represent the pth of incident angle α_AThe RSS of the first reflection path of item.V′_rThe RSS sequence of remaining reflection path is represented, g^*(p_A) represent objective emission angle α^*Corresponding first reflection path p_APath gain；V(β^*) represent objective emission angle beta^*It is corresponding Objective emission path RSS, Vt represents the signal strength RSS sequence of transmitting terminal,p_BThe serial number of the second transmission path is represented,β(p_B) represent Pth_BThe angle of departure of the second transmission path of item, g (p_B) represent pth_BThe path gain of the second reflection path of item,Represent second Transmission path quantity, σ represent noise, V (β (p_B)) represent the pth of incident angle β_BThe RSS of the second reflection path of item, ω (α, β) generation The first related coefficient of table and the second related coefficient and, V '_tRepresent the RSS sequence of remaining transmission path, g^*(p_B) represent target Angle of departure β^*Corresponding pth_BItem the second transmission path gain, A, B are to discriminate between the first reflection path parameter and the second transmission path ginseng Several labels.

Optionally, according to the corresponding target reflection path in all target incident angles, the position of reverberation is determined, comprising:

Determine the cluster number that all target reflection paths are clustered；

According to the size of the RSS of each target reflection path and target incident angle, PCA pivot analysis clustering algorithm pair is used Target reflection path is clustered, and the cluster equal with cluster number is obtained；

By the convergent point of target reflection path in the same cluster in all clusters of acquisition, the virtual location of reverberation is determined；

By the vertical line of the virtual location of reverberation and transmitting terminal line, virtual location and receiving end line with reverberation The intersection position of intersection is determined as the position of reverberation.

Optionally, the cluster number that all target reflection paths are clustered is determined, comprising:

Out of, preset K value range, when determining metric η (K) change rate maximum of cluster, the value of K；

K value is determined as the cluster number that target reflection path clusters；

Wherein,Ψ (k) is the target reflection path for belonging to k-th of cluster Set, c (k) is the center of k-th of cluster, and (i, c (k)) is in Ψ (k) between i-th of target reflection path and the center of cluster Euclidean distance, K represent the number of cluster, and k is the serial number of cluster, and K value range is positive integer collection, and Δ is Euclidean distance operation Symbol.

Second aspect, a kind of reverberation positioning device based on millimeter wave robot provided in an embodiment of the present invention, comprising:

First obtain module, for obtain the first reflection path of receiving end signal strength RSS and transmitting terminal second The RSS of transmission path；First reflection path is each reflection path of receiving end, and the second transmission path is each transmitting road of transmitting terminal Diameter；The RSS of first reflection path is that the receiving end of robot emits millimeter-wave signal according to the preset angular transmitting terminal of transmitting, Receiving end measurement obtains；The RSS of second transmission path is that the transmitting terminal of robot is sent out according to the preset angular transmitting terminal of transmitting Millimeter-wave signal is penetrated, is obtained in transmitting terminal measurement；Each reflection path has an incidence angle, and each transmission path has a hair Firing angle；

First determining module, in such a way that preset rotation angle is incremented by, robot to rotate a circumference In the case of, for same rotation angle, the first related coefficient and the second related coefficient are determined respectively；

Coefficient summation module, for by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with hair The related coefficient for penetrating the RSS sequence at end and the RSS of the second transmission path is summed；

Second determining module, for being more than threshold value, the incidence angle of the first reflection path to be determined as mesh Incidence angle is marked, and by the angle of departure of the second transmission path, is determined as target angle of reflection；

Third determining module, for corresponding first reflection path in target incident angle to be determined as target reflection path, and And corresponding second reflection path in objective emission angle is determined as objective emission path；

First removal module, for removing target reflection path, obtaining residual reflection path from the first reflection path, And from the second reflection path, remove objective emission path, obtains remaining transmission path；

First removing module, for from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path, The remaining RSS sequence of receiving end is obtained, and from the RSS sequence of transmitting terminal, the contribution point of the RSS of delete target transmission path Amount, obtains the remaining RSS sequence of transmitting terminal；

Coefficient judgment module, for judging the related coefficient of the remaining RSS sequence of receiving end and the RSS in residual reflection path Whether preset threshold is less than, if not, the RSS sequence of receiving end is updated using the remaining RSS sequence of receiving end, using remaining anti- The first reflection path of routing update is penetrated, the RSS sequence of transmitting terminal is updated using the remaining RSS sequence of transmitting terminal, is sent out using residue The first transmission path of routing update is penetrated, drop-off to pick-up radio summation module to the first removing module continues to execute, until receiving end is surplus The related coefficient of the RSS in remaining RSS sequence and residual reflection path is less than predetermined coefficient threshold value；

Position locating module, for determining the position of reverberation according to the corresponding target reflection path in all target incident angles It sets.

A kind of reverberation localization method and device based on millimeter wave robot provided in an embodiment of the present invention, A, acquisition connect The RSS of the second transmission path of the signal strength RSS and transmitting terminal of first reflection path of receiving end；Step B, according to preset The incremental mode of angle is rotated, in the case that robot rotates a circumference, for same rotation angle, determines the first phase respectively Relationship number and the second related coefficient；Step C, by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with The related coefficient of the RSS of the RSS sequence and the second transmission path of transmitting terminal is summed；Step D, with being more than threshold value, The incidence angle of first reflection path is determined as target incident angle, and by the angle of departure of the second transmission path, is determined as target Angle of reflection；Corresponding first reflection path in target incident angle is determined as target reflection path by step E, and by objective emission Corresponding second reflection path in angle is determined as objective emission path；Step F removes target reflex circuit from the first reflection path Diameter obtains residual reflection path, and from the second reflection path, removes objective emission path, obtains remaining transmission path；Step Rapid G, from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path obtains the remaining RSS sequence of receiving end Column, and from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path obtains the residue of transmitting terminal RSS sequence；Step H, it is pre- whether the related coefficient of the remaining RSS sequence and the RSS in residual reflection path that judge receiving end is less than If threshold value, if not, updating the RSS sequence of receiving end using the remaining RSS sequence of receiving end, residual reflection routing update is used First reflection path is updated the RSS sequence of transmitting terminal using the remaining RSS sequence of transmitting terminal, is updated using remaining transmission path First transmission path, return continue to execute step C to step H, until the remaining RSS sequence of receiving end and residual reflection path The related coefficient of RSS is less than predetermined coefficient threshold value；Step I is determined according to the corresponding target reflection path in all target incident angles The position of reverberation.Received incidence angle is used compared with the prior art, and the reflection oriented is calculated using trigonometric function principle The position of object, the embodiment of the present invention is by by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with hair The related coefficient for penetrating the RSS sequence at end and the RSS of the second transmission path is summed；When with being more than threshold value, be more than threshold value In the case of, the incidence angle of the first reflection path is determined as target incident angle, and repeat step C to H, determines own to improve The accuracy rate at target incident angle determines the position of reverberation then according to the corresponding target reflection path in all target incident angles, Therefore the accuracy rate of the position of positioning reverberation can be improved.Certainly, it implements any of the products of the present invention or method might not It needs to reach all the above advantage simultaneously.

Detailed description of the invention

In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below There is attached drawing needed in technical description to be briefly described.

Fig. 1 is the schematic diagram for carrying millimeter-wave signal module positioning reflection object location using robot in the prior art；

Fig. 2 is a kind of flow chart of the reverberation localization method based on millimeter wave robot provided in an embodiment of the present invention；

Fig. 3 is the schematic diagram at determining target incident angle provided in an embodiment of the present invention；

Fig. 4 is the result schematic diagram of determining cluster number provided in an embodiment of the present invention；

Fig. 5 is the schematic diagram of the position of determining reverberation provided in an embodiment of the present invention；

Fig. 6 is a kind of structure drawing of device of the path planning of unmanned plane provided in an embodiment of the present invention；

Fig. 7 is the structure chart of a kind of electronic equipment provided in an embodiment of the present invention.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Whole description, it is clear that the described embodiment is only a part of the embodiment of the present invention, instead of all the embodiments.Based on this Embodiment in invention, every other reality obtained by those of ordinary skill in the art without making creative efforts Example is applied, shall fall within the protection scope of the present invention.

Firstly, being described to a kind of reverberation localization method based on millimeter wave robot provided in an embodiment of the present invention.

As shown in Fig. 2, a kind of reverberation localization method based on millimeter wave robot provided in an embodiment of the present invention, packet It includes:

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

Wherein, the first reflection path is each reflection path of receiving end, and the second transmission path is each transmitting road of transmitting terminal Diameter；The RSS of first reflection path is that the receiving end of robot emits millimeter-wave signal according to the preset angular transmitting terminal of transmitting, Receiving end measurement obtains；The RSS of second transmission path is that the transmitting terminal of robot is sent out according to the preset angular transmitting terminal of transmitting Millimeter-wave signal is penetrated, is obtained in transmitting terminal measurement；Each reflection path has an incidence angle, and each transmission path has a hair Firing angle；

Wherein, the preset angle of departure is artificial pre-set angle value, can be changed according to the actual situation.

S202, in the case where robot rotates a circumference in such a way that preset rotation angle is incremented by, for same One rotation angle, determines the first related coefficient and the second related coefficient respectively；

Wherein, the first related coefficient is the related coefficient between the RSS sequence of receiving end and the RSS of the first reflection path； Second related coefficient is the related coefficient between the RSS sequence of transmitting terminal and the RSS of the second transmission path；The RSS sequence of receiving end Column include default element, and each element is the contribution of the RSS of the first reflection path under each beam modes of millimeter-wave signal The sum of component；The RSS sequence of transmitting terminal includes default element, and each element is the second transmission path under each beam modes The sum of the contribution component of RSS.

Wherein, the incremental mode of preset rotation angle is that 360 degree of progress equal parts are divided into preset quantity rotation in advance Angle terminates since 0 degree to 360 degree, and incrementally, robot rotates a circumference to rotation angle.

Wherein, in the incremental mode of rotation angle, robot carries two radio modules, two radio modules point It is not transmitting terminal and receiving end, transmitting terminal indicates that receiving end is indicated with Rx with Tx, and robot is at equal intervals N number of's 60GHz millimeter-wave signal is sent at sampled point [Lm1, Lm2 ..., LmN], each millimeter-wave signal possesses 36 beam modes, The power of each beam modes is different, and for Tx in a series of directional beacoms of transmission of each beacon interval, Rx will record each beacon RSS, formed beacon RSS sequence.Beacon RSS sequence is the RSS sequence of receiving end.The position of robot indicates with Lm, m ∈ [1, M], m represent the position number of robot, and M represents the total number of positions of robot, and N represents the sum of interval sampling point.

S203, the RSS sequence by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal It sums with the related coefficient of the RSS of the second transmission path；

The incidence angle of first reflection path is determined as mesh with being more than threshold value in maximum situation by S204 Incidence angle is marked, and by the angle of departure of the second transmission path, is determined as target angle of reflection；

Wherein, the numerical value at target incident angle is equal with the numerical values recited of target angle of reflection, and threshold value is preset numerical value.

Corresponding first reflection path in target incident angle is determined as target reflection path by S205, and by objective emission Corresponding second reflection path in angle is determined as objective emission path；

S206 removes target reflection path from the first reflection path, obtains residual reflection path, and anti-from second In rays diameter, remove objective emission path, obtains remaining transmission path；

S207, from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path obtains receiving end Remaining RSS sequence, and from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path is emitted The remaining RSS sequence at end；

It is exemplified below from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path obtains The process of the remaining RSS sequence of receiving end.

Assuming that the RSS sequence of receiving end is [20,15,40,37,60], the contribution component of the RSS of target reflection path is 7, The contribution component 7 of the RSS of target reflection path, the residue of receiving end are then cut in each element of the RSS sequence of receiving end RSS sequence is [13,8,33,30,53], obtains the remaining RSS sequence of transmitting terminal and the remaining RSS sequence for obtaining receiving end is same Reason, is not repeating herein.

S208, it is default whether the related coefficient of the remaining RSS sequence and the RSS in residual reflection path that judge receiving end is less than Threshold value uses residual reflection routing update the if not, updating the RSS sequence of receiving end using the remaining RSS sequence of receiving end One reflection path updates the RSS sequence of transmitting terminal using the remaining RSS sequence of transmitting terminal, updates the using remaining transmission path One transmission path, return continue to execute step S203 to step S207, until the remaining RSS sequence of receiving end and residual reflection road The related coefficient of the RSS of diameter is less than predetermined coefficient threshold value；

S209 determines the position of reverberation according to the corresponding target reflection path in all target incident angles.

In order to improve the accuracy rate for determining reflection object location, above-mentioned S202 can be true using at least one embodiment difference Fixed first related coefficient and the second related coefficient；

In a kind of possible embodiment, using formula of correlation coefficient, in the side incremental according to preset rotation angle Formula, for same rotation angle, determines the first related coefficient and the second phase relation in the case that robot rotates a circumference Number；

Wherein, formula of correlation coefficient isκ (x, y) represents related coefficient, x and y difference Input variable is represented, cov (x, y) is the covariance of x and y, and var [y] represents the variance of x, and var [y] represents the variance of y.

In order to improve the accuracy rate for determining reflection object location, above-mentioned S203 can will be received using at least one embodiment The related coefficient of the RSS of the RSS sequence and the first reflection path at end, with the RSS sequence of transmitting terminal and the RSS of the second transmission path Related coefficient summation:

In a kind of possible embodiment, formula is used:

First related coefficient and the second related coefficient are summed；

Wherein, α represents the angle of departure, and β represents incidence angle, and Vr represents the RSS sequence of receiving end, and V (α) represents incident angle α The RSS of first reflection path, Vt represent the RSS sequence of transmitting terminal, and V (β) represents the angle of departure as the signal of the second transmission path of β Intensity RSS,p_AThe serial number of the first reflection path is represented, α(p_A) represent pth_AThe incidence angle of the first reflection path of item, g (p_A) represent pth_AThe path gain of the first reflection path of item, The quantity of the first reflection path is represented, σ represents noise, V (α (p_A)) represent the pth of incident angle α_AThe RSS of the first reflection path of item.

In order to improve the accuracy rate for determining reflection object location, above-mentioned S204 can using at least one embodiment with it is super It crosses in the case where threshold value in maximum situation, the incidence angle of the first reflection path is determined as target incident angle, and by second The angle of departure of transmission path is determined as target angle of reflection:

In a kind of possible embodiment, with being more than threshold value, when determining and maximum, the first reflection path Corresponding incidence angle, as target incident angle, and with being more than threshold value, when determining and maximum, the second transmitting road The corresponding angle of departure of diameter, as objective emission angle.

RSS with reference to Fig. 3, by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal When the sum of related coefficient of RSS of sequence and the second transmission path is more than threshold value, the angle of reflection of the first reflection path is 25 respectively Degree, 40 degree, 41 degree, 43 degree and 45 degree, when with maximum, the corresponding incidence angle of the first reflection path is about 25 degree, therefore will 25 degree of incidence angle is as target incident angle, is objective emission angle by 25 degree of the angle of departure.

In alternatively possible embodiment, when the quantity of sum is greater than 1, with being more than threshold value, from It is when difference between and is less than difference threshold and in, selection and it is maximum when the corresponding incidence angle of the first reflection path, as Target incident angle, and with being more than threshold value, from and between difference be less than difference threshold when and in, selection The angle of departure corresponding with the second transmission path when maximum, as objective emission angle.

Wherein, difference threshold is preset numerical value.

RSS with reference to Fig. 3, by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal When the sum of related coefficient of RSS of sequence and the second transmission path is more than threshold value, the incidence angle of the first reflection path is 20 respectively Degree, 25 degree, 40 degree, 41 degree, 43 degree and 45 degree, the quantity of sum is greater than 1 at this time, is greater than 1 in the quantity of sum, the angle of departure 40 Degree, 41 degree, at 43 degree and 45 degree, and difference be less than difference threshold, at the angle of departure is 40 degree, 41 degree, 43 degree and 45 degree And in, and it is maximum when incidence angle be 43 degree, therefore using 43 degree of incidence angle as target incident angle, by 43 degree of the angle of departure As objective emission angle.

In order to improve the accuracy rate for determining reflection object location, above-mentioned S207 can use at least one embodiment from reception In the RSS sequence at end, the contribution component of the RSS of delete target reflection path obtains the remaining RSS sequence of receiving end, and from In the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path obtains the remaining RSS sequence of transmitting terminal:

In a kind of possible embodiment, formula V ' is used_r=V_r-g^*(p_A)V(α^*), in the RSS sequence of receiving end The contribution component of the RSS of delete target reflection path obtains the remaining RSS sequence of receiving end；Use formula V '_t=V_t-g^*(p_B) V(β^*), from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path obtains the remaining RSS of transmitting terminal Sequence；

Wherein, α^*Represent objective emission angle, β^*Objective emission angle is represented, Vr represents the signal strength RSS sequence of receiving end, V (α^*) represent target incident angle α^*The RSS of corresponding target reflection path,p_A The serial number of the first reflection path is represented,α(p_A) represent pth_AThe incidence angle of the first reflection path of item, g (p_A) Represent pth_AThe path gain of the first reflection path of item,The first reflection path quantity is represented, σ represents noise, V (α (p_A)) generation The pth of table incident angle α_AThe RSS, V ' of the first reflection path of item_rRepresent the RSS sequence of remaining reflection path, g^*(p_A) represent mesh Mark angle of departure α^*Corresponding first reflection path p_APath gain；V(β^*) represent objective emission angle beta^*Corresponding objective emission road The RSS of diameter, Vt represent the signal strength RSS sequence of transmitting terminal,p_BRepresent The serial number of two transmission paths,β(p_B) represent pth_BThe angle of departure of the second transmission path of item, g (p_B) represent pth_B The path gain of the second reflection path of item,The second transmission path quantity is represented, σ represents noise, V (β (p_B)) represent incidence The pth of angle beta_BThe RSS of the second reflection path of item, ω (α, β) represent the first related coefficient and the second related coefficient and, V '_tIt represents The RSS sequence of remaining transmission path, g^*(p_B) represent objective emission angle beta^*Corresponding pth_BItem the second transmission path gain, A, B It is to discriminate between the label of the first reflection path parameter and the second transmission path parameter.

In order to improve the accuracy rate for determining reflection object location, above-mentioned S209 can be using at least one embodiment according to institute There is the corresponding target reflection path in target incident angle, determine the position of reverberation:

In a kind of possible embodiment, the position of reverberation can be determined as follows:

Step 1: the cluster number that all target reflection paths are clustered is determined；

In a kind of possible embodiment, out of, preset K value range, metric η (K) variation of cluster is determined When rate maximum, the value of K；K value is determined as the cluster number that target reflection path clusters.

Wherein,Ψ (k) is the target reflection path for belonging to k-th of cluster Set, c (k) is the center of k-th of cluster, and (i, c (k)) is in Ψ (k) between i-th of target reflection path and the center of cluster Euclidean distance, K represent the number of cluster, and k is the serial number of cluster, and K value range is positive integer collection, and Δ is Euclidean distance operation Symbol, the value range of preset K be it is preset, depending on the complexity of environment, the metric of cluster be measure cluster The standard of number K value quality.

With reference to Fig. 4, horizontal axis is the quantity of K, and the longitudinal axis is the metric η (K) of cluster, and the value of K is 4 when η (K) change rate maximum, Therefore the number of cluster is determined as 4.

Step 2: poly- using PCA pivot analysis according to the size of the RSS of each target reflection path and target incident angle Class algorithm clusters target reflection path, obtains the cluster equal with cluster number；

Step 3: by the convergent point of target reflection path in the same cluster in all clusters of acquisition, the void of reverberation is determined Quasi- position；

Step 4: by the vertical line of the virtual location of reverberation and transmitting terminal line, virtual location with reverberation with connect The intersection position of receiving end line intersection, is determined as the position of reverberation.

With reference to Fig. 5, it is assumed that receiving end is arranged in robot outer edge, and the center of robot is arranged in transmitting terminal, instead Penetrating object is the zonule in a face wall, and after transmitting terminal issues millimeter-wave signal, during rotation, receiving end is received for robot 3 target incident angles, then the quantity of target reflection path is also 3, and the convergent point of three target reflection paths is determined as mesh Mark the virtual location of reverberation, the virtual location by the vertical line of the virtual location of reverberation and transmitting terminal line, with reverberation The intersection position intersected with receiving end line is determined as the position of reverberation.

Received incidence angle is used compared with the prior art, and the position for the reverberation oriented is calculated using trigonometric function principle It sets, the embodiment of the present invention is by by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal The related coefficient of the RSS of RSS sequence and the second transmission path is summed；When with being more than threshold value, with being more than threshold value, The incidence angle of first reflection path is determined as target incident angle, and repeats step S203 to S207, determines own to improve The accuracy rate at target incident angle determines the position of reverberation then according to the corresponding target reflection path in all target incident angles, Therefore the accuracy rate of the position of positioning reverberation can be improved.

As shown in fig. 6, a kind of reverberation positioning device based on millimeter wave robot provided in an embodiment of the present invention, packet It includes:

First obtains module 601, for obtain the first reflection path of receiving end signal strength RSS and transmitting terminal the The RSS of two transmission paths；First reflection path is each reflection path of receiving end, and the second transmission path is each transmitting of transmitting terminal Path；The RSS of first reflection path is that the receiving end of robot emits millimeter-wave signal according to the preset angular transmitting terminal of transmitting, In receiving end, measurement is obtained；The RSS of second transmission path is the transmitting terminal of robot according to the preset angular transmitting terminal of transmitting Emit millimeter-wave signal, is obtained in transmitting terminal measurement；Each reflection path has an incidence angle, and each transmission path has one The angle of departure；

First determining module 602, in such a way that preset rotation angle is incremented by, robot to rotate a circumference In the case where, for same rotation angle, the first related coefficient and the second related coefficient are determined respectively；

Coefficient summation module 603, for by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with The related coefficient of the RSS of the RSS sequence and the second transmission path of transmitting terminal is summed；

Second determining module 604, for being more than threshold value, the incidence angle of the first reflection path to be determined as Target incident angle, and by the angle of departure of the second transmission path, it is determined as target angle of reflection；

Third determining module 605, for corresponding first reflection path in target incident angle to be determined as target reflection path, And corresponding second reflection path in objective emission angle is determined as objective emission path；

First removal module 606, for removing target reflection path, obtaining residual reflection road from the first reflection path Diameter, and from the second reflection path, remove objective emission path, obtains remaining transmission path；

First removing module 607, for from the RSS sequence of receiving end, the contribution of the RSS of delete target reflection path to divide Amount, obtains the remaining RSS sequence of receiving end, and from the RSS sequence of transmitting terminal, the tribute of the RSS of delete target transmission path Component is offered, the remaining RSS sequence of transmitting terminal is obtained；

Coefficient judgment module 608, the remaining RSS sequence for judging receiving end are related to the RSS's in residual reflection path Whether coefficient is less than preset threshold, if not, the RSS sequence of receiving end is updated using the remaining RSS sequence of receiving end, using surplus The first reflection path of coreflection routing update updates the RSS sequence of transmitting terminal using the remaining RSS sequence of transmitting terminal, using surplus Remaining transmission path updates the first transmission path, and drop-off to pick-up radio summation module to the first removing module continues to execute, until receiving end Remaining RSS sequence and residual reflection path RSS related coefficient be less than predetermined coefficient threshold value；

Position locating module 609, for determining reverberation according to the corresponding target reflection path in all target incident angles Position.

Optionally, the first determining module is specifically used for:

Optionally, coefficient summation module is specifically used for:

Use formula:

First related coefficient and the second related coefficient are summed；

Optionally, the second determining module is specifically used for:

With being more than threshold value, when determining and maximum, the corresponding incidence angle of the first reflection path enters as target Firing angle；

With being more than threshold value, when determining and maximum, the corresponding angle of departure of the second transmission path is sent out as target Firing angle.

Optionally, the second determining module is specifically used for:

With being more than threshold value, from and between difference be less than difference threshold when the first related coefficient and In, selection incidence angle corresponding with the first reflection path when maximum, as target incident angle；

With being more than threshold value, from and between difference be less than difference threshold when the second related coefficient and In, the second related coefficient angle of departure corresponding with the second transmission path when maximum is selected, as objective emission angle.

Optionally, the first removing module is specifically used for:

Wherein, α^*Represent objective emission angle, β^*Objective emission angle is represented, Vr represents the signal strength RSS sequence of receiving end, V (α^*) represent target incident angle α^*The RSS of corresponding target reflection path,p_A The serial number of the first reflection path is represented,α(p_A) represent pth_AThe incidence angle of the first reflection path of item, g (p_A) Represent pth_AThe path gain of the first reflection path of item,The first reflection path quantity is represented, σ represents noise, V (α (p_A)) Represent the pth of incident angle α_AThe RSS, V ' of the first reflection path of item_rRepresent the RSS sequence of remaining reflection path, g^*(p_A) represent Objective emission angle α^*Corresponding first reflection path p_APath gain；V(β^*) represent objective emission angle beta^*Corresponding objective emission The RSS in path, Vt represent the signal strength RSS sequence of transmitting terminal,p_BIt represents The serial number of second transmission path,β(p_B) represent pth_BThe angle of departure of the second transmission path of item, g (p_B) represent p_BThe path gain of the second reflection path of item,The second transmission path quantity is represented, σ represents noise, V (β (p_B)) represent incidence The pth of angle beta_BThe RSS of the second reflection path of item, ω (α, β) represent the first related coefficient and the second related coefficient and, V '_tIt represents The RSS sequence of remaining transmission path, g^*(p_B) represent objective emission angle beta^*Corresponding pth_BItem the second transmission path gain, A, B It is to discriminate between the label of the first reflection path parameter and the second transmission path parameter.

Optionally, position locating module is specifically used for:

Determine the cluster number that all target reflection paths are clustered；

Optionally, position locating module is specifically used for:

The embodiment of the invention also provides a kind of electronic equipment, as shown in fig. 7, comprises processor 701, communication interface 702, Memory 703 and communication bus 704, wherein processor 701, communication interface 702, memory 703 are complete by communication bus 704 At mutual communication,

Memory 703, for storing computer program；

Processor 701 when for executing the program stored on memory 703, realizes following steps:

The communication bus that above-mentioned electronic equipment is mentioned can be Peripheral Component Interconnect standard (Peripheral Component Interconnect, abbreviation PCI) bus or expanding the industrial standard structure (Extended Industry Standard Architecture, abbreviation EISA) bus etc..The communication bus can be divided into address bus, data/address bus, control bus etc.. Only to be indicated with a thick line in figure, it is not intended that an only bus or a type of bus convenient for indicating.

Communication interface is for the communication between above-mentioned electronic equipment and other equipment.

Memory may include random access memory (Random Access Memory, abbreviation RAM), also may include Nonvolatile memory (non-volatile memory), for example, at least a magnetic disk storage.Optionally, memory may be used also To be storage device that at least one is located remotely from aforementioned processor.

Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit, Abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor (Digital Signal Processing, abbreviation DSP), specific integrated circuit (Application Specific Integrated Circuit, abbreviation ASIC), field programmable gate array (Field-Programmable Gate Array, Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.

In another embodiment provided by the invention, a kind of computer readable storage medium is additionally provided, which can It reads to be stored with instruction in storage medium, when run on a computer, so that computer executes any institute in above-described embodiment A kind of reverberation localization method based on millimeter wave robot stated.

In another embodiment provided by the invention, a kind of computer program product comprising instruction is additionally provided, when it When running on computers so that computer execute it is any described a kind of based on the anti-of millimeter wave robot in above-described embodiment Penetrate object localization method.

In the above-described embodiments, can come wholly or partly by software, hardware, firmware or any combination thereof real It is existing.When implemented in software, it can entirely or partly realize in the form of a computer program product.The computer program Product includes one or more computer instructions.When loading on computers and executing the computer program instructions, all or It partly generates according to process or function described in the embodiment of the present invention.The computer can be general purpose computer, dedicated meter Calculation machine, computer network or other programmable devices.The computer instruction can store in computer readable storage medium In, or from a computer readable storage medium to the transmission of another computer readable storage medium, for example, the computer Instruction can pass through wired (such as coaxial cable, optical fiber, number from a web-site, computer, server or data center User's line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or Data center is transmitted.The computer readable storage medium can be any usable medium that computer can access or It is comprising data storage devices such as one or more usable mediums integrated server, data centers.The usable medium can be with It is magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid state hard disk Solid State Disk (SSD)) etc..

It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

Each embodiment in this specification is all made of relevant mode and describes, same and similar portion between each embodiment Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device/ For electronic equipment/computer readable storage medium/computer program product embodiments, implement since it is substantially similar to method Example, so being described relatively simple, the relevent part can refer to the partial explaination of embodiments of method.

The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the scope of the present invention.It is all Any modification, equivalent replacement, improvement and so within the spirit and principles in the present invention, are all contained in protection scope of the present invention It is interior.

Claims

1. a kind of reverberation localization method based on millimeter wave robot, which is characterized in that the described method includes:

Step A obtains the RSS of the signal strength RSS of the first reflection path of receiving end and the second transmission path of transmitting terminal；Institute Each reflection path that the first reflection path is receiving end is stated, second transmission path is each transmission path of transmitting terminal；It is described The RSS of first reflection path is the receiving end of the robot according to the angular transmitting terminal transmitting millimeter wave letter of preset transmitting Number, it is obtained in the receiving end measurement；The RSS of second transmission path is the transmitting terminal of the robot according to institute The angular transmitting terminal transmitting millimeter-wave signal of preset transmitting is stated, is obtained in the transmitting terminal measurement；Each reflection path There is an incidence angle, each transmission path has an angle of departure；

Step B, in the case where the robot rotates a circumference in such a way that preset rotation angle is incremented by, for Same rotation angle determines the first related coefficient and the second related coefficient respectively；

Wherein, first related coefficient is the related coefficient between the RSS sequence of receiving end and the RSS of the first reflection path； Second related coefficient is the related coefficient between the RSS sequence of transmitting terminal and the RSS of the second transmission path；The receiving end RSS sequence include a default element, each element is the first reflection path under each beam modes of the millimeter-wave signal The sum of the contribution component of RSS；The RSS sequence of the transmitting terminal includes default element, and each element is each beam modes Under, the sum of contribution component of the RSS of the second transmission path；

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

Step D, it is described and be more than threshold value in the case where, the incidence angle of the first reflection path is determined as target incident angle, and And by the angle of departure of the second transmission path, it is determined as target angle of reflection；

Corresponding first reflection path in target incident angle is determined as target reflection path by step E, and by objective emission angle pair The second reflection path answered is determined as objective emission path；

Step F removes target reflection path from the first reflection path, obtains residual reflection path, and from the second reflex circuit In diameter, remove objective emission path, obtains remaining transmission path；

Step G, from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path obtains the surplus of receiving end Remaining RSS sequence, and from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path obtains transmitting terminal Remaining RSS sequence；

Step H, judges whether the remaining RSS sequence of receiving end and the related coefficient of the RSS in residual reflection path are less than default threshold Value uses residual reflection routing update first if not, updating the RSS sequence of receiving end using the remaining RSS sequence of receiving end Reflection path updates the RSS sequence of transmitting terminal using the remaining RSS sequence of transmitting terminal, updates first using remaining transmission path Transmission path, return continue to execute step C to step H, until the RSS of remaining the RSS sequence and residual reflection path of receiving end Related coefficient be less than predetermined coefficient threshold value；

2. the method according to claim 1, wherein it is described by preset rotation angle be incremented by the way of, In the case that the robot rotates a circumference, for same rotation angle, the first related coefficient and the second phase are determined respectively Relationship number, comprising:

Using formula of correlation coefficient, the case where in such a way that preset rotation angle is incremented by, robot rotates a circumference Under, for same rotation angle, determine the first related coefficient and the second related coefficient；

Wherein, formula of correlation coefficient isκ (x, y) represents related coefficient, and x and y are respectively represented Input variable, cov (x, y) are the covariance of x and y, and var [y] represents the variance of x, and var [y] represents the variance of y.

3. according to the method described in claim 2, it is characterized in that, the RSS sequence by receiving end and the first reflection path RSS related coefficient, sum with the related coefficient of the RSS of the RSS sequence and the second transmission path of transmitting terminal, comprising:

Use formula:

First related coefficient and the second related coefficient are summed；

Wherein, α represents the angle of departure, and β represents incidence angle, and Vr represents the RSS sequence of receiving end, and V (α) represents the first of incident angle α The RSS of reflection path, Vt represent the RSS sequence of transmitting terminal, and V (β) represents the angle of departure as the signal strength of the second transmission path of β RSS,PA represents the serial number of the first reflection path,α (pA) incidence angle of pth A the first reflection path of item is represented, g (pA) represents the path gain of pth A the first reflection path of item, The first reflection path quantity is represented, σ represents noise, V (α (p_A)) represent the pth of incident angle α_AThe RSS of the first reflection path of item.

4. the method according to claim 1, wherein it is described it is described and be more than threshold value in the case where, by first The incidence angle of reflection path is determined as target incident angle, and by the angle of departure of the second transmission path, is determined as target angle of reflection, Include:

Described and in the case where be more than threshold value, when determining described and maximum, the corresponding incidence angle of first reflection path is made For target incident angle；

Described and in the case where be more than threshold value, when determining described and maximum, the corresponding angle of departure of second transmission path is made For objective emission angle.

5. the method according to claim 1, wherein when the quantity of the sum is greater than 1, described and be more than In the case where threshold value, the incidence angle of the first reflection path is determined as target incident angle, and by the transmitting of the second transmission path Angle is determined as target angle of reflection, comprising:

Described and in the case where be more than threshold value, from it is described and between difference be less than difference threshold when and in, selection and First reflection path corresponding incidence angle when maximum, as target incident angle；

Described and in the case where be more than threshold value, from it is described and between difference be less than difference threshold when and in, selection and Second transmission path corresponding angle of departure when maximum, as objective emission angle.

6. the method according to claim 1, wherein in the RSS sequence from the receiving end, described in deletion The contribution component of the RSS of target reflection path, obtains the remaining RSS sequence of receiving end, and from the RSS sequence of the transmitting terminal In, the contribution component of the RSS in the objective emission path is deleted, the remaining RSS sequence of transmitting terminal is obtained, comprising:

Use formula V '_r=V_r-g^*(p_A)V(α^*), delete the RSS's of the target reflection path in the RSS sequence of receiving end Component is contributed, the remaining RSS sequence of receiving end is obtained；

Use formula V '_t=V_t-g^*(p_B)V(β^*), from the RSS sequence of transmitting terminal, delete the RSS's in the objective emission path Component is contributed, the remaining RSS sequence of transmitting terminal is obtained；

Wherein, α^*Represent objective emission angle, β^*Objective emission angle is represented, Vr represents the signal strength RSS sequence of receiving end, V (α^*) Represent target incident angle α^*The RSS of corresponding target reflection path,p_AIt represents The serial number of first reflection path,α(p_A) represent pth_AThe incidence angle of the first reflection path of item, g (p_A) represent Pth_AThe path gain of the first reflection path of item,The first reflection path quantity is represented, σ represents noise, V (α (p_A)) represent V (α(p_A)) represent the pth of incident angle α_AThe RSS, V ' of the first reflection path of item_rRepresent the RSS sequence of remaining reflection path, g^* (p_A) represent objective emission angle α^*Corresponding first reflection path p_APath gain；V(β^*) represent objective emission angle beta^*It is corresponding The RSS in objective emission path, Vt represent the signal strength RSS sequence of transmitting terminal, p_BThe serial number of the second transmission path is represented,β(p_B) represent pth_BThe angle of departure of the second transmission path of item, g (p_B) Represent pth_BThe path gain of the second reflection path of item,The second transmission path quantity is represented, σ represents noise, V (β (p_B)) generation The pth of table incident angle β_BThe RSS of the second reflection path of item, ω (α, β) represent the first related coefficient and the second related coefficient and, V′_tRepresent the RSS sequence of remaining transmission path, g^*(p_B) represent objective emission angle beta^*Corresponding pth_BThe second transmission path of item increases Benefit, A, B are to discriminate between the label of the first reflection path parameter and the second transmission path parameter.

7. the method according to claim 1, wherein described reflect according to the corresponding target in all target incident angles Path determines the position of reverberation, comprising:

Determine the cluster number that all target reflection paths are clustered；

According to the size of the RSS of each target reflection path and target incident angle, using PCA pivot analysis clustering algorithm to described Target reflection path is clustered, and the cluster equal with the cluster number is obtained；

Virtual location and institute by the vertical line of the virtual location of the reverberation and the transmitting terminal line, with the reverberation The intersection position for stating the intersection of receiving end line, is determined as the position of the reverberation.

8. the method according to the description of claim 7 is characterized in that the cluster that all target reflection paths of the determination are clustered Number, comprising:

Wherein,Ψ (k) is the collection for belonging to the target reflection path of k-th of cluster It closes, c (k) is the center of k-th of cluster, and (i, c (k)) is that the Europe in Ψ (k) between i-th of target reflection path and the center of cluster is several Reed distance, K represent the number of cluster, and k is the serial number of cluster, and K value range is positive integer collection, and Δ is Euclidean distance Euclidean distance fortune Operator.

9. a kind of reverberation positioning device based on millimeter wave robot, which is characterized in that described device includes:

First obtains module, the second transmitting of signal strength RSS and transmitting terminal for obtaining the first reflection path of receiving end The RSS in path；First reflection path is each reflection path of receiving end, and second transmission path is each hair of transmitting terminal Rays diameter；The RSS of first reflection path is that the receiving end of the robot emits the angular transmitting terminal according to preset Emit millimeter-wave signal, is obtained in the receiving end measurement；The RSS of second transmission path is the described of the robot Transmitting terminal emits millimeter-wave signal according to the preset angular transmitting terminal of transmitting, obtains in the transmitting terminal measurement； Each reflection path has an incidence angle, and each transmission path has an angle of departure；

First determining module, in such a way that preset rotation angle is incremented by, the robot to rotate a circumference In the case of, for same rotation angle, the first related coefficient and the second related coefficient are determined respectively；

Coefficient summation module, for by the related coefficient of the RSS sequence of receiving end and the RSS of the first reflection path, with transmitting terminal RSS sequence and the second transmission path RSS related coefficient sum；

Second determining module, for it is described and be more than threshold value in the case where, the incidence angle of the first reflection path is determined as mesh Incidence angle is marked, and by the angle of departure of the second transmission path, is determined as target angle of reflection；

Third determining module, for corresponding first reflection path in target incident angle to be determined as target reflection path, and will Corresponding second reflection path in objective emission angle is determined as objective emission path；

First removing module, for from the RSS sequence of receiving end, the contribution component of the RSS of delete target reflection path to be obtained The remaining RSS sequence of receiving end, and from the RSS sequence of transmitting terminal, the contribution component of the RSS of delete target transmission path, Obtain the remaining RSS sequence of transmitting terminal；

Coefficient judgment module, for judge the remaining RSS sequence of receiving end and the RSS in residual reflection path related coefficient whether Less than preset threshold, if not, updating the RSS sequence of receiving end using the remaining RSS sequence of receiving end, residual reflection road is used Diameter updates the first reflection path, and the RSS sequence of transmitting terminal is updated using the remaining RSS sequence of transmitting terminal, emits road using residue Diameter updates the first transmission path, returns to the coefficient summation module to first removing module and continues to execute, until receiving end Remaining RSS sequence and residual reflection path RSS related coefficient be less than predetermined coefficient threshold value；

Position locating module, for determining the position of reverberation according to the corresponding target reflection path in all target incident angles.

10. a kind of electronic equipment, which is characterized in that including processor, communication interface, memory and communication bus, wherein processing Device, communication interface, memory complete mutual communication by communication bus；

Memory, for storing computer program；

Processor when for executing the program stored on memory, realizes any method and step of claim 1-8.