CN109991569B - Reflector positioning method and device based on millimeter wave robot - Google Patents

Reflector positioning method and device based on millimeter wave robot Download PDF

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CN109991569B
CN109991569B CN201910267288.1A CN201910267288A CN109991569B CN 109991569 B CN109991569 B CN 109991569B CN 201910267288 A CN201910267288 A CN 201910267288A CN 109991569 B CN109991569 B CN 109991569B
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rss
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reflection
reflection path
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CN109991569A (en
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周安福
马华东
杨绍元
杨毅
范誉航
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Beijing University of Posts and Telecommunications
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Beijing University of Posts and Telecommunications
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting

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Abstract

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

Description

Reflector positioning method and device based on millimeter wave robot
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a reflector positioning method and device based on a millimeter wave robot.
Background
With the rapid development of artificial intelligence technology, in a complex environment, a robot is often used in the prior art to carry a millimeter wave module to circumnavigate in the complex environment, after a millimeter wave signal is transmitted by a transmitting end of each millimeter wave module at each measuring position, a receiving end receives the millimeter wave signal reflected by a reflector, and the positions of the reflector are sequentially positioned.
Taking fig. 1 as an example, a process of positioning a position of a reflector by using a robot carrying a millimeter wave signal module in the prior art is as follows: assuming that in one room, the entire room is divided into an infinite number of small pieces using a mesh method, the robot transmits a millimeter wave signal to the reflector a at each intersection in the mesh. An included angle between the direction of the millimeter wave signal transmitted by the robot and the horizontal direction is a transmitting angle, an included angle between the direction of the millimeter wave signal received by the robot and the horizontal direction is an incident angle, virtual symmetrical points A1 and A2 of A are constructed, and the millimeter wave signals returned by reflectors A, A1 and A2 are received by a receiving end of the robot. Drawing a circle 1 on A and A1 to make A and A1 on the circle contour, then drawing a circle 2 on A and A2 to make A and A2 on the circle contour, knowing the incident angle of the millimeter wave signal returned by A, A1 and A2, the emission angle of the emitted millimeter wave signal, the intersection point of circle 1 and circle 2 and the distance between A and A1, then calculating the positions of a plurality of A according to the trigonometric function principle from all the intersection points in the traversal grid, selecting the position of A which meets the grid search optimal solution formula, and determining the position as the position of the reflector.
In the prior art, the incident angle of the millimeter wave signal received and returned by the receiving end of the robot is interfered by various factors, so that the position difference between the incident angle received by the receiving end and the actual incident angle is large, and the position of the reflector calculated and positioned by adopting the trigonometric function principle is often greatly different from the real position of the reflector, so that the accuracy rate of positioning the position of the reflector in the prior art is not high.
Disclosure of Invention
The embodiment of the invention aims to provide a reflector positioning method and device based on a millimeter wave robot, which can improve the accuracy of positioning the position of a reflector by improving the accuracy of determining an incident angle. The specific technical scheme is as follows:
in a first aspect, an embodiment of the present invention provides a reflector positioning method based on a millimeter wave robot, including:
step A, acquiring the signal intensity RSS of a first reflection path of a receiving end and the RSS of a second transmission path of a transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the RSS of the first reflection path is obtained by the steps that a transmitting end of the robot emits millimeter wave signals to the external environment according to a preset emission angle and the millimeter wave signals are measured at a receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to a preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;
step B, respectively determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental mode of the rotation angle;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of the first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of the second transmitting path; the RSS sequence of the receiving end comprises preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of the contribution components of the RSS of the second transmitting path in each beam mode;
step C, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;
step D, under the condition that the sum exceeds a threshold value, determining the incidence angle of the first reflection path as a target incidence angle, and determining the emission angle of the second reflection path as a target reflection angle;
step E, determining a first reflection path corresponding to the target incidence angle as a target reflection path, and determining a second reflection path corresponding to the target emission angle as a target emission path;
step F, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;
step G, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
step H, judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, updating the RSS sequence of the receiving end by using the residual RSS sequence of the receiving end, updating the first reflection path by using the residual reflection path, updating the RSS sequence of the transmitting end by using the residual RSS sequence of the transmitting end, updating the first transmission path by using the residual transmission path, and returning to continue to execute the steps C to H until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient threshold value;
and step I, determining the positions of the reflectors according to the target reflection paths corresponding to all the target incidence angles.
Optionally, when the robot rotates a circle in a preset incremental manner of the rotation angle, the determining the first correlation coefficient and the second correlation coefficient for the same rotation angle respectively includes:
determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle by using a correlation coefficient formula according to a preset incremental rotation angle mode;
wherein the correlation coefficient is expressed by
Figure GDA0002632585850000031
Kappa (x, y) represents the correlation coefficient, x and y represent the input variables, respectively, cov (x, y) is the covariance of x and y, var [ y ]]Represents the variance of x, var [ y]Representing the variance of y.
Optionally, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path with the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path, includes:
using the formula:
Figure GDA0002632585850000032
summing the first correlation coefficient and the second correlation coefficient;
where α represents an emission angle, β represents an incidence angle, Vr represents an RSS sequence of a receiving end, V (α) represents an RSS of a first reflection path of the incidence angle α, Vt represents an RSS sequence of the emitting end, V (β) represents a signal strength RSS of a second transmission path of the emission angle β,
Figure GDA0002632585850000041
pAa serial number representing the first reflected path,
Figure GDA0002632585850000042
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure GDA0002632585850000043
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) P-th representing the incident angle alphaARSS of the first reflection path of the strip.
Optionally, in a case that the sum exceeds the threshold, determining the incident angle of the first reflection path as a target incident angle, and determining the emission angle of the second reflection path as a target reflection angle, includes:
when the sum exceeds a threshold value, determining an incident angle corresponding to the first reflection path as a target incident angle when the sum is maximum;
and under the condition that the sum exceeds a threshold value, determining the emission angle corresponding to the second emission path as the target emission angle when the sum is maximum.
Optionally, when the number of sums is greater than 1, in a case where the sum exceeds a threshold, determining the incident angle of the first reflection path as a target incident angle, and determining the emission angle of the second reflection path as a target reflection angle, includes:
selecting an incident angle corresponding to the first reflection path at the maximum as a target incident angle from the sums when the difference between the sums does not exceed the difference threshold value in the case where the sum exceeds the threshold value;
in the case where the sum exceeds the threshold value, the emission angle corresponding to the second transmission path at the maximum is selected as the target emission angle from the sum when the difference between the sums does not exceed the difference threshold value.
Optionally, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain a remaining RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain a remaining RSS sequence of the transmitting end, including:
using formula V'r＝Vr-g*(pA)V(α*) Deleting the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end;
using formula V't＝Vt-g*(pB)V(β*) Deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
wherein alpha is*Representing the target emission angle, beta*Representing the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V (alpha)*) Representing the target angle of incidence alpha*The RSS of the corresponding target reflection path,
Figure GDA0002632585850000051
pAa serial number representing the first reflected path,
Figure GDA0002632585850000052
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure GDA0002632585850000053
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) Represents V (. alpha. (p))A) P-th representing the incident angle alphaARSS of the first reflection path of the strip. V'rRSS sequence, g, representing the remaining reflection path*(pA) Representing the target emission angle alpha*Corresponding first reflection path pAThe path gain of (1); v (. beta.) of*) Representing target emission angle beta*The RSS of the corresponding target transmission path, Vt represents the signal strength RSS sequence of the transmitting end,
Figure GDA0002632585850000054
pBa sequence number representing the second transmit path,
Figure GDA0002632585850000055
β(pB) Represents the p thBEmission angle of the second emission path, g (p)B) Represents the p thBThe path gain of the second reflected path of the strip,
Figure GDA0002632585850000056
representing the number of second transmit paths, sigma representing noise, V (beta (p)B) P-th representing the angle of incidence βBRSS, ω (α, β) of the second reflection path represents the sum, V ', of the first correlation coefficient and the second correlation coefficient'tRSS sequences, g, representing the remaining transmission paths*(pB) Representing target emission angle beta*Corresponding p (th)BThe bar second transmit path gain, A, B, is a label that distinguishes the first reflected path parameter from the second transmit path parameter.
Optionally, determining the position of the reflector according to the target reflection paths corresponding to all the target incidence angles, including:
determining the cluster number of all target reflection paths for clustering;
clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the target incidence angle to obtain clusters with the same number as the clusters;
determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;
and determining the position of the reflector as the intersection point position of the vertical line connecting the virtual position of the reflector and the transmitting end and the intersection point position of the virtual position of the reflector and the receiving end.
Optionally, determining the number of clusters in which all target reflection paths are clustered includes:
determining the value of K when the change rate of the metric eta (K) of the cluster is maximum from the preset value range of K;
determining the K value as the cluster number of clustering performed on the target reflection path;
wherein the content of the first and second substances,
Figure GDA0002632585850000061
Ψ (K) is a set of target reflection paths belonging to the kth cluster, c (K) is the center of the kth cluster, and (i, c (K)) is the euclidean distance between the ith target reflection path in Ψ (K) and the center of the cluster, K represents the number of clusters, K is the cluster number, K is a positive integer set, and Δ is the euclidean distance operator.
In a second aspect, an embodiment of the present invention provides a reflector positioning apparatus based on a millimeter wave robot, including:
the first acquisition module is used for acquiring the signal intensity RSS of a first reflection path of the receiving end and the RSS of a second transmission path of the transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by a transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at a receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to a preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;
the robot comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a first correlation coefficient and a second correlation coefficient respectively aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental mode of the rotation angle;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of the first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of the second transmitting path; the RSS sequence of the receiving end comprises preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of the contribution components of the RSS of the second transmitting path in each beam mode;
the coefficient summing module is used for summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;
a second determination module for determining the incidence angle of the first reflection path as a target incidence angle and the emission angle of the second reflection path as a target reflection angle if the sum exceeds a threshold;
the third determining module is used for determining the first reflection path corresponding to the target incidence angle as a target reflection path and determining the second reflection path corresponding to the target emission angle as a target emission path;
the first removing module is used for removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;
the first deleting module is used for deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
the coefficient judgment module is used for judging whether the correlation coefficient between the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, the residual RSS sequence of the receiving end is used for updating the RSS sequence of the receiving end, the residual reflection path is used for updating the first reflection path, the residual RSS sequence of the sending end is used for updating the RSS sequence of the sending end, the residual transmission path is used for updating the first transmission path, and the coefficient summation module is returned to the first deletion module to continue execution until the correlation coefficient between the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the;
and the position positioning module is used for determining the positions of the reflectors according to the target reflection paths corresponding to all the target incidence angles.
The embodiment of the invention provides a reflector positioning method and device based on a millimeter wave robot, wherein A, the signal intensity RSS of a first reflection path of a receiving end and the RSS of a second transmission path of a transmitting end are obtained; step B, respectively determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental mode of the rotation angle; step C, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path; step D, under the condition that the sum exceeds a threshold value, determining the incidence angle of the first reflection path as a target incidence angle, and determining the emission angle of the second reflection path as a target reflection angle; step E, determining a first reflection path corresponding to the target incidence angle as a target reflection path, and determining a second reflection path corresponding to the target emission angle as a target emission path; step F, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path; step G, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end; step H, judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, updating the RSS sequence of the receiving end by using the residual RSS sequence of the receiving end, updating the first reflection path by using the residual reflection path, updating the RSS sequence of the transmitting end by using the residual RSS sequence of the transmitting end, updating the first transmission path by using the residual transmission path, and returning to continue to execute the steps C to H until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient threshold value; and step I, determining the positions of the reflectors according to the target reflection paths corresponding to all the target incidence angles. Compared with the prior art that the position of the positioned reflector is calculated by using the received incident angle and adopting the trigonometric function principle, the embodiment of the invention sums the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path; when the sum exceeds the threshold value, under the condition that the sum exceeds the threshold value, the incident angle of the first reflection path is determined as the target incident angle, the steps C to H are repeated to improve the accuracy of determining all the target incident angles, and then the position of the reflector is determined according to the target reflection paths corresponding to all the target incident angles, so that the accuracy of positioning the position of the reflector can be improved. Of course, not all of the advantages described above need to be achieved at the same time in the practice of any one product or method of the invention.
Drawings
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.
FIG. 1 is a schematic diagram of positioning a reflector using a robot carrying a millimeter wave signal module in the prior art;
fig. 2 is a flowchart of a reflector positioning method based on a millimeter wave robot according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of determining a target incident angle according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a result of determining the number of clusters according to the embodiment of the present invention;
FIG. 5 is a schematic diagram of determining the position of a reflector according to an embodiment of the present invention;
fig. 6 is a structural diagram of a device for path planning of an unmanned aerial vehicle according to an embodiment of the present invention;
fig. 7 is a structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying 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.
First, a reflector positioning method based on a millimeter wave robot according to an embodiment of the present invention will be described.
As shown in fig. 2, a reflector positioning method based on a millimeter wave robot according to an embodiment of the present invention includes:
s201, acquiring the signal intensity RSS of a first reflection path of a receiving end and the RSS of a second transmission path of a transmitting end;
the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by a transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at a receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to a preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;
the preset emission angle is an angle value which is manually preset and can be changed according to actual conditions.
S202, under the condition that the robot rotates for one circle according to a preset incremental rotation angle mode, respectively determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of the first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of the second transmitting path; the RSS sequence of the receiving end comprises preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence at the transmitting end contains a predetermined number of elements, each element being the sum of the contribution components of the RSS of the second transmission path in each beam mode.
The preset rotation angle increasing mode is that 360 degrees are divided into equal parts in advance, the rotation angles are divided into a preset number of rotation angles, the rotation angles start from 0 degree to end at 360 degrees, and the robot rotates for a circle in the increasing mode.
In the mode of increasing the rotation angle, the robot carries two radio modules, and the two radio modules are respectively arrangedIs a transmitting end and a receiving end, the transmitting end is represented by Tx, the receiving end is represented by Rx, the robot has N equal intervals of
Figure GDA0002632585850000101
Sample points of [ Lm1, Lm 2., LmN]Transmitting 60GHz millimeter wave signals, wherein each millimeter wave signal has 36 beam patterns, the power of each beam pattern is different, Tx transmits a series of directional beacons in each beacon interval, and Rx records the RSS of each beacon to form a beacon RSS sequence. The beacon RSS sequence is the RSS sequence at the receiving end. The position of the robot is represented by Lm, M is equal to [1, M ∈]M represents the position number of the robot, M represents the total number of positions of the robot, and N represents the total number of interval sampling points.
S203, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;
s204, determining the incidence angle of the first reflection path as a target incidence angle and determining the emission angle of the second reflection path as a target reflection angle under the condition that the sum is maximum when the sum exceeds a threshold value;
the value of the target incidence angle is equal to the value of the target reflection angle, and the threshold value is a preset value.
S205, determining a first reflection path corresponding to a target incidence angle as a target reflection path, and determining a second reflection path corresponding to a target emission angle as a target emission path;
s206, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;
s207, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
the following illustrates a process of deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end.
Assuming that the RSS sequence of the receiving end is [20, 15, 40, 37, 60] and the contribution component of the RSS of the target reflection path is 7, the contribution component of the RSS of the target reflection path is subtracted from each element of the RSS sequence of the receiving end, and the remaining RSS sequences of the receiving end are [13, 8, 33, 30, 53], the same principle of obtaining the remaining RSS sequence of the transmitting end and obtaining the remaining RSS sequence of the receiving end is not described herein.
S208, judging whether the correlation coefficient between the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value, if not, updating the RSS sequence of the receiving end by using the residual RSS sequence of the receiving end, updating the first reflection path by using the residual reflection path, updating the RSS sequence of the transmitting end by using the residual RSS sequence of the transmitting end, updating the first transmission path by using the residual transmission path, and returning to continue executing the steps S203 to S207 until the correlation coefficient between the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient threshold value;
and S209, determining the positions of the reflecting objects according to the target reflecting paths corresponding to all the target incident angles.
In order to improve the accuracy of determining the position of the reflector, at least one embodiment of the foregoing S202 may respectively determine a first correlation coefficient and a second correlation coefficient;
in a possible embodiment, a correlation coefficient formula is used, and a first correlation coefficient and a second correlation coefficient are determined for the same rotation angle under the condition that the robot rotates for one circle in a preset incremental manner of the rotation angle;
wherein the correlation coefficient is expressed by
Figure GDA0002632585850000111
Kappa (x, y) represents the correlation coefficient, x and y represent the input variables, respectively, cov (x, y) is the covariance of x and y, var [ y ]]Represents the variance of x, var [ y]Representing the variance of y.
In order to improve the accuracy of determining the position of the reflector, at least one embodiment may be adopted in S203 to sum the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path with the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path:
in one possible implementation, the formula is used:
Figure GDA0002632585850000121
summing the first correlation coefficient and the second correlation coefficient;
where α represents an emission angle, β represents an incidence angle, Vr represents an RSS sequence of a receiving end, V (α) represents an RSS of a first reflection path of the incidence angle α, Vt represents an RSS sequence of the emitting end, V (β) represents a signal strength RSS of a second transmission path of the emission angle β,
Figure GDA0002632585850000122
a serial number representing the first reflected path,
Figure GDA0002632585850000123
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure GDA0002632585850000124
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) P-th representing the incident angle alphaARSS of the first reflection path of the strip.
In order to improve the accuracy of determining the position of the reflector, at least one embodiment may be adopted in S204, where the sum is maximum when the sum exceeds the threshold, and the incident angle of the first reflection path is determined as the target incident angle, and the emission angle of the second emission path is determined as the target reflection angle:
in one possible embodiment, in the case where the sum exceeds the threshold value, the incident angle corresponding to the first reflection path is determined as the target incident angle at the time of the maximum, and in the case where the sum exceeds the threshold value, the emission angle corresponding to the second reflection path is determined as the target emission angle at the time of the maximum.
Referring to fig. 3, when the sum of the correlation coefficient of the RSS sequence at the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence at the transmitting end and the RSS of the second transmission path exceeds a threshold, the reflection angles of the first reflection path are 25 degrees, 40 degrees, 41 degrees, 43 degrees, and 45 degrees, respectively, and when the sum is maximum, the incident angle corresponding to the first reflection path is approximately 25 degrees, so that the incident angle of 25 degrees is taken as the target incident angle, and the emission angle of 25 degrees is taken as the target emission angle.
In another possible embodiment, when the number of sums is greater than 1, in a case where the sum exceeds the threshold value, from the sum when the difference between the sums does not exceed the difference threshold value, an incident angle corresponding to the first reflection path at the maximum is selected as the target incident angle, and in a case where the sum exceeds the threshold value, from the sum when the difference between the sums does not exceed the difference threshold value, an emission angle corresponding to the second reflection path at the maximum is selected as the target emission angle.
Wherein, the difference threshold is a preset numerical value.
Referring to fig. 3, when the sum of the correlation coefficients of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficients of the RSS sequence of the transmitting end and the RSS of the second transmission path exceeds a threshold, the incident angles of the first reflection path are respectively 20 degrees, 25 degrees, 40 degrees, 41 degrees, 43 degrees and 45 degrees, the number of sums at this time is greater than 1, the difference of the sums does not exceed a difference threshold at the emission angles of 40 degrees, 41 degrees, 43 degrees and 45 degrees where the number of sums is greater than 1, and the sum at the emission angles of 40 degrees, 41 degrees, 43 degrees and 45 degrees where the maximum incident angle is 43 degrees, so that the incident angle of 43 degrees is taken as a target incident angle and the emission angle of 43 degrees is taken as a target emission angle.
In order to improve the accuracy of determining the position of the reflector, at least one embodiment of S207 may delete the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the remaining RSS sequence of the receiving end, and delete the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the remaining RSS sequence of the transmitting end:
in one possible embodiment, the formula V 'is used'r＝Vr-g*(pA)V(α*) Deleting the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end; using formula V't＝Vt-g*(pB)V(β*) Deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
wherein alpha is*Representing the target emission angle, beta*Representing the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V (alpha)*) Representing the target angle of incidence alpha*The RSS of the corresponding target reflection path,
Figure GDA0002632585850000131
pAa serial number representing the first reflected path,
Figure GDA0002632585850000132
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure GDA0002632585850000141
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) P-th representing the incident angle alphaARSS, V 'of the first reflection path'rRSS sequence, g, representing the remaining reflection path*(pA) Representing the target emission angle alpha*Corresponding first reflection path pAThe path gain of (1); v (. beta.) of*) Representing target emission angle beta*The RSS of the corresponding target transmission path, Vt represents the signal strength RSS sequence of the transmitting end,
Figure GDA0002632585850000142
pBa sequence number representing the second transmit path,
Figure GDA0002632585850000143
β(pB) Represents the p thBEmission angle of the second emission path, g (p)B) Represents the p thBThe path gain of the second reflected path of the strip,
Figure GDA0002632585850000144
representing the number of second transmit paths, sigma representing noise, V (beta (p)B) P-th representing the angle of incidence βBRSS, ω (α, β) of the second reflection path represents the sum, V ', of the first correlation coefficient and the second correlation coefficient'tRSS sequences, g, representing the remaining transmission paths*(pB) Representing target emission angle beta*Corresponding p (th)BThe bar second transmit path gain, A, B, is a label that distinguishes the first reflected path parameter from the second transmit path parameter.
In order to improve the accuracy of determining the position of the reflector, at least one embodiment of S209 may determine the position of the reflector according to the target reflection paths corresponding to all target incident angles:
in one possible embodiment, the position of the reflector can be determined by:
the method comprises the following steps: determining the cluster number of all target reflection paths for clustering;
in a possible implementation mode, determining the value of K when the change rate of the metric eta (K) of the cluster is maximum from a preset value range of K; and determining the K value as the cluster number of the target reflection path for clustering.
Wherein the content of the first and second substances,
Figure GDA0002632585850000151
Ψ (K) is a set of target reflection paths belonging to a kth cluster, c (K) is a center of the kth cluster, and (i, c (K)) is an euclidean distance between the ith target reflection path in Ψ (K) and the center of the cluster, K represents the number of the clusters, K is a serial number of the clusters, a K value range is a positive integer set, Δ is an euclidean distance operator, a preset value range of K is preset and depends on the complexity of the environment, and a metric value of the clusters is a standard for measuring the quality of the number K of the clusters.
Referring to fig. 4, the horizontal axis is the number of K, the vertical axis is the metric value η (K) of the cluster, and the value of K is 4 when the rate of change of η (K) is the maximum, so the number of clusters is determined to be 4.
Step two: clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the target incidence angle to obtain clusters with the same number as the clusters;
step three: determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;
step four: and determining the position of the reflector as the intersection point position of the vertical line connecting the virtual position of the reflector and the transmitting end and the intersection point position of the virtual position of the reflector and the receiving end.
Referring to fig. 5, it is assumed that the receiving end is disposed at an outer edge of the robot, the transmitting end is disposed at a central position of the robot, the reflectors are small areas in one wall, after the transmitting end transmits the millimeter wave signal, the receiving end receives 3 target incident angles during rotation of the robot, the number of the target reflection paths is also 3, a convergence point of the three target reflection paths is determined as a virtual position of the target reflector, and a vertical line connecting the virtual position of the reflector and the transmitting end, and an intersection point position intersecting the virtual position of the reflector and a connecting line connecting the receiving end are determined as a position of the reflector.
Compared with the prior art that the position of the positioned reflector is calculated by using the received incident angle and adopting the trigonometric function principle, the embodiment of the invention sums the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path; when the sum exceeds the threshold value, in the case that the sum exceeds the threshold value, the incident angle of the first reflection path is determined as the target incident angle, and steps S203 to S207 are repeated to improve the accuracy of determining all the target incident angles, and then the position of the reflection object is determined according to the target reflection paths corresponding to all the target incident angles, so that the accuracy of locating the position of the reflection object can be improved.
As shown in fig. 6, a reflector positioning apparatus based on a millimeter wave robot according to an embodiment of the present invention includes:
a first obtaining module 601, configured to obtain a signal strength RSS of a first reflection path of a receiving end and an RSS of a second transmission path of a transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by a transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at a receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to a preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;
a first determining module 602, configured to determine a first correlation coefficient and a second correlation coefficient respectively for a same rotation angle when the robot rotates one circle in a preset incremental manner of rotation angles;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of the first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of the second transmitting path; the RSS sequence of the receiving end comprises preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of the contribution components of the RSS of the second transmitting path in each beam mode;
a coefficient summing module 603, configured to sum a correlation coefficient between the RSS sequence at the receiving end and the RSS of the first reflection path, and a correlation coefficient between the RSS sequence at the transmitting end and the RSS of the second transmission path;
a second determining module 604 for determining the incident angle of the first reflection path as a target incident angle and the emission angle of the second reflection path as a target reflection angle if the sum exceeds a threshold;
a third determining module 605, configured to determine a first reflection path corresponding to the target incident angle as a target reflection path, and determine a second reflection path corresponding to the target emission angle as a target emission path;
a first removing module 606, configured to remove the target reflection path from the first reflection path to obtain a remaining reflection path, and remove the target transmission path from the second reflection path to obtain a remaining transmission path;
a first deleting module 607, configured to delete the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain a remaining RSS sequence of the receiving end, and delete the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain a remaining RSS sequence of the transmitting end;
a coefficient determining module 608, configured to determine whether a correlation coefficient between the remaining RSS sequences at the receiving end and RSS in the remaining reflection paths is smaller than a preset threshold, if not, update the RSS sequence at the receiving end using the remaining RSS sequences at the receiving end, update the first reflection path using the remaining reflection paths, update the RSS sequence at the transmitting end using the remaining RSS sequences at the transmitting end, update the first transmission path using the remaining transmission paths, and return to the coefficient summing module to the first deleting module for execution continuously until the correlation coefficient between the remaining RSS sequences at the receiving end and RSS in the remaining reflection paths is smaller than the preset coefficient threshold;
and the position positioning module 609 is configured to determine the position of the reflector according to the target reflection paths corresponding to all the target incidence angles.
Optionally, the first determining module is specifically configured to:
determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle by using a correlation coefficient formula according to a preset incremental rotation angle mode;
wherein the correlation coefficient is expressed by
Figure GDA0002632585850000171
Kappa (x, y) represents the correlation coefficient, x and y represent the input variables, respectively, cov (x, y) is the covariance of x and y, var [ y ]]Represents the variance of x, var [ y]Representing the variance of y.
Optionally, the coefficient summing module is specifically configured to:
using the formula:
Figure GDA0002632585850000172
summing the first correlation coefficient and the second correlation coefficient;
where α represents an emission angle, β represents an incidence angle, Vr represents an RSS sequence of a receiving end, V (α) represents an RSS of a first reflection path of the incidence angle α, Vt represents an RSS sequence of the emitting end, V (β) represents a signal strength RSS of a second transmission path of the emission angle β,
Figure GDA0002632585850000181
pAa serial number representing the first reflected path,
Figure GDA0002632585850000182
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure GDA0002632585850000183
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) P-th representing the incident angle alphaARSS of the first reflection path of the strip.
Optionally, the second determining module is specifically configured to:
when the sum exceeds a threshold value, determining an incident angle corresponding to the first reflection path as a target incident angle when the sum is maximum;
and when the sum exceeds the threshold value, determining the emission angle corresponding to the second emission path as the target emission angle when the sum is maximum.
Optionally, the second determining module is specifically configured to:
selecting an incident angle corresponding to the first reflection path at the maximum as a target incident angle from the first correlation coefficient sum when the difference between the sums does not exceed the difference threshold value in the case where the sum exceeds the threshold value;
and when the sum exceeds the threshold value, selecting the second correlation coefficient and the emission angle corresponding to the second emission path at the maximum as the target emission angle from the second correlation coefficient sum when the difference between the sums does not exceed the difference threshold value.
Optionally, the first deleting module is specifically configured to:
using formula V'r＝Vr-g*(pA)V(α*) Deleting the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end;
using formula V't＝Vt-g*(pB)V(β*) Deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
wherein alpha is*Representing the target emission angle, beta*Representing the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V (alpha)*) Representing the target angle of incidence alpha*The RSS of the corresponding target reflection path,
Figure GDA0002632585850000191
pAa serial number representing the first reflected path,
Figure GDA0002632585850000192
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure GDA0002632585850000193
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) P-th representing the incident angle alphaARSS, V 'of the first reflection path'rRSS sequence, g, representing the remaining reflection path*(pA) Representing the target emission angle alpha*Corresponding first reflection path pAThe path gain of (1); v (. beta.) of*) Representing target emission angle beta*The RSS of the corresponding target transmission path, Vt represents the signal strength RSS sequence of the transmitting end,
Figure GDA0002632585850000194
pBa sequence number representing the second transmit path,
Figure GDA0002632585850000195
β(pB) Represents the p thBEmission angle of the second emission path, g (p)B) Represents the p thBThe path gain of the second reflected path of the strip,
Figure GDA0002632585850000196
representing the number of second transmit paths, sigma representing noise, V (beta (p)B) P-th representing the angle of incidence βBRSS, ω (α, β) of the second reflection path represents the sum, V ', of the first correlation coefficient and the second correlation coefficient'tRSS sequences, g, representing the remaining transmission paths*(pB) Representing target emission angle beta*Corresponding p (th)BThe bar second transmit path gain, A, B, is a label that distinguishes the first reflected path parameter from the second transmit path parameter.
Optionally, the position location module is specifically configured to:
determining the cluster number of all target reflection paths for clustering;
clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the target incidence angle to obtain clusters with the same number as the clusters;
determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;
and determining the position of the reflector as the intersection point position of the vertical line connecting the virtual position of the reflector and the transmitting end and the intersection point position of the virtual position of the reflector and the receiving end.
Optionally, the position location module is specifically configured to:
determining the value of K when the change rate of the metric eta (K) of the cluster is maximum from the preset value range of K;
determining the K value as the cluster number of clustering performed on the target reflection path;
wherein the content of the first and second substances,
Figure GDA0002632585850000201
Ψ (K) is a set of target reflection paths belonging to the kth cluster, c (K) is the center of the kth cluster, and (i, c (K)) is the euclidean distance between the ith target reflection path in Ψ (K) and the center of the cluster, K represents the number of clusters, K is the cluster number, K is a positive integer set, and Δ is the euclidean distance operator.
An embodiment of the present invention further provides an electronic device, as shown in fig. 7, including a processor 701, a communication interface 702, a memory 703 and a communication bus 704, where the processor 701, the communication interface 702, and the memory 703 complete mutual communication through the communication bus 704,
a memory 703 for storing a computer program;
the processor 701 is configured to implement the following steps when executing the program stored in the memory 703:
step A, acquiring the signal intensity RSS of a first reflection path of a receiving end and the RSS of a second transmission path of a transmitting end; the first reflection path is each reflection path of the receiving end, and the second transmission path is each transmission path of the transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to a transmitting end by a receiving end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at the receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the transmission end of the robot according to a preset transmission angle and measuring the millimeter wave signal at the transmission end; each reflection path has an incident angle, and each emission path has an emission angle;
step B, respectively determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental mode of the rotation angle;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of the first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of the second transmitting path; the RSS sequence of the receiving end comprises preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of the contribution components of the RSS of the second transmitting path in each beam mode;
step C, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;
step D, under the condition that the sum exceeds a threshold value, determining the incidence angle of the first reflection path as a target incidence angle, and determining the emission angle of the second reflection path as a target reflection angle;
step E, determining a first reflection path corresponding to the target incidence angle as a target reflection path, and determining a second reflection path corresponding to the target emission angle as a target emission path;
step F, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;
step G, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
step H, judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, updating the RSS sequence of the receiving end by using the residual RSS sequence of the receiving end, updating the first reflection path by using the residual reflection path, updating the RSS sequence of the transmitting end by using the residual RSS sequence of the transmitting end, updating the first transmission path by using the residual transmission path, and returning to continue to execute the steps C to H until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient threshold value;
and step I, determining the positions of the reflectors according to the target reflection paths corresponding to all the target incidence angles.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the electronic equipment and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In another embodiment of the present invention, a computer-readable storage medium is further provided, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a computer, the computer is caused to execute a method for positioning a reflector based on a millimeter wave robot as described in any one of the above embodiments.
In yet another embodiment of the present invention, there is also provided a computer program product containing instructions, which when run on a computer, causes the computer to execute a method for positioning a reflector based on a millimeter wave robot as described in any of the above embodiments.
In the above embodiments, the implementation may be wholly or partially realized by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, cause the processes or functions described in accordance with the embodiments of the invention to occur, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another, for example, from one website site, computer, server, or data center to another website site, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device, such as a server, a data center, etc., that incorporates one or more of the available media. The usable medium may be a magnetic medium (e.g., floppy Disk, hard Disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., Solid State Disk (SSD)), among others.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
All the embodiments in the present specification are described in a related manner, and the same and similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus/electronic device/computer-readable storage medium/computer program product embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and for relevant points, reference may be made to some descriptions of the method embodiments.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.

Claims (9)

1. A reflector positioning method based on a millimeter wave robot is characterized by comprising the following steps:
step A, acquiring the signal intensity RSS of a first reflection path of a receiving end and the RSS of a second transmission path of a transmitting end; the first reflection path is each reflection path of a receiving end, and the second transmission path is each transmission path of a transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by the transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at the receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to the preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;
step B, respectively determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental manner of the rotation angle;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of a first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of a second transmitting path; the RSS sequence of the receiving end includes preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of contribution components of the RSS of the second transmitting path in each beam mode;
step C, summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path, and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;
a step D of determining an incident angle of the first reflection path as a target incident angle and determining an emission angle of the second reflection path as a target reflection angle in the case where the sum exceeds a threshold value;
step E, determining a first reflection path corresponding to the target incidence angle as a target reflection path, and determining a second reflection path corresponding to the target emission angle as a target emission path;
step F, removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;
step G, deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
step H, judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, updating the RSS sequence of the receiving end by using the residual RSS sequence of the receiving end, updating the first reflection path by using the residual reflection path, updating the RSS sequence of the transmitting end by using the residual RSS sequence of the transmitting end, updating the first transmission path by using the residual transmission path, and returning to continue to execute the steps C to H until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient threshold value;
step I, determining the positions of reflectors according to target reflection paths corresponding to all target incidence angles;
wherein, the determining the position of the reflector according to the target reflection paths corresponding to all the target incidence angles comprises:
determining the cluster number of all target reflection paths for clustering;
clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the size of the target incidence angle to obtain clusters with the same number as the clusters;
determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;
and determining the position of the reflector as the intersection point position of the vertical line of the connecting line of the virtual position of the reflector and the transmitting end and the intersecting line of the virtual position of the reflector and the receiving end.
2. The method of claim 1, wherein the determining the first correlation coefficient and the second correlation coefficient respectively for a same rotation angle when the robot rotates for one circle in a manner of increasing a preset rotation angle comprises:
determining a first correlation coefficient and a second correlation coefficient aiming at the same rotation angle under the condition that the robot rotates for one circle by using a correlation coefficient formula according to a preset incremental rotation angle mode;
wherein the correlation coefficient is expressed by
Figure FDA0002632585840000021
K (x, y) represents the correlation coefficient, x and y represent the input variables, respectively, cov (x, y) is the covariance of x and y, var [ y ]]Represents the variance of x, var [ y]Representing the variance of y.
3. The method of claim 2, wherein summing the correlation coefficients of the RSS sequence at the receiving end and the RSS at the first reflection path and the correlation coefficients of the RSS sequence at the transmitting end and the RSS at the second transmission path comprises:
using the formula:
Figure FDA0002632585840000031
summing the first correlation coefficient and the second correlation coefficient;
where α represents an emission angle, β represents an incidence angle, Vr represents an RSS sequence of a receiving end, V (α) represents an RSS of a first reflection path of the incidence angle α, Vt represents an RSS sequence of the emitting end, V (β) represents a signal strength RSS of a second transmission path of the emission angle β,
Figure FDA0002632585840000032
pAa serial number representing the first reflected path,
Figure FDA0002632585840000033
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure FDA0002632585840000034
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) P-th representing the incident angle alphaARSS of the first reflection path of the strip.
4. The method of claim 1, wherein determining an incident angle of the first reflection path as a target incident angle and an emission angle of the second reflection path as a target reflection angle if the sum exceeds a threshold comprises:
when the sum exceeds a threshold value, determining an incident angle corresponding to the first reflection path when the sum is maximum as a target incident angle;
and when the sum exceeds a threshold value, determining the emission angle corresponding to the second emission path as a target emission angle when the sum is maximum.
5. The method according to claim 1, wherein when the number of the sums is greater than 1, determining an incident angle of a first reflection path as a target incident angle and determining an emission angle of a second reflection path as a target reflection angle if the sum exceeds a threshold value comprises:
selecting an incident angle corresponding to the first reflection path at the maximum as a target incident angle from the sums when the difference between the sums does not exceed the difference threshold value in the case where the sum exceeds the threshold value;
and selecting the emission angle corresponding to the second emission path at the maximum as the target emission angle from the sum when the difference between the sums does not exceed the difference threshold value in the case that the sum exceeds the threshold value.
6. The method of claim 1, wherein the removing the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain a remaining RSS sequence of the receiving end, and removing the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain a remaining RSS sequence of the transmitting end comprises:
using formula V'r＝Vr-g*(pA)V(α*) Deleting the contribution component of the RSS of the target reflection path in the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end;
using formula V't＝Vt-g*(pB)V(β*) Deleting the contribution component of the RSS of the target transmitting path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
wherein alpha is*Representing the target emission angle, beta*Representing the target emission angle, Vr represents the signal strength RSS sequence of the receiving end, V (alpha)*) Representing the target angle of incidence alpha*The RSS of the corresponding target reflection path,
Figure FDA0002632585840000041
pArepresenting the first reflectionThe sequence number of the path is set to,
Figure FDA0002632585840000042
α(pA) Represents the p thAAngle of incidence, g (p), of the first reflection path of the stripA) Represents the p thAThe path gain of the first reflected path of the strip,
Figure FDA0002632585840000043
representing the number of first reflection paths, sigma representing noise, V (alpha (p)A) Represents V (. alpha. (p))A) P-th representing the incident angle alphaARSS, V 'of the first reflection path'rRSS sequence, g, representing the remaining reflection path*(pA) Representing the target emission angle alpha*Corresponding first reflection path pAThe path gain of (1); v (. beta.) of*) Representing target emission angle beta*The RSS of the corresponding target transmission path, Vt represents the signal strength RSS sequence of the transmitting end,
Figure FDA0002632585840000044
pBa sequence number representing the second transmit path,
Figure FDA0002632585840000045
β(pB) Represents the p thBEmission angle of the second emission path, g (p)B) Represents the p thBThe path gain of the second reflected path of the strip,
Figure FDA0002632585840000051
representing the number of second transmit paths, sigma representing noise, V (beta (p)B) P-th representing the angle of incidence βBRSS, ω (α, β) of the second reflection path represents the sum, V ', of the first correlation coefficient and the second correlation coefficient'tRSS sequences, g, representing the remaining transmission paths*(pB) Representing target emission angle beta*Corresponding p (th)BThe bar second transmit path gain, A, B, is a label that distinguishes the first reflected path parameter from the second transmit path parameter.
7. The method of claim 1, wherein determining the number of clusters in which all target reflection paths are clustered comprises:
determining the value of K when the change rate of the metric eta (K) of the cluster is maximum from the preset value range of K;
determining the K value as the cluster number of clustering performed on the target reflection path;
wherein the content of the first and second substances,
Figure FDA0002632585840000052
Ψ (K) is a set of target reflection paths belonging to the kth cluster, c (K) is the center of the kth cluster, and (i, c (K)) is the euclidean distance between the ith target reflection path in Ψ (K) and the center of the cluster, K represents the number of clusters, K is the cluster number, K is a positive integer set, and Δ is the euclidean distance operator.
8. A reflector positioning apparatus based on a millimeter wave robot, the apparatus comprising:
the first acquisition module is used for acquiring the signal intensity RSS of a first reflection path of the receiving end and the RSS of a second transmission path of the transmitting end; the first reflection path is each reflection path of a receiving end, and the second transmission path is each transmission path of a transmitting end; the RSS of the first reflection path is obtained by transmitting a millimeter wave signal to the external environment by the transmitting end of the robot according to a preset transmitting angle and measuring the millimeter wave signal at the receiving end; the RSS of the second transmission path is obtained by transmitting a millimeter wave signal to the external environment by the receiving end of the robot according to the preset transmission angle and measuring the millimeter wave signal at the transmitting end; each reflection path has an incident angle, and each emission path has an emission angle;
the robot comprises a first determining module, a second determining module and a control module, wherein the first determining module is used for determining a first correlation coefficient and a second correlation coefficient respectively aiming at the same rotation angle under the condition that the robot rotates for one circle according to a preset incremental mode of the rotation angle;
the first correlation coefficient is a correlation coefficient between an RSS sequence of a receiving end and an RSS of a first reflection path; the second correlation coefficient is a correlation coefficient between an RSS sequence of the transmitting end and an RSS of a second transmitting path; the RSS sequence of the receiving end includes preset elements, and each element is the sum of contribution components of the RSS of the first reflection path in each beam mode of the millimeter wave signal; the RSS sequence of the transmitting end comprises a preset element, and each element is the sum of contribution components of the RSS of the second transmitting path in each beam mode;
the coefficient summing module is used for summing the correlation coefficient of the RSS sequence of the receiving end and the RSS of the first reflection path and the correlation coefficient of the RSS sequence of the transmitting end and the RSS of the second transmission path;
a second determining module for determining an incident angle of the first reflection path as a target incident angle and an emission angle of the second reflection path as a target reflection angle if the sum exceeds a threshold;
the third determining module is used for determining the first reflection path corresponding to the target incidence angle as a target reflection path and determining the second reflection path corresponding to the target emission angle as a target emission path;
the first removing module is used for removing the target reflection path from the first reflection path to obtain a residual reflection path, and removing the target transmission path from the second reflection path to obtain a residual transmission path;
the first deleting module is used for deleting the contribution component of the RSS of the target reflection path from the RSS sequence of the receiving end to obtain the residual RSS sequence of the receiving end, and deleting the contribution component of the RSS of the target transmission path from the RSS sequence of the transmitting end to obtain the residual RSS sequence of the transmitting end;
the coefficient judgment module is used for judging whether the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than a preset threshold value or not, if not, the residual RSS sequence of the receiving end is used for updating the RSS sequence of the receiving end, the residual reflection path is used for updating the first reflection path, the residual RSS sequence of the sending end is used for updating the RSS sequence of the sending end, the residual transmission path is used for updating the first transmission path, and the coefficient summation module is returned to the first deletion module to continue execution until the correlation coefficient of the residual RSS sequence of the receiving end and the RSS of the residual reflection path is smaller than the preset coefficient;
the position positioning module is used for determining the positions of the reflectors according to the target reflection paths corresponding to all the target incidence angles;
wherein, the position location module is specifically configured to:
determining the cluster number of all target reflection paths for clustering;
clustering the target reflection paths by using a Principal Component Analysis (PCA) clustering algorithm according to the RSS of each target reflection path and the target incidence angle to obtain clusters with the same number as the clusters;
determining the virtual position of a reflector at the convergence point of the target reflection paths in the same cluster in all the obtained clusters;
and determining the position of the reflector as the intersection point position of the vertical line connecting the virtual position of the reflector and the transmitting end and the intersection point position of the virtual position of the reflector and the receiving end.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1 to 7 when executing a program stored in the memory.
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