CN112946587A

CN112946587A - Communication method and device

Info

Publication number: CN112946587A
Application number: CN201911262000.8A
Authority: CN
Inventors: 万振梅; 杨敬; 胡滨
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2019-12-10
Filing date: 2019-12-10
Publication date: 2021-06-11
Also published as: WO2021115273A1

Abstract

The application provides a communication method and a communication device, which can be applied to the field of automatic driving or intelligent driving, in particular to the field of radars. The communication method comprises the following steps: receiving at least one set of first trajectory data from at least one detection device, wherein each set of first trajectory data in the at least one set of first trajectory data corresponds to one detection device in the at least one detection device, and each set of first trajectory data indicates a movement trajectory of at least one target, and the movement trajectory of each target in the at least one target is characterized by at least one first coordinate value; an azimuth angle of the at least one probing device is determined based on at least one set of first trajectory data from the at least one probing device. The method and the device for determining the azimuth angle of the detection device enable the determination of the azimuth angle of the detection device to be more flexible, and meanwhile, the efficiency and the accuracy of determining the azimuth angle are improved.

Description

Communication method and device

Technical Field

The application relates to a radar calibration technology in the driving field, in particular to the field of manual driving or automatic driving. In particular, the present application relates to a communication method and apparatus.

Background

With the development of society, more and more machines in modern life develop towards automation, intellectuality, and the car that the removal was used for the trip is no exception, and intelligent car is gradually getting into people's daily life. In recent years, Advanced Driving Assistance Systems (ADAS) play an important role in smart vehicles, and the systems sense the surrounding environment and collect data by using various sensors mounted on the vehicles or sensors arranged on the road sides, and perform identification, detection and tracking of stationary and moving objects, and perform systematic calculation and analysis by combining with navigator map data, thereby allowing drivers to detect possible dangers in advance, and effectively increasing the comfort and safety of vehicle driving.

The sensing layer comprises a vision system sensor such as a vehicle-mounted camera and a radar system sensor such as a vehicle-mounted millimeter wave radar, a vehicle-mounted laser radar and a vehicle-mounted ultrasonic radar. For a sensor, how to calibrate the sensor is an important technology for preparing and efficiently detecting a target, especially for calibrating a radar. The calibration of the radar mainly refers to calculating the azimuth angle of the radar so as to detect whether the accuracy of a target detected by the radar meets the standard or not, and the fusion processing of a plurality of radar data is facilitated. If the calibrated result has deviation, the indicated position of the target has deviation, and the accuracy of data or target fusion is further influenced in the multi-radar system. Currently, the commonly used method for calculating the azimuth angle of the radar is to use a specific calibration device, such as an angle reaction, which has the function of ensuring that the incident signal of the radar returns along the original path. For example, as shown in fig. 1, a tool is used to measure the coordinate (x) of the radar with the position of the angular reflection as the origin O₀，y₀) And calculating the azimuth angle alpha of the radar according to the slant distance r measured by the radar and the included angle theta between the connecting line of the angle inverse and the central point of the detection plate of the radar and the normal plane of the detection plate of the radar.

However, in the process of calculating the azimuth angle of the radar, since the calibration device needs to be fixed at a wide view position, the calibration device is limited by time and space in a complex scene, such as a traffic intersection, and cannot completely meet the installation requirement of the calibration device, so that the flexibility of calculating the azimuth angle of the radar is poor, and the efficiency is low; in addition, because the method of calculating the azimuth angle of the radar by using the calibration device is not suitable for the situation of repeated adjustment of the radar position, the azimuth angle of the radar cannot be calculated by using the calibration device under the situation of repeated adjustment of the radar position.

Disclosure of Invention

The application provides a communication method and a communication device, which are used for overcoming the problems that the flexibility of calculating the azimuth angle of a radar is poor, the efficiency is low, and the azimuth angle of the radar cannot be calculated by adopting a calibration device under the condition that the position of the radar is repeatedly adjusted.

In a first aspect, the present application provides a communication method, including:

receiving at least one set of first trajectory data from at least one detection device, wherein each set of first trajectory data in the at least one set of first trajectory data corresponds to one detection device in the at least one detection device, and each set of first trajectory data indicates a movement trajectory of at least one target, and the movement trajectory of each target in the at least one target is characterized by at least one first coordinate value; determining an azimuth angle of the at least one probing device based on the at least one set of first trajectory data from the at least one probing device.

Compared with the prior art, the azimuth angle of at least one detection device can be determined through at least one group of first track data from at least one detection device, and a calibration device is not required to be arranged, so that the determination process of the azimuth angle of the detection device is not limited by time and space, the determination of the azimuth angle of the detection device is more flexible, and the efficiency of determining the azimuth angle is improved; in addition, since the calibration device is not required to be set, only at least one set of first track data from at least one detection device is required to be used, the azimuth angle of the detection device can still be determined under the condition that the detection device is repeatedly adjusted, the step of determining the azimuth angle is simplified, and the azimuth angle of each detection device in at least one detection device can be determined simultaneously; in addition, the azimuth angle of at least one detection device is determined according to at least one group of first track data of at least one detection device, automatic determination of the azimuth angle is achieved, the determination efficiency of the azimuth angle is improved, the determination cost is reduced, a calibration device does not need to be manually set, the influence of manual operation on the result is avoided, and the accuracy of azimuth angle determination is improved.

In one possible implementation, for each of the at least one probing apparatus, the method further comprises: mapping at least one first coordinate value in first track data corresponding to a first detection device to a global coordinate system according to a first initial azimuth angle to obtain at least one second coordinate value, wherein the first initial azimuth angle corresponds to the first detection device, the first detection device is any one detection device in the at least one detection device, and the first track data is any one track data in a set of first track data corresponding to the first detection device; and obtaining at least one third coordinate value according to the at least one second coordinate value, wherein the at least one third coordinate value is positioned in the set area, and the number of the at least one third coordinate value is not more than that of the at least one second coordinate value.

In one possible implementation, for each of the at least one probing apparatus, the method further comprises: obtaining at least one second coordinate value according to at least one first coordinate value in first track data corresponding to a first detection device, wherein the at least one second coordinate value is located in a set area, the number of the at least one second coordinate value is not greater than the number of the at least one first coordinate value, and the first detection device is any one of the at least one detection device; and determining at least one third coordinate value according to a preset direction and the at least one second coordinate value.

In one possible implementation, the determining an azimuth angle of the at least one detecting device according to the at least one set of first trajectory data of the at least one detecting device includes: determining at least one set of second trajectory data according to the at least one third coordinate value of the at least one detection device, wherein each set of second trajectory data in the at least one set of second trajectory data corresponds to one object in the at least one object, and each set of second trajectory data indicates at least one movement trajectory of the corresponding object, each movement trajectory in the at least one movement trajectory corresponds to one detection device in the at least one detection device, and each movement trajectory in the at least one movement trajectory is characterized by at least one third coordinate value; and determining the azimuth angle of the at least one detection device according to the at least one set of second track data.

In one possible implementation, the method further comprises at least once the following steps: determining at least one set of second trajectory data according to at least one set of first trajectory data of the at least one detection device, and determining an azimuth angle of the at least one detection device; when the quantity variation of any one set of second track data in the at least one set of second track data is smaller than a set value, ending the determination of the azimuth angle of the at least one detection device.

The method improves the accuracy of determining the azimuth angle by repeatedly determining the azimuth angle of at least one detection device according to at least one group of first track data from at least one detection device until the variation of the quantity of any one group of second track data in at least one group of second track data is smaller than a set value, and stopping determining the azimuth angle of at least one detection device.

In one possible implementation, the method further includes: sending measurement instructions to each of the at least one target and each of the at least one probing devices; receiving GPS data acquired by a global positioning system from each of the at least one target; the determining an azimuth angle of the at least one detecting device according to at least one set of first track data of the at least one detecting device comprises: determining an azimuth angle of the at least one probe device based on at least one set of first trajectory data of the at least one probe device and the GPS data of each of the at least one target.

In one possible implementation, the method further comprises at least once the following steps: taking the azimuth angle of the at least one probe device as a first initial azimuth angle of the corresponding probe device, and determining the azimuth angle of the at least one probe device according to at least one set of first track data of the at least one probe device and the GPS data of each target in the at least one target; and when the difference value of the azimuth angles obtained in two adjacent times is smaller than a preset angle difference, finishing determining the azimuth angle of the at least one detection device.

The azimuth angle of at least one detection device is repeatedly determined according to at least one group of first track data of at least one detection device and the GPS data of each target in at least one target, and the determination of the azimuth angle of at least one detection device is finished when the difference value of the azimuth angles obtained twice in adjacent times is smaller than the preset angle difference, so that the determination precision of the azimuth angle is improved.

In one possible implementation, the method further includes: when the average distance between the coordinate track formed by the GPS data of each target in the at least one target and the moving track of the corresponding target detected by the detection device is not less than the set value, whether the measurement deviation of the global positioning system meets the requirement and/or whether the range deviation of the detection device meets the requirement is determined.

Whether the measurement deviation of the global positioning system and the detection device meets the requirement is judged by judging whether the average distance between the coordinate track formed by the GPS data of the target and the moving track of the corresponding target detected by the detection device is smaller than a set value, and the judgment mode is simple and easy to implement.

In a second aspect, the present application provides a communication device, the device comprising:

a first receiving module, configured to receive at least one set of first trajectory data from at least one detecting device, where each set of first trajectory data in the at least one set of first trajectory data corresponds to one detecting device in the at least one detecting device, and the each set of first trajectory data indicates a moving trajectory of at least one target, and the moving trajectory of each target in the at least one target is characterized by at least one first coordinate value; a first determining module for determining an azimuth angle of the at least one detecting device according to the at least one set of first trajectory data from the at least one detecting device.

In one possible implementation, for each of the at least one probing devices, the apparatus further comprises: a mapping module, configured to map at least one first coordinate value in first trajectory data corresponding to a first detection device to a global coordinate system according to a first initial azimuth to obtain at least one second coordinate value, where the first initial azimuth corresponds to the first detection device, the first detection device is any one of the at least one detection device, and the first trajectory data is any one of a set of first trajectory data corresponding to the first detection device; and the second determining module is used for obtaining at least one third coordinate value according to the at least one second coordinate value, wherein the at least one third coordinate value is positioned in the set area, and the quantity of the at least one third coordinate value is not greater than the quantity of the at least one second coordinate value.

In one possible implementation, for each of the at least one probing devices, the apparatus further comprises: a third determining module, configured to obtain at least one second coordinate value according to at least one first coordinate value in first trajectory data corresponding to a first detecting device, where the at least one second coordinate value is located in a set area, a quantity of the at least one second coordinate value is not greater than a quantity of the at least one first coordinate value, and the first detecting device is any one of the at least one detecting device; and the fourth determining module is used for determining at least one third coordinate value according to a preset direction and the at least one second coordinate value.

In a possible implementation manner, the first determining module is specifically configured to determine at least one set of second trajectory data according to the at least one third coordinate value of the at least one detecting device, where each set of second trajectory data in the at least one set of second trajectory data corresponds to one target in the at least one target, and each set of second trajectory data indicates at least one moving trajectory of the corresponding target, each moving trajectory in the at least one moving trajectory corresponds to one detecting device in the at least one detecting device, and each moving trajectory in the at least one moving trajectory is characterized by at least one third coordinate value; and determining the azimuth angle of the at least one detection device according to the at least one set of second track data.

In one possible implementation, the apparatus further includes: a fifth determining module for performing at least one of the following steps: determining at least one set of second trajectory data according to at least one set of first trajectory data of the at least one detection device, and determining an azimuth angle of the at least one detection device; when the quantity variation of any one set of second track data in the at least one set of second track data is smaller than a set value, ending the determination of the azimuth angle of the at least one detection device.

In one possible implementation, the apparatus further includes: a sending module, configured to send a measurement instruction to each of the at least one target and each of the at least one probing device; a second receiving module for receiving GPS data acquired by a global positioning system from each of the at least one target; the first determining module is specifically configured to determine an azimuth angle of the at least one detecting device according to at least one set of first trajectory data of the at least one detecting device and GPS data of each of the at least one target.

In one possible implementation, the apparatus further includes: a sixth determining module for performing at least one of the following steps: taking the azimuth angle of the at least one probe device as a first initial azimuth angle of the corresponding probe device, and determining the azimuth angle of the at least one probe device according to at least one set of first track data of the at least one probe device and the GPS data of each target in the at least one target; and when the difference value of the azimuth angles obtained in two adjacent times is smaller than a preset angle difference, finishing determining the azimuth angle of the at least one detection device.

In one possible implementation, the apparatus further includes: and the deviation measuring module is used for determining whether the measured deviation of the global positioning system meets the requirement and/or the ranging deviation of the detecting device meets the requirement when the average distance between the coordinate track formed by the GPS data of each target in the at least one target and the moving track of the corresponding target detected by the detecting device is not less than the set value.

In a third aspect, the present application provides a communications apparatus, the apparatus comprising:

a receiver for receiving at least one set of first trajectory data from at least one detecting device, wherein each set of first trajectory data in the at least one set of first trajectory data corresponds to one detecting device in the at least one detecting device, and each set of first trajectory data indicates a movement trajectory of at least one target, and the movement trajectory of each target in the at least one target is characterized by at least one first coordinate value; and a processor for determining an azimuth angle of the at least one probing device based on the at least one set of first trajectory data from the at least one probing device.

Further, the apparatus also includes a transmitter.

In particular, the specific operations or functions performed by the receiver, transmitter and processor may refer to the communication device provided by the second aspect.

In a fourth aspect, the present application provides a communication device, comprising: a processing unit and a storage unit storing a program or instructions, which when executed by the processing unit, causes the communication device to carry out the method of any of the above first aspects.

In a fifth aspect, the present application provides a vehicle on which the communication device of the second or third aspect is provided.

In a sixth aspect, the present application provides a roadside device on which the communication device of the second or third aspect is disposed.

In a seventh aspect, the present application provides a computer-readable storage medium, characterized by a computer program, which when executed on a computer, causes the computer to perform the method of any of the above first aspects.

In an eighth aspect, the present application provides a computer program for performing the method of any one of the above first aspects when the computer program is executed by a computer.

In a ninth aspect, the present application provides a chip, which includes a processor and a memory, where the memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory to execute the method of any one of the above first aspects.

Drawings

FIG. 1 is a schematic diagram of measuring an azimuth angle of a radar;

FIG. 2 is an exemplary functional block diagram of a vehicle according to an embodiment of the present application;

fig. 3 is a first flowchart illustrating a communication method provided in the present application;

FIG. 4 is a first exemplary flow chart for determining an azimuth angle of a probe;

FIG. 5 is a flowchart illustrating a second example of determining an azimuth angle of a probe;

fig. 6 is a second flowchart illustrating a communication method provided in the present application;

FIG. 7 is a schematic structural diagram of an embodiment of a communication device of the present application;

fig. 8 is a schematic structural diagram of an embodiment of a communication device according to the present application.

Detailed Description

To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms "first," "second," and the like in the description examples and claims of this application and in the drawings are used for descriptive purposes only and are not to be construed as indicating or implying relative importance, nor order. Furthermore, the terms "comprises" and "comprising," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such as a list of steps or elements. A method, system, article, or apparatus is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not explicitly listed or inherent to such process, system, article, or apparatus.

It should be understood that in the present application, "at least one" means one or more, "a plurality" means two or more. "and/or" for describing an association relationship of associated objects, indicating that there may be three relationships, e.g., "a and/or B" may indicate: only A, only B and both A and B are present, wherein A and B may be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of single item(s) or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.

Fig. 2 is an exemplary functional block diagram of a vehicle 200 according to an embodiment of the present application. As shown in fig. 2, the components coupled to or included in the vehicle 200 may include at least one of a propulsion system 210, a sensor system 220, a control system 230, peripherals 240, a power source 250, a computing device 260, and a user interface 270. The components of the vehicle 200 may be configured to operate in interconnected fashion with each other and/or with other components coupled to the various systems. For example, the power supply 250 may provide power to all components of the vehicle 200. Computing device 260 may be configured to receive data from and control propulsion system 210, sensor system 220, control system 230, and peripherals 240. The computing device 260 may also be configured to generate a display of images on the user interface 270 and receive input from the user interface 270.

It should be noted that in other examples, the vehicle 200 may include more, fewer, or different systems, and each system may include more, fewer, or different components. Further, the illustrated systems and components may be combined or divided in any number of ways, which are not specifically limited in this application.

The computing device 260 may include at least one of a processor 261, a transceiver 262, and a memory 263. Computing device 260 may be a controller or a portion of a controller of vehicle 200. The memory 263 may store instructions 2631 that run on the processor 261, and may also store map data 2632. The processor 261 included in the computing device 260 may include one or more general purpose processors and/or one or more special purpose processors (e.g., image processors, digital signal processors, etc.). To the extent that processor 261 includes more than one processor, such processors may operate alone or in combination. Computing device 260 may implement functionality to control vehicle 200 based on input received through user interface 270. Transceiver 262 is used for communication between the computing device 260 and various systems. The memory 263, in turn, may include one or more volatile memory components and/or one or more non-volatile memory components, such as optical, magnetic, and/or organic memory devices, and the memory 263 may be integrated in whole or in part with the processor 261. The memory 263 may contain instructions 2631 (e.g., program logic) executable by the processor 261 to perform various vehicle functions, including any of the functions or methods described herein.

The propulsion system 210 may provide powered motion to the vehicle 200. As shown in fig. 2, the propulsion system 210 may include at least one of an engine 214, a power source 213, a transmission 212, and wheels/tires 211. Additionally, the propulsion system 210 may additionally or alternatively include other components in addition to those shown in FIG. 2. This is not a particular limitation of the present application.

The sensor system 220 may include at least one sensor for sensing information about the environment in which the vehicle 200 is located. As shown in fig. 2, the sensors of sensor System 220 include at least one of a Global Positioning System (GPS) 226, an Inertial Measurement Unit (IMU) 225, a lidar sensor 224, a camera sensor 223, a millimeter-wave radar sensor 222, and an actuator 221 for modifying the position and/or orientation of the sensors. The GPS226 may be any sensor for estimating the geographic location of the vehicle 200. To this end, the GPS226 may include a transceiver that estimates the position of the vehicle 200 relative to the Earth based on satellite positioning data. In an example, the computing device 260 may be used to estimate the road on which the vehicle 200 is traveling using the GPS226 in conjunction with the map data 2632. The IMU225 may be used to sense position and orientation changes of the vehicle 200 based on inertial acceleration, and any combination thereof. In some examples, the combination of sensors in the IMU225 may include, for example, an accelerometer and a gyroscope. In addition, other combinations of sensors in the IMU225 are possible. Lidar sensor 224 may be considered an object detection system that uses light sensing to detect objects in the environment in which vehicle 200 is located. In general, lidar sensor 224 may be an optical remote sensing technique that measures distance to a target or other properties of a target by illuminating the target with light. As an example, the lidar sensor 224 may include a laser source and/or a laser scanner configured to emit laser pulses, and a detector for receiving reflections of the laser pulses. For example, lidar sensor 224 may include a laser range finder that is reflected by a turning mirror and scans the laser in one or two dimensions around the digitized scene to acquire range measurements at specified angular intervals. In an example, the lidar sensor 224 may include components such as a light (e.g., laser) source, a scanner and optics system, a photodetector and receiver electronics, and a position and navigation system. The lidar sensor 224 may determine the distance of an object by scanning laser light reflected off the object, and may form a 3D environment map with a precision up to centimeter. The camera sensor 223 may include any camera (e.g., still camera, video camera, etc.) for acquiring images of the environment in which the vehicle 200 is located. To this end, the camera sensor 223 may be configured to detect visible light, or may be configured to detect light from other parts of the spectrum (such as infrared or ultraviolet light). Other types of camera sensors 223 are also possible. The camera sensor 223 may be a two-dimensional detector, or may have a three-dimensional spatial range detection function. In some examples, the camera sensor 223 may be, for example, a distance detector configured to generate a two-dimensional image indicative of distances from the camera sensor 223 to several points in the environment. To this end, the camera sensor 223 may use one or more distance detection techniques. For example, the camera sensor 223 may be configured to use structured light technology, wherein the vehicle 200 illuminates objects in the environment with a predetermined light pattern, such as a grid or checkerboard pattern, and detects reflections of the predetermined light pattern from the objects using the camera sensor 223. Based on the distortion in the reflected light pattern, the vehicle 200 may be configured to detect the distance of a point on the object. The predetermined light pattern may include infrared light or other wavelengths of light. The Millimeter-Wave Radar sensor (Millimeter-Wave Radar)222 generally refers to an object detection sensor with a wavelength of 1-10 mm, and the frequency is generally in the range of 10 GHz-200 GHz. The measurement value of the millimeter wave radar sensor 222 is provided with depth information, and can provide the distance to the target; secondly, because the millimeter wave radar sensor 222 has an obvious doppler effect and is very sensitive to the speed, the speed of the target can be directly obtained, and the speed of the target can be extracted by detecting the doppler shift of the target. At present, two mainstream vehicle-mounted millimeter wave radars are respectively 24GHz and 77GHz in application frequency band, the wavelength of the two mainstream vehicle-mounted millimeter wave radars is about 1.25cm, and the two mainstream vehicle-mounted millimeter wave radars are mainly used for short-distance sensing, such as vehicle body surrounding environment, blind spots, parking assistance, lane changing assistance and the like; the latter wavelength is about 4mm and is used for medium and long distance measurement, such as automatic following, adaptive cruise (ACC), emergency braking (AEB) and the like.

The sensor system 220 may also include additional sensors, including, for example, sensors that monitor internal systems of the vehicle 200 (e.g., at least one of an O2 monitor, a fuel gauge, oil temperature, etc.). The sensor system 220 may also include other sensors. This is not a particular limitation of the present application.

The control system 230 may be configured to control the operation of the vehicle 200 and its components. To this end, the control system 230 may include at least one of a steering unit 236, a throttle 235, a braking unit 234, a sensor fusion algorithm 233, a computer vision system 232, and a navigation/routing control system 231. The control system 230 may additionally or alternatively include other components in addition to those shown in fig. 2. This is not a particular limitation of the present application.

The peripheral devices 240 may be configured to allow the vehicle 200 to interact with external sensors, other vehicles, and/or users. To this end, the peripheral device 240 may include at least one of a wireless communication system 244, a touch screen 243, a microphone 242, and/or a speaker 241, for example. Peripheral device 240 may additionally or alternatively include other components in addition to those shown in fig. 2. This is not a particular limitation of the present application.

The power supply 250 may be configured to provide power to some or all of the components of the vehicle 200. To this end, the power source 250 may include, for example, a rechargeable lithium ion or lead acid battery. In some examples, one or more battery packs may be configured to provide power. Other power supply materials and configurations are also possible. In some examples, the power source 250 and the energy source 213 may be implemented together, as in some all-electric vehicles.

The components of the vehicle 200 may be configured to operate in an interconnected manner with other components within and/or outside of their respective systems. To this end, the components and systems of the vehicle 200 may be communicatively linked together via a system bus, network, and/or other connection mechanism.

The communication device provided in the present application may be an information processing device, and the information processing device may be applied to, for example, the vehicle 200 in the example shown in fig. 2, a single independent server or a server cluster composed of a plurality of servers, or an arithmetic component in one server or an independent arithmetic device, for example. The embodiment of the present application is not particularly limited to this.

Fig. 3 is a first flowchart of a communication method provided in the present application, and as shown in fig. 3, the communication method may include the following steps:

at step 301, at least one set of first trajectory data from at least one detection device is received. Each set of the at least one set of first trajectory data corresponds to one of the at least one detection device, and each set of the first trajectory data indicates a movement trajectory of at least one object, the movement trajectory of each of the at least one object being characterized by at least one first coordinate value.

In the embodiment of the present application, a detection device may be generally disposed in the monitoring area, so as to monitor the target in the monitoring area through the detection device. The number of detection devices arranged in the monitoring area can be set according to the detection range of the detection devices. For example, the monitored area is an intersection, the number of the detection devices can be 4, the 4 detection devices can be respectively arranged at each corner of the intersection, and the target can be a vehicle, a pedestrian and the like. Alternatively, the detecting device may be a radar, and is not particularly limited herein. Further, the detection device may be a vehicle-mounted detection device, or may be a roadside detection device, such as a roadside radar installed at an intersection.

The detection device can detect the target in the detection range and track the moving track of the target. Specifically, if an object enters the detection range of the detection device, the detection device may obtain the first coordinate value of the object at a preset time interval, or obtain the first coordinate value of the object at a preset frequency, or obtain the first coordinate value of the object at a fixed time, which is not limited in this application. It should be noted that the first coordinate values of the target acquired by the detection device are coordinate values of the target acquired by the detection device in its own coordinate system (i.e., the local coordinate system). The preset time interval, the preset frequency and the timed time can be set by the detection device or by the information processing device, which is not particularly limited in this embodiment of the present application. After the detection device finishes tracking the target (for example, after the target moves out of the detection range of the detection device), the detection device may generate trajectory data of the target according to the acquired first coordinate value of the target, where the trajectory data is used to indicate a moving trajectory of the target. Or, the detecting device generates trajectory data of the target in each period according to a preset period and according to the first coordinate value of the target acquired in each period, where the preset period may be set by the detecting device or by the information processing device, and this application is not particularly limited thereto.

In a monitoring area, each detection device arranged in the monitoring area respectively detects a target in the detection range and tracks the detected target, namely, a first coordinate value of the detected target is obtained at a preset time interval or a preset frequency or at a fixed time, and after the tracking of the detected target is finished or when a preset period is finished, track data of the detected target is generated according to the obtained first coordinate value of the detected target. Each detection device can collect the track data of at least one target detected by the detection device at regular time to obtain a group of first track data, and the group of first track data is sent to the information processing device. Each set of first trajectory data may include at least one trajectory data, where each trajectory data indicates a movement trajectory of one object, i.e., each set of first trajectory data indicates a movement trajectory of at least one object.

Step 302, determining an azimuth angle of at least one detecting device according to at least one set of first track data from at least one detecting device.

In the embodiment of the present application, the first coordinate values in each of the at least one set of first trajectory data of the at least one detection device are obtained within the same time period. If the at least one set of first trajectory data of the at least one detection device obtained in step 302 does not meet the requirement, at least one set of trajectory data of the at least one detection device meeting the requirement needs to be obtained from the at least one set of first trajectory data of the at least one detection device. The same time period may be set by the information processing apparatus, and may be, for example, a certain day, a time period of a certain day, or the like, which is not particularly limited in the present application.

It should be noted that the azimuth angle of the detecting device generally refers to the angle between the normal plane of the detecting plate of the detecting device and the north direction. For example, if the detecting device is a radar, the azimuth angle of the radar is the angle between the normal plane of the radar plate and the true north direction.

The method of determining an azimuth angle of at least one probe device from at least one set of first trajectory data from at least one probe device may include two of:

fig. 4 is a first flowchart illustrating a method for determining an azimuth angle of a probe apparatus, as shown in fig. 4, the method may include the following steps:

step 401, mapping at least one first coordinate value in the first track data corresponding to the first detection device to the global coordinate system according to the first initial azimuth to obtain at least one second coordinate value. The first initial azimuth angle corresponds to a first detecting device, the first detecting device is any one of the at least one detecting device, and the first track data is any one of a set of first track data corresponding to the first detecting device.

In the embodiment of the present application, the global coordinate system refers to a coordinate system established based on the monitored area, for example, if the monitored area is an intersection, the global coordinate system is a rectangular coordinate system established with the central position of the intersection as the origin, and is not particularly limited herein. The first detection device has a local coordinate system when performing the measurement, and the local coordinate system and the global coordinate system have a correspondence relationship therebetween, and the correspondence relationship can be determined by a first initial azimuth angle of the first detection device. Specifically, the first initial azimuth angle of the first detection device may be estimated according to an included angle between the monitoring direction of the first detection device in the monitoring area and the due north direction of the monitoring area. After a first initial azimuth angle of the first detection device is estimated, mapping at least one first coordinate value in first track data corresponding to the first detection device to a global coordinate system according to the first initial azimuth angle to obtain at least one second coordinate value, namely mapping at least one first coordinate value in first track data corresponding to the first detection device from the local coordinate system to the global coordinate system to obtain at least one second coordinate value according to a corresponding relation between the local coordinate system and the global coordinate system of the first detection device.

In another embodiment of the present application, the GPS coordinate of the first detection device and the GPS coordinate of the origin position of the global coordinate system may be determined by GPS, the corresponding relationship between the local coordinate system of the first detection device and the global coordinate system may be determined according to the GPS coordinate of the first detection device and the GPS coordinate of the origin position of the global coordinate system, and at least one first coordinate value in the first trajectory data corresponding to the first detection device may be mapped to the global coordinate system according to the determined corresponding relationship to obtain at least one second coordinate value.

And 402, obtaining at least one third coordinate value according to the at least one second coordinate value. Alternatively, the step may be further determining at least one third coordinate value of the at least one second coordinate value. And at least one third coordinate value is positioned in the set area, and the quantity of the at least one third coordinate value is not more than that of the at least one second coordinate value.

In the embodiment of the present application, the setting area may be a part of the monitoring area, and the position, size, shape, and the like of the setting area in the monitoring area may be set according to specific requirements, which is not particularly limited herein. In an alternative design, the setting area may be an area detectable by at least one detection device in the monitoring area, i.e. an intersection of detection ranges of the at least one detection device is determined as the setting area. For example, if the monitored area is an intersection, the set area may be a circular area having a preset radius and an origin at the center of the intersection, and the size of the preset radius may be, for example, 50 meters or 100 meters, which is not limited herein.

Here, the at least one second coordinate value is at least one second coordinate value obtained by mapping in step 401 corresponding to the at least one first coordinate value in the first trajectory data of the first detection device, that is, the at least one second coordinate value corresponds to the first trajectory data of the first detection device.

The specific implementation process of step 402 may include: first, each of at least one second coordinate value corresponding to the first trajectory data of the first probe device is compared with coordinates of a boundary region of the set region, and then, a second coordinate value located within the set region of the at least one second coordinate value corresponding to the first trajectory data of the first probe device is determined as a third coordinate value to obtain at least one third coordinate value, wherein the at least one third coordinate value corresponds to the first trajectory data of the first probe device.

It should be noted that, the

above steps

401 and 402 describe the principle of determining at least one third coordinate value corresponding to the first track data of the first detection device, and since the principle of calculating at least one third coordinate value corresponding to each track data in the set of first track data corresponding to each detection device is the same, the above steps are repeated to calculate at least one third coordinate value corresponding to each track data in the set of first track data corresponding to each detection device.

Step 403, determining at least one set of second trajectory data according to at least one third coordinate value of the at least one detection device, where each set of second trajectory data in the at least one set of second trajectory data corresponds to one object in the at least one object, and each set of second trajectory data indicates at least one movement trajectory of the corresponding object, each movement trajectory in the at least one movement trajectory corresponds to one detection device in the at least one detection device, and each movement trajectory in the at least one movement trajectory is characterized by at least one third coordinate value.

In an embodiment of the present application, the at least one third coordinate value of the at least one detecting device includes at least one third coordinate value corresponding to each of the set of first trajectory data corresponding to each of the at least one detecting device.

Determining at least one set of second trajectory data based on at least one third coordinate value of at least one of the probing devices comprises: and calculating a correlation coefficient between any two track data according to at least one third coordinate value corresponding to each track data in a group of first track data corresponding to each detection device in at least one detection device, wherein the correlation coefficient is used for representing the similarity degree of the two track data. Further, the trajectory data with high similarity degree are collected according to the correlation coefficient to obtain at least one group of second trajectory data, wherein each group of second trajectory data comprises at least one trajectory data. For example, if the closer the correlation coefficient is to 1, the higher the similarity between the two pieces of trajectory data, the trajectory data having a correlation coefficient greater than 0.96 is collected according to the correlation coefficient of any two pieces of trajectory data, so as to obtain at least one set of second trajectory data.

Since one target is detected by at least one detection device, by calculating a correlation coefficient and aggregating trajectory data with high similarity according to the correlation coefficient, trajectories of the same target detected by different detection devices are aggregated to obtain a set of second trajectory data corresponding to the same target, wherein the set of second trajectory data includes at least one trajectory data, and each trajectory data indicates a moving trajectory of the same target.

And step 404, determining an azimuth angle of the at least one detection device according to at least one group of second track data.

In the embodiment of the present application, the azimuth angle of the detection device may be calculated in the following manner, specifically, the following process is performed:

determining an error model of the detection device, wherein the determining of the error model may include:

assuming that the number of the detecting devices is N, that is, N detecting devices can jointly detect the same target, k represents the number of the detecting devices, k is an integer and the value range of k is [1, N ], the calculation formula of the error sum between the coordinate values of the target measured by the N detecting devices and the real coordinate values of the target is as follows:

f＝Σ(X_k-X₀)²+Σ(Y_k-Y₀)²

wherein f is the sum of errors between the coordinate values of the target measured by the N detection devices and the real coordinate values of the target, (X)_k,Y_k) For the object detected by the kth detection device to be in fullAnd (3) coordinate values under the local coordinate system, wherein the value of k can be determined according to the number of the detection device which detects the same target at the same time. It should be noted that the numbers of the detecting devices detecting the same object at different times may be the same or different, and the numbers of the detecting devices detecting different objects may be the same or different. One set substituted in the process of each summation (X)_k,Y_k) And coordinate values of the same target in the global coordinate system are detected by all the detection devices which detect the same target at the same time. For example, if the value of N is 4, if the numbers of the detecting devices detecting the same object at a certain time are 1, 3, and 4, the values of k are 1, 3, and 4 when the numbers of the detecting devices detecting the same object at the certain time are 1, 3, and 4 and are summed by combining the above formula, and similarly, if the numbers of the detecting devices detecting the same object at a certain time are 1, 2, and 3, the values of k are 1, 2, and 3 when the numbers of the detecting devices detecting the same object at the certain time are 1, 2, and 3 and are summed by combining the above formula. (X)₀，Y₀) The real coordinate value of the target under the global coordinate system.

Due to the real coordinate value (X) of the target in the global coordinate system₀，Y₀) An average value of coordinate values in the global coordinate system of the object detectable by the detecting means which detected the object

Instead, therefore, the calculation formula of the sum of errors between the coordinate values of the target measured by the N detecting devices and the real coordinate values of the target may be transformed into:

it should be noted that each substitution is performed

Objects to be detected by respective detecting means correspondingly substitutedAnd calculating coordinate values under the global coordinate system. M is a set of (X) substituted in each summation process_k,Y_k) For example, if the value of N is 4, then if the numbers of the detecting devices detecting the same object at a certain time are 1, 3, and 4, then when the coordinate values of the same object at a certain time in the global coordinate system detected by the detecting devices 1, 3, and 4 are summed by combining the above formula, the values of k are 1, 3, and 4, and the value of M is 3. It should be noted that the value of M substituted in each summation process may be the same or different.

And the relationship between the coordinate values of the target detected by the detection device in the global coordinate system and the coordinate values of the target detected by the detection device in the coordinate system of the target is as follows:

X_k＝X’_k ⁺x_k

Y_k＝Y’_k ⁺y_k

wherein, (X'_k，Y’_k) For the coordinate value of the target detected by the kth detecting device under its own coordinate system, (x)_k’y_k) The coordinate value of the kth detection device in the global coordinate system.

The relationship between the coordinate values of the target detected by the detecting device in its own coordinate system, the distance from the detecting device to the target, the azimuth angle of the detecting device, and the detection angle of the detecting device to the target is as follows:

X’_k＝r_ksin(θ_k+α_k)

Y’_k＝r_kcos(θ_k+α_k)

wherein r is_kIs the distance from the kth detection device to the target, and can be determined according to the coordinate value (X ') of the target detected by the kth detection device under the coordinate system of the kth detection device'_k，Y’_k) Is calculated to obtain theta_kFor the detection angle of the k-th detecting device to the object, theta_kCoordinate value (X ') of the object under its own coordinate system detectable by the kth detecting device'_k，Y’_k) Calculated to obtain the kth probeDetecting angle theta of target by measuring device_kIs the angle between the line connecting the center point of the detection plate of the kth detection device and the target and the normal plane of the detection plate of the kth detection device, alpha_kIs the azimuth angle of the kth detection device.

Based on the above two formulas, the calculation formula of the error sum between the coordinate values of the target measured by the N detection devices and the real coordinate values of the target can be transformed into:

since when α is_kF is the same as the azimuth angle of the kth detection device, so that the formula is solved based on at least one group of second track data to obtain alpha when the value of f is the minimum_kWill solve for the resulting alpha_kThe azimuth angle of the kth detection device is determined. Specifically, the solving process includes: and inputting the first coordinate value in each track data of each group of second track data into the formula and calculating the azimuth angle of each detection device by combining a quasi-Newton method. The process of solving the formula by using the quasi-newton method may include:

1) configuration alpha_kAn initial value and an approximate matrix initial value of a Hessian matrix, wherein the Hessian matrix is a square matrix formed by second partial derivatives of a multivariate function. The Hessian matrix can be referred to in the description of the prior art;

2) calculating an initial value f0 of the objective function (i.e. the above f formula) and an initial value of the gradient grad;

3) constructing a searching direction D and a direction derivative D, for example, searching the direction D and the direction derivative D by using a corresponding function in matlab;

4) calculating line search parameters, wherein the searched parameters comprise a scalar value, a gradient value and a search step length;

5) step length searching is carried out in the direction D, and an objective function value f, a step length a and a new gradient grad are calculated;

6) updating an iteration value and judging whether to finish iteration; if not, skipping to the step 3 to continue searching;

based on the above calculation formula of the error sum between the coordinate value of the target measured by the N detection devices and the real coordinate value of the target, the obtained error model of the detection device is:

the error model of the detection device is used for characterizing alpha when f is minimum_kAlpha corresponding to the above model, i.e. to the above model_kIs the azimuth angle of the detecting device. It should be noted that, in the following description,

is at theta_kPropositions are optimized for unconstrained arguments.

By calculating the correlation coefficient between any two track data, the track data of the same target (namely a group of second track data corresponding to the same target) is obtained according to the correlation coefficient between any two track data, so that a large amount of track data of the same target is used for obtaining a plurality of groups of coordinate data, the azimuth angle of the detection device is determined by combining the calculation formula, the error caused by measurement is reduced, and the accuracy of the azimuth angle is ensured.

Method two, fig. 5 is a flowchart illustrating a second method for determining an azimuth angle of a probe apparatus, as shown in fig. 5, the method may include the following steps:

step 501, obtaining at least one second coordinate value according to at least one first coordinate value in the first track data corresponding to the first detection device. The first detection device is any one of the at least one detection device, and the first track data is any one of a set of first track data corresponding to the first detection device.

In this embodiment of the application, since the principle of obtaining at least one second coordinate value according to at least one first coordinate value in the first track data corresponding to the first detecting device is the same as the principle of obtaining at least one third coordinate value in step 402, the description thereof is omitted here.

At least one second coordinate value corresponding to the first trajectory data of the first detecting device is obtained through step 501.

Step 502, determining at least one third coordinate value according to a preset direction and at least one second coordinate value corresponding to the first track data of the first detection device.

In the embodiment of the present application, the preset direction may be a linear movement direction, a curved movement direction, and the like, and is not particularly limited herein. Next, step 502 will be described by taking the preset direction as the linear motion direction as an example.

Firstly, judging whether a track indicated by at least one second coordinate value is in a linear motion direction according to at least one second coordinate value corresponding to first track data of a first detection device, if so, determining at least one second coordinate value corresponding to the first track data of the first detection device as a third coordinate value so as to obtain at least one third coordinate value corresponding to the first track data of the first detection device; if not, not determining at least one second coordinate value corresponding to the first track data of the first detection device as a third coordinate value.

By repeating the

above steps

501 and 502, at least one second coordinate value corresponding to each track data in each set of first track data of each detection device may be obtained first, then, according to the direction and the preset direction indicated by at least one second coordinate value corresponding to each track data in each set of first track data of each detection device, track data having the preset direction is screened out, and then, at least one second coordinate value corresponding to the track data having the preset direction is determined as at least one third coordinate value corresponding to the track data having the preset direction.

Step 503, determining at least one set of second trajectory data according to at least one third coordinate value of the at least one detection device. Wherein each set of second trajectory data of the at least one set of second trajectory data corresponds to one object of the at least one object, and the each set of second trajectory data indicates at least one movement trajectory of the corresponding object, each movement trajectory of the at least one movement trajectory corresponds to one detection device of the at least one detection device, and each movement trajectory of the at least one movement trajectory is characterized by at least one third coordinate value.

In an embodiment of the present application, the at least one third coordinate value of the at least one detecting device includes at least one third coordinate value corresponding to each of the screened trajectory data having the predetermined direction.

Determining at least one set of second trajectory data based on the at least one third coordinate value of the at least one probing device includes: and calculating a correlation coefficient between any two screened track data according to at least one third coordinate value corresponding to each screened track data, wherein the correlation coefficient is used for representing the similarity degree of the two screened track data, and collecting second track data with high similarity degree according to the correlation coefficient to obtain at least one group of second track data, wherein each group of second track data comprises at least one screened track data. For example, if the correlation coefficient is closer to 1, which indicates that the degree of similarity between the two screened trajectory data is higher, the screened trajectory data with the higher degree of similarity are aggregated according to the correlation coefficient of any two screened trajectory data to obtain at least one set of second trajectory data.

Since one object is detected by at least one detection device, by calculating a correlation coefficient and aggregating trajectory data with higher similarity according to the correlation coefficient, i.e. aggregating trajectories of the same object detected by different detection devices, a set of second trajectory data corresponding to the same object is obtained, wherein the set of second trajectory data includes at least one trajectory data, and each trajectory data indicates a moving trajectory of the same object.

Step 504, determining an azimuth angle of the at least one detecting device according to the at least one set of second track data.

In the embodiment of the present application, the third coordinate value of each of the second trajectory data of each of the at least one set of second trajectory data is input into the following formula, and the azimuth angle of each of the detecting devices is calculated by combining the quasi-newton method.

Wherein f is the sum of errors between the coordinate values of the target measured by the N detection devices and the real coordinate values of the target, r_kIs the distance from the kth detection device to the target, and can be determined according to the coordinate value (X ') of the target detected by the kth detection device under the coordinate system of the kth detection device'_k，Y’_k) Is calculated to obtain theta_kFor the detection angle of the k-th detecting device to the object, theta_kCoordinate value (X ') of the object under its own coordinate system detectable by the kth detecting device'_k，Y’_k) Is calculated to obtain_kThe values of k and M for the azimuth angle of the kth detecting device have been described above, and therefore, the detailed description thereof is omitted here.

Since the derivation principle of the above formula and the principle of the quasi-newton method have been explained above, they are not described in detail here.

Therefore, by calculating the correlation coefficient between any two track data, the track data of the same target (i.e. a group of second track data corresponding to the same target) is obtained according to the correlation coefficient between any two track data, so that a large amount of track data of the same target is used to obtain a plurality of groups of coordinate data, and the azimuth angle of the detection device is calculated by combining the calculation formula, thereby reducing errors caused by measurement and ensuring the accuracy of the azimuth angle.

In order to further improve the accuracy of the azimuth angle, after the azimuth angle of each detecting device is calculated by the above two methods, the following steps may be further performed at least once to further determine the azimuth angle of the detecting device, so as to further improve the accuracy of the azimuth angle of the detecting device, where the following steps are:

the azimuth angle of at least one detection device obtained by the above embodiment is respectively used as a new initial azimuth angle of at least one detection device, and then at least one set of second track data is determined according to at least one set of first track data of the at least one detection device and the new initial azimuth angle of each detection device, so as to determine the azimuth angle of the at least one detection device; and ending the determination of the azimuth angle of the at least one detecting device when the quantity variation of any one set of second track data in the determined at least one set of second track data is smaller than a set value.

In the embodiment of the present application, the at least one set of first trajectory data of the at least one detection device is at least one set of first trajectory data of the at least one detection device in step 301. According to the method, when the azimuth angle of at least one detection device is determined once, the adopted initial azimuth angles are different, the adopted initial azimuth angle is determined to be an estimated value at first, the adopted initial azimuth angle is determined to be the azimuth angle obtained by the previous calculation, and the azimuth angle of each detection device in the at least one detection device is determined again once according to at least one group of first track data of the at least one detection device and the method I or the method II on the basis of the azimuth angle of the at least one detection device determined last time.

After the azimuth angle of the detection device is determined every time, calculating the difference value between the quantity of the track data in each group of second track data in the process of determining the azimuth angle of the detection device this time and the quantity of the track data in each group of second track data corresponding to the process of determining the azimuth angle of the detection device last time, if the difference value corresponding to any one group of second track data in at least one group of second track data is smaller than a set value, finishing determining the azimuth angle of at least one detection device, and if the difference value is not smaller than the set value, continuing to repeat the process.

The azimuth angle determining precision is improved by repeatedly determining the azimuth angle of at least one detecting device according to at least one group of first track data from at least one detecting device until the variation of the quantity of any one group of second track data in at least one group of second track data is smaller than a set value, and stopping determining the azimuth angle of at least one detecting device.

In summary, the azimuth angle of the at least one detecting device can be determined by the at least one set of first trajectory data from the at least one detecting device, compared with the prior art, the determining process of the azimuth angle of the detecting device is not limited by time and space, so that the determining of the azimuth angle of the detecting device is more flexible, and meanwhile, the efficiency of determining the azimuth angle is also improved; in addition, since the calibration device is not required to be set, only at least one set of first track data from at least one detection device is required to be used, the azimuth angle of the detection device can still be determined under the condition that the detection device is repeatedly adjusted, the step of determining the azimuth angle is simplified, and the azimuth angle of each detection device in at least one detection device can be determined simultaneously; in addition, the azimuth angle of at least one detection device is determined according to at least one group of first track data of at least one detection device, automatic determination of the azimuth angle is achieved, the determination efficiency of the azimuth angle is improved, the determination cost is reduced, a calibration device does not need to be manually set, the influence of manual operation on the result is avoided, and the accuracy of azimuth angle determination is improved.

Fig. 6 is a second flowchart of a communication method provided in the present application, and as shown in fig. 6, the communication method may include the following steps:

step 601, sending a measurement instruction to each target of at least one target and each detection device of at least one detection device.

In the embodiment of the present application, each target may first send a registration request to the information processing apparatus; the information processing device registers each target and sends a message of successful registration to each target after the registration is completed; after each target receives the message of successful registration, reporting characteristic information (such as license plate number, brand, color and the like) and current GPS coordinates of the target; after receiving the characteristic information reported by each target and the current GPS coordinate, the information processing device sends a measurement instruction to each target, wherein the measurement instruction is used for indicating each target to report the GPS data of each target in a specified area; after the information processing device sends the measurement instruction to each target, the measurement instruction is sent to each detection device in at least one detection device, and the measurement instruction carries characteristic information of each target and is used for indicating the detection device to detect each target.

It should be noted that each target is a subject matter whose own GPS data can be acquired by a vehicle or the like present in the monitored area, and at least one of the detecting devices is a detecting device provided in the monitored area. The designated area is located in the monitoring area, and the position of the designated area in the monitoring area, the size, the area, the shape and the like of the designated area can be set by the detection device, and can also be set by the information processing device, which is not particularly limited in this application.

Step 602, receiving GPS data acquired by a global positioning system from each of at least one target.

In the embodiment of the application, after the target enters the designated area, the target responds to the measurement instruction and acquires the GPS data thereof according to a preset time interval or a preset frequency, after the target moves out of the designated area, the target transmits the acquired GPS data to the information processing device, and the information processing device receives the GPS data of the target. It should be noted that the preset time interval and the preset frequency may be set by the target or by the information processing apparatus, and this application is not particularly limited thereto. It should be noted that, the principle of sending GPS data to the information processing apparatus by one target is described above, and since the principle of sending GPS data to the information processing apparatus by each target is the same, the principle of sending GPS data to the information processing apparatus by each other target is not described herein again.

Step 603, at least one set of first trajectory data from at least one detection device is received. Wherein each set of first trajectory data in the at least one set of first trajectory data corresponds to one detection device in the at least one detection device, and each set of first trajectory data indicates a movement trajectory of at least one object, the movement trajectory of each object in the at least one object being characterized by at least one first coordinate value.

In this embodiment, after receiving the detection instruction, the detection device detects whether the target enters the detection area within the detection range thereof according to the characteristic information of the target in the detection instruction, and if so, the detection device may obtain the first coordinate value of the target at a preset time interval, or obtain the first coordinate value of the target at a preset frequency, or obtain the first coordinate value of the target at regular time, and the like, which is not particularly limited in this application. It should be noted that the first coordinate values of the target acquired by the detection device are coordinate values of the target acquired by the detection device in its own coordinate system. The preset time interval, the preset frequency and the timed time may be set by the detection device, and may also be set by the information processing device, which is not particularly limited in this embodiment of the present application. After the detection device finishes tracking the target (for example, after the target moves out of the detection area of the detection device), the detection device may generate trajectory data of the target according to the acquired first coordinate value of the target, where the trajectory data is used to indicate a movement trajectory of the target.

Since the principle of the detection means acquiring the trajectory data of each object it detects is the same, and the principle of the detection means acquiring the trajectory data of one object has been described above, the trajectory data of each object it detects can be obtained by the detection means by repeating the above steps.

The detection device may periodically aggregate trajectory data of the objects detected by the detection device to obtain a set of first trajectory data, and transmit the set of first trajectory data to the information processing device, where each set of first trajectory data indicates a movement trajectory of at least one object.

The information processing device receives a set of first trajectory data transmitted by each of the at least one probe device.

Step 604, determining an azimuth angle of the at least one probe device based on the at least one set of first trajectory data of the at least one probe device and the GPS data of each of the at least one target.

determining an error model of the detection device, wherein the determination process of the specific error model can comprise the following steps:

f＝Σ(X_k-X₀)²+Σ(Y_k-Y₀)²

wherein f is the sum of errors between the coordinate values of the target measured by the N detection devices and the real coordinate values of the target, (X)_k,Y_k) And determining the coordinate value of the target detected by the kth detection device under the global coordinate system, wherein the value of k can be determined according to the number of the detection devices which detect the same target at the same time. It should be noted that the numbers of the detecting devices detecting the same object at different times may be the same or different, and the numbers of the detecting devices detecting different objects may be the same or different. One set substituted in the process of each summation (X)_k,Y_k) And coordinate values of the same target in the global coordinate system are detected by all the detection devices which detect the same target at the same time. For example, if the value of N is 4, if the numbers of the detecting devices detecting the same object at a certain time are 1, 3, and 4, the values of k are 1, 3, and 4 when the coordinate values of the same object detected by the detecting devices 1, 3, and 4 at the certain time in the global coordinate system are summed by combining the above formula, and similarly, if the numbers of the detecting devices detecting the same object at a certain time are 1, 2, and 3, the coordinates of the same object detected by the detecting devices 1, 2, and 3 at the certain time in the global coordinate system are summed by combining the above formulaWhen the sum is obtained by combining the above formulas, the value of k is 1, 2 and 3. (X)₀，Y₀) Is the real coordinate value of the target under the global coordinate system, the coordinate value in the GPS data uploaded by the target is determined as the real coordinate value of the target under the global coordinate system, namely (X)₀，Y₀) Coordinate values in the GPS data uploaded for the target.

It should be noted that, the real coordinate value of the target in the global coordinate system for each substitution in the above formula and the coordinate value of the target in the global coordinate system detected by each corresponding substitution in the above formula are both obtained for the same target at the same time.

The relationship between the coordinate values of the object detected by the detecting means in the global coordinate system and the coordinate values of the object detected by the detecting means in its own coordinate system is as follows:

X_k＝X’_k+x_k

Y_k＝Y’_k+y_k

wherein, (X'_k，Y’_k) For the coordinate value of the target detected by the kth detecting device under its own coordinate system, (x)_k，y_k) The coordinate value of the kth detection device in the global coordinate system.

The relationship between the coordinate values of the object detected by the detecting means in its own coordinate system, the distance from the detecting means to the object, the azimuth angle of the detecting means, and the detection angle of the detecting means to the object is as follows

X’_k＝r_ksin(θ_k+α_k)

Y’_k＝r_kcos(θ_k+α_k)

Wherein r is_kIs the distance from the kth detection device to the object, and can be determined according to the coordinate value (X ') of the object detected by the kth detection device under the coordinate system of the kth detection device'_k，Y’_k) Is calculated to obtain theta_kFor the detection angle of the k-th detecting device to the object, theta_kCoordinate value (X ') of the object under its own coordinate system detectable by the kth detecting device'_k，Y’_k) Is calculated to obtain_kIs the azimuth angle of the kth detection device.

f＝∑(r_ksin(θ_k+α_k)+x_k-X₀)²+∑(r_kcos(θ_k+α_k)+y_k-Y₀)²

since when alpha is_kF is the same as the azimuth of the kth detection device, and therefore, the above formula is solved to obtain α when the value of f is the minimum_kWill solve for the resulting alpha_kThe azimuth angle of the kth detection device is determined. Specifically, the at least one set of first trajectory data of the at least one probe and the GPS data of each of the at least one target may be input into the above formula, and the formula may be solved in combination with a Quasi-Newton (Quasi-Newton) method. The process of solving the formula by using the quasi-newton method may include:

1) configuration alpha_kAn initial value and an approximate matrix initial value of the Hessian matrix;

5) step length searching is carried out in the direction D, and an objective function value f, a step length alpha and a new gradient grad are calculated;

based on this, the error model of the detection device is:

the error model of the detection device is used for characterizing alpha when f is minimum_kAlpha corresponding to the above model, i.e. to the above model_kIs the azimuth angle of the detecting device.

Compared with the prior art, a calibration device is not needed to be arranged, so that the process of determining the azimuth angle of the detection device is not limited by time and space, the calculation of the azimuth angle of the detection device is more flexible, and the efficiency of determining the azimuth angle is improved; in addition, since the calibration device is not required to be set, only the GPS data of each of the at least one target and the at least one set of first trajectory data from the at least one detecting device are required to be set, the azimuth angle of the detecting device can still be determined under the condition that the detecting device is repeatedly adjusted, the step of determining the azimuth angle is simplified, and the azimuth angle of each of the at least one detecting device can be simultaneously determined; in addition, the azimuth angle of at least one detection device is determined according to at least one group of first track data of at least one detection device and the GPS data of each target in at least one target, automatic determination of the azimuth angle is achieved, the determination efficiency of the azimuth angle is improved, the determination cost is reduced, a calibration device does not need to be set manually, the influence of manual operation on a calculation result is avoided, and the accuracy of azimuth angle determination is improved.

Further, in order to improve the accuracy of determining the azimuth angle, the method further comprises at least one of the following steps:

the azimuth angle of at least one probe device is taken as a first initial azimuth angle of the corresponding probe device, and the azimuth angle of at least one probe device is determined according to at least one set of first track data of at least one probe device and GPS data of each target in at least one target. And when the difference value of the azimuth angles obtained by two adjacent times of calculation is smaller than the preset angle difference, finishing determining the azimuth angle of at least one detection device.

In the embodiment of the present application, since the azimuth angle of each of the at least one detecting device has been calculated in step 604, the calculated azimuth angle of each of the at least one detecting device is taken as the first initial azimuth angle of the corresponding detecting device.

Here, the at least one set of first trajectory data of the at least one probe device and the GPS data of each of the at least one target may adopt the at least one set of first trajectory data of the at least one probe device and the GPS data of each of the at least one target in step 604 described above.

The principle of calculating the azimuth angle of the at least one detecting device according to the at least one set of first track data of the at least one detecting device and the GPS data of each of the at least one target is the same as the principle in step 604, and therefore, the detailed description thereof is omitted.

After the azimuth angle of each detection device in at least one detection device is determined once, calculating the difference value between the azimuth angle of each detection device determined this time and the azimuth angle of the corresponding detection device determined last time, and judging whether the difference value of the azimuth angle obtained by each detection device twice is smaller than a preset angle difference, if so, finishing determining the azimuth angle of each detection device in at least one detection device, determining the azimuth angle of each detection device obtained this time as the final azimuth angle of each detection device, and if not, repeating the steps.

The value of the preset angular difference may be set by the information processing apparatus, and is not particularly limited herein.

In addition, whether the measurement deviation between the detection device and the global positioning system meets the requirement can be verified in the following way, and the specific process is as follows:

when the average distance between the coordinate track formed by the GPS data of each target in the at least one target and the moving track of the corresponding target detected by the detection device is not less than a set value, whether the measurement deviation of the global positioning system meets the requirement and/or whether the range deviation of the at least one detection device meets the requirement is determined.

In the embodiment of the application, for the same target, a coordinate track corresponding to GPS data may be generated according to the GPS data of the target reported by a global positioning system, a movement track corresponding to each detection device may be generated according to the track data of the target detected by each detection device, and a distance between the movement track corresponding to each detection device and the coordinate track corresponding to the GPS data may be calculated respectively;

and if the distance between the moving track corresponding to the detection device and the coordinate track corresponding to the GPS data is smaller than a set value, determining that the measurement deviation between the detection device and the global positioning system meets the requirement, namely the measurement error between the detection device and the global positioning system is within the allowable range.

If the distance between the movement track corresponding to the detection device and the coordinate track corresponding to the GPS data is not less than the set value, whether the measurement deviation of the global positioning system and/or the measurement deviation of the detection device meets the requirement or not needs to be determined.

Therefore, whether the measurement deviation between the global positioning system and the detection device meets the requirement is judged by judging whether the average distance between the coordinate track formed by the GPS data of the target and the moving track of the corresponding target detected by the detection device is smaller than a set value, and the judgment mode is simple and easy to implement.

Fig. 7 is a schematic structural diagram of an embodiment of a communication device of the present application, and as shown in fig. 7, a device 700 of the present embodiment may include: a first receiving module 701 and a first determining module 702, wherein:

a first receiving module 701, configured to receive at least one set of first trajectory data from at least one detecting device, where each set of first trajectory data in the at least one set of first trajectory data corresponds to one detecting device in the at least one detecting device, and each set of first trajectory data indicates a moving trajectory of at least one target, and the moving trajectory of each target in the at least one target is characterized by at least one first coordinate value; a first determining module 702, configured to determine an azimuth angle of the at least one detecting device according to the at least one set of first trajectory data from the at least one detecting device.

In one possible implementation, for each of the at least one probing devices, the apparatus 700 further includes: a mapping module, configured to map at least one first coordinate value in first trajectory data corresponding to a first detection device to a global coordinate system according to a first initial azimuth to obtain at least one second coordinate value, where the first initial azimuth corresponds to the first detection device, the first detection device is any one of the at least one detection device, and the first trajectory data is any one of a set of first trajectory data corresponding to the first detection device; and the second determining module is used for obtaining at least one third coordinate value according to the at least one second coordinate value, wherein the at least one third coordinate value is positioned in the set area, and the quantity of the at least one third coordinate value is not greater than the quantity of the at least one second coordinate value.

In one possible implementation, for each of the at least one probing devices, the apparatus 700 further includes: a third determining module, configured to obtain at least one second coordinate value according to at least one first coordinate value in first trajectory data corresponding to a first detecting device, where the at least one second coordinate value is located in a set area, a quantity of the at least one second coordinate value is not greater than a quantity of the at least one first coordinate value, and the first detecting device is any one of the at least one detecting device; and the fourth determining module is used for determining at least one third coordinate value according to a preset direction and the at least one second coordinate value.

In a possible implementation manner, the first determining module 702 is specifically configured to determine at least one set of second trajectory data according to the at least one third coordinate value of the at least one detecting device, where each set of second trajectory data in the at least one set of second trajectory data corresponds to one target in the at least one target, and each set of second trajectory data indicates at least one moving trajectory of the corresponding target, each moving trajectory in the at least one moving trajectory corresponds to one detecting device in the at least one detecting device, and each moving trajectory in the at least one moving trajectory is characterized by at least one third coordinate value; and determining the azimuth angle of the at least one detection device according to the at least one set of second track data.

In one possible implementation, the apparatus 700 further includes: a fifth determining module for performing at least one of the following steps: determining at least one set of second trajectory data according to at least one set of first trajectory data of the at least one detection device, and determining an azimuth angle of the at least one detection device; when the quantity variation of any one set of second track data in the at least one set of second track data is smaller than a set value, ending the determination of the azimuth angle of the at least one detection device.

In one possible implementation, the apparatus 700 further includes: a sending module, configured to send a measurement instruction to each of the at least one target and each of the at least one probing device; a second receiving module for receiving GPS data acquired by a global positioning system from each of the at least one target; the first determining module 702 is specifically configured to determine an azimuth angle of the at least one detecting device according to at least one set of first trajectory data of the at least one detecting device and GPS data of each target of the at least one target.

In one possible implementation, the apparatus 700 further includes: a sixth determining module for performing at least one of the following steps: taking the azimuth angle of the at least one probe device as a first initial azimuth angle of the corresponding probe device, and determining the azimuth angle of the at least one probe device according to at least one set of first track data of the at least one probe device and the GPS data of each target in the at least one target; and when the difference value of the azimuth angles obtained in two adjacent times is smaller than a preset angle difference, finishing determining the azimuth angle of the at least one detection device.

In one possible implementation, the apparatus 700 further includes: and the deviation measuring module is used for determining whether the measured deviation of the global positioning system meets the requirement and/or the ranging deviation of the detecting device meets the requirement when the average distance between the coordinate track formed by the GPS data of each target in the at least one target and the moving track of the corresponding target detected by the detecting device is not less than the set value.

Here, each module included in the communication apparatus is merely a logical division according to a function, and does not represent a substantial composition of the apparatus.

The apparatus of this embodiment may be used to implement the technical solutions of the method embodiments shown in fig. 3 to fig. 6, and the implementation principles and technical effects are similar, which are not described herein again.

The embodiment of the application also provides a vehicle, and the vehicle is provided with the communication device. Further optionally, the vehicle further comprises at least one sensor, which may comprise at least one radar and/or at least one camera.

The embodiment of the application also provides a roadside device, and the roadside device is provided with the communication device. The roadside devices may be located at intersections or on both sides of a road.

Fig. 8 is a schematic structural diagram of an embodiment of the communication device of the present application, and as shown in fig. 8, the communication device 800 is represented in the form of a general-purpose computing device. The components of the communication device 800 may include, but are not limited to: at least one processing unit 810, at least one storage unit 820. Further optionally, the communication device 800 also includes a bus 830 connecting the various system components (including the memory unit 820 and the processing unit 810), and a display unit 840. It should be noted that the processing unit 810 may also be understood as a processor, and the storage unit 820 may be understood as a memory. Further, the display unit 840 may be understood as a display.

Wherein the storage unit 820 stores program codes and instructions that can be executed by the processing unit 810 to cause the communication device 800 to perform the steps according to various exemplary embodiments of the present invention described in the above-mentioned method section of the present specification. The memory unit 820 may include volatile memory units such as a random access memory unit (RAM)8201 and/or a cache memory unit 8202, and may further include a read only memory unit (ROM) 8203.

The storage unit 820 may also include a program/utility 8204 having a set (at least one) of program modules 8205, such program modules 8205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.

Bus 830 may include a data bus, an address bus, and a control bus.

Optionally, the communication device 800 may also communicate with one or more external devices 900 (e.g., keyboard, pointing device, Bluetooth device, detection device, etc.), which may be through an input/output (I/O) interface 850. The communication device 800 also includes a display unit 840 connected to an input/output (I/O) interface 850 for displaying. Also, the communication device 800 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network, such as the internet) via the network adapter 860. As shown, the network adapter 860 communicates with the other modules of the communication device 800 via the bus 830. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the communication device 800, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others. The pass-through input/output (I/O) interface 850 may also be understood herein as a transmitter/receiver.

The present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a computer, causes the computer to perform the steps and/or processes of any of the above-described method embodiments.

The present application further provides a computer program product comprising computer program code which, when run on a computer, causes the computer to perform the steps and/or processes of any of the above-described method embodiments.

The present application also provides a chip comprising a processor, a memory for storing a computer program being provided separately from the chip, the processor being adapted to execute the computer program stored in the memory to perform the steps and/or processes of any of the method embodiments.

Further, the chip may also include a memory and a communication interface. The communication interface may be an input/output interface, a pin or an input/output circuit, etc.

The processor mentioned in the above embodiments may be an integrated circuit chip having signal processing capability. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The processor may be a general purpose processor, a Digital Signal Processor (DSP), an application-specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in the embodiments of the present application may be directly implemented by a hardware encoding processor, or implemented by a combination of hardware and software modules in the encoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The memory referred to in the various embodiments above may be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an electrically Erasable EPROM (EEPROM), or a flash memory. Volatile memory can be Random Access Memory (RAM), which acts as external cache memory. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM, enhanced SDRAM, SLDRAM, Synchronous Link DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (personal computer, server, network device, or the like) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method of communication, the method comprising:

receiving at least one set of first trajectory data from at least one detection device, wherein each set of first trajectory data in the at least one set of first trajectory data corresponds to one detection device in the at least one detection device, and each set of first trajectory data indicates a movement trajectory of at least one target, and the movement trajectory of each target in the at least one target is characterized by at least one first coordinate value;

determining an azimuth angle of the at least one probing device based on the at least one set of first trajectory data from the at least one probing device.

2. The method of claim 1, wherein for each of the at least one probing devices, the method further comprises:

mapping at least one first coordinate value in first track data corresponding to a first detection device to a global coordinate system according to a first initial azimuth angle to obtain at least one second coordinate value, wherein the first initial azimuth angle corresponds to the first detection device, the first detection device is any one detection device in the at least one detection device, and the first track data is any one track data in a set of first track data corresponding to the first detection device;

and obtaining at least one third coordinate value according to the at least one second coordinate value, wherein the at least one third coordinate value is positioned in the set area, and the number of the at least one third coordinate value is not more than that of the at least one second coordinate value.

3. The method of claim 1, wherein for each of the at least one probing devices, the method further comprises:

obtaining at least one second coordinate value according to at least one first coordinate value in first track data corresponding to a first detection device, wherein the at least one second coordinate value is located in a set area, the number of the at least one second coordinate value is not greater than the number of the at least one first coordinate value, and the first detection device is any one of the at least one detection device;

and determining at least one third coordinate value according to a preset direction and the at least one second coordinate value.

4. A method according to claim 2 or 3, characterized in that: said determining an azimuth angle of said at least one probing device from said at least one set of first trajectory data of said at least one probing device comprises:

determining at least one set of second trajectory data according to the at least one third coordinate value of the at least one detection device, wherein each set of second trajectory data in the at least one set of second trajectory data corresponds to one object in the at least one object, and each set of second trajectory data indicates at least one movement trajectory of the corresponding object, each movement trajectory in the at least one movement trajectory corresponds to one detection device in the at least one detection device, and each movement trajectory in the at least one movement trajectory is characterized by at least one third coordinate value;

and determining the azimuth angle of the at least one detection device according to the at least one set of second track data.

5. The method of claim 4, further comprising:

and determining at least one set of second track data according to at least one set of first track data of the at least one detection device, and determining the azimuth angle of the at least one detection device.

6. The method of claim 1, further comprising:

sending measurement instructions to each of the at least one target and each of the at least one probing devices;

receiving global positioning system GPS data from each of the at least one target;

the determining an azimuth angle of the at least one detecting device according to at least one set of first track data of the at least one detecting device comprises:

determining an azimuth angle of the at least one probe device based on at least one set of first trajectory data of the at least one probe device and the GPS data of each of the at least one target.

7. The method according to claim 6, characterized in that it further comprises at least once the following steps:

the azimuth of the at least one probe device is taken as a first initial azimuth of the corresponding probe device, and the azimuth of the at least one probe device is determined based on at least one set of first trajectory data of the at least one probe device and GPS data of each of the at least one target.

8. The method of claim 7, further comprising:

when the average distance between the coordinate track formed by the GPS data of each target in the at least one target and the moving track of the corresponding target detected by the detection device is not less than the set value, whether the measurement deviation of the global positioning system meets the requirement and/or whether the range deviation of the detection device meets the requirement is determined.

9. A communications apparatus, the apparatus comprising:

a first receiving module, configured to receive at least one set of first trajectory data from at least one detecting device, where each set of first trajectory data in the at least one set of first trajectory data corresponds to one detecting device in the at least one detecting device, and the each set of first trajectory data indicates a moving trajectory of at least one target, and the moving trajectory of each target in the at least one target is characterized by at least one first coordinate value;

a first determining module for determining an azimuth angle of the at least one detecting device according to the at least one set of first trajectory data from the at least one detecting device.

10. The apparatus of claim 9, wherein for each of the at least one probing apparatus, the apparatus further comprises:

a mapping module, configured to map at least one first coordinate value in first trajectory data corresponding to a first detection device to a global coordinate system according to a first initial azimuth to obtain at least one second coordinate value, where the first initial azimuth corresponds to the first detection device, the first detection device is any one of the at least one detection device, and the first trajectory data is any one of a set of first trajectory data corresponding to the first detection device;

and the second determining module is used for obtaining at least one third coordinate value according to the at least one second coordinate value, wherein the at least one third coordinate value is positioned in the set area, and the quantity of the at least one third coordinate value is not greater than the quantity of the at least one second coordinate value.

11. The apparatus of claim 9, wherein for each of the at least one probing apparatus, the apparatus further comprises:

a third determining module, configured to obtain at least one second coordinate value according to at least one first coordinate value in first trajectory data corresponding to a first detecting device, where the at least one second coordinate value is located in a set area, a quantity of the at least one second coordinate value is not greater than a quantity of the at least one first coordinate value, and the first detecting device is any one of the at least one detecting device;

and the fourth determining module is used for determining at least one third coordinate value according to a preset direction and the at least one second coordinate value.

12. The apparatus according to claim 10 or 11, wherein: the first determining module is specifically configured to determine at least one set of second trajectory data according to the at least one third coordinate value of the at least one detecting device, where each set of second trajectory data in the at least one set of second trajectory data corresponds to one object in the at least one object, and each set of second trajectory data indicates at least one moving trajectory of the corresponding object, each moving trajectory in the at least one moving trajectory corresponds to one detecting device in the at least one detecting device, and each moving trajectory in the at least one moving trajectory is characterized by at least one third coordinate value; and determining the azimuth angle of the at least one detection device according to the at least one set of second track data.

13. The apparatus of claim 12, further comprising:

and the fifth determining module is used for determining at least one group of second track data according to at least one group of first track data of the at least one detecting device and determining the azimuth angle of the at least one detecting device.

14. The apparatus of claim 9, further comprising:

a sending module, configured to send a measurement instruction to each of the at least one target and each of the at least one probing device;

a second receiving module for receiving global positioning system, GPS, data from each of the at least one target;

the first determining module is specifically configured to determine an azimuth angle of the at least one detecting device according to at least one set of first trajectory data of the at least one detecting device and GPS data of each of the at least one target.

15. The apparatus of claim 14, further comprising:

a sixth determining module for performing at least one of the following steps: the azimuth of the at least one probe device is taken as a first initial azimuth of the corresponding probe device, and the azimuth of the at least one probe device is determined based on at least one set of first trajectory data of the at least one probe device and GPS data of each of the at least one target.

16. The apparatus of claim 15, further comprising:

and the deviation measuring module is used for determining whether the measured deviation of the global positioning system meets the requirement and/or the ranging deviation of the detecting device meets the requirement when the average distance between the coordinate track formed by the GPS data of each target in the at least one target and the moving track of the corresponding target detected by the detecting device is not less than the set value.

17. A computer-readable storage medium, comprising a computer program which, when executed on a computer, causes the computer to perform the method of any one of claims 1-8.

18. A computer program for performing the method of any one of claims 1-8 when the computer program is executed by a computer.

19. A chip comprising a processor and a memory, the memory for storing a computer program, the processor for calling and running the computer program stored in the memory to perform the method of any one of claims 1-8.