CN117835399B - Method for tracking wireless signal tag by mobile terminal - Google Patents
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Abstract
A method for a mobile terminal to track a wireless signal tag, comprising the steps of: s1, in the process of changing the holding direction and the position of a mobile terminal, measuring the distance and the angle of a target wireless signal tag by using a UWB sensor, measuring the course angle by using a course angle measuring sensor, and recording a plurality of different distances between the mobile terminal and the target wireless signal tag, an AOA angle corresponding to each distance and the course angle; s2, determining the minimum distance among a plurality of different distances, and determining a target angle range; s3, selecting a plurality of AOA angles measured in a target angle range and course angles measured by measuring points corresponding to each AOA angle, and calculating a group of angle difference values; s4, determining a measurement angle difference between the AOA angle and the course angle; and S5, compensating the currently measured course angle by using the measured angle difference, and replacing the AOA angle with the angle obtained after compensation to finish UWB positioning based on an AOA algorithm. The invention can effectively improve the accuracy and stability of the positioning of the wireless signal tag.
Description
Technical Field
The present invention relates to wireless communication technology and mobile terminals, and in particular, to a method for tracking a wireless signal tag by a mobile terminal.
Background
UWB (Ultra-wide) positioning technology is a wireless communication technology, and performs high-precision positioning by using Ultra-Wideband signals. The method has higher time resolution and penetrating power, and can realize the positioning accuracy of centimeter level and even millimeter level. UWB positioning technology has wide application in indoor positioning, personnel positioning, vehicle positioning and other fields. AOA (Angle of Arrival) ranging algorithm is a positioning technology based on the angle of arrival of signals. The angle of the signal relative to the antenna array is judged by measuring the time difference of the signal reaching different antennas, and then the position of the target object is calculated. In practical applications, UWB positioning techniques and AOA ranging algorithms are often used in combination. By installing the UWB signal antenna array and the corresponding sensor, the time difference of UWB signals sent by the target object reaching different antennas can be read, and therefore the relative angle and distance between the target object and the antennas can be judged. And combining with an AOA ranging algorithm, the target object can be positioned.
By using the wireless signal tag with the tracking function and capable of externally transmitting UWB signals, a user can connect the tag with articles such as a key ring or a knapsack, the tag is connected with the mobile phone terminal app, and the mobile phone terminal can record relevant information of the tag (for example, the tag attribute is recorded as a series of keys). By installing the tag on the article, when a user wants to track the article, the UWB signal sent by the tag can be searched by the mobile phone, and the azimuth angle and the distance between the tag and the mobile phone can be calculated by an AOA algorithm.
Specifically, the UWB signal antenna array is arranged on the back of the mobile phone, the tag continuously transmits UWB signals to the periphery through the built-in UWB chip, the UWB sensor reads time differences of the UWB signals reaching different antennas of the antenna array, the UWB positioning technology calculates angles and distances between the tag and the antennas through an AOA ranging algorithm, and accordingly relative angles between the tag and the mobile phone are judged, and the tag is found.
When the mobile phone searches UWB signals sent by the tag, the azimuth angle and the distance between the tag and the mobile phone are calculated through an AOA algorithm, an arrow pointing to the tag can be displayed on a screen, a user is prompted on the key distance, and the user finds a key according to the prompt.
However, UWB tag positioning techniques based on AOA ranging algorithms have certain drawbacks.
The UWB signal used by the UWB positioning technology has the discontinuity, the measurement is inaccurate, the positioning result is deviated due to the factors such as the discontinuity of the signal, the measurement error and the like, the signal is unreliable, and even the problem of misjudgment exists.
In addition, UWB positioning calculates the angle of the signal sent by the tag relative to the mobile phone by measuring the time difference of the signal reaching different antennas of the antenna array, so that an effective range exists in the measuring angle of the signal, and when the signal received by the mobile phone exceeds the angle range, measurement errors are easy to generate.
It should be noted that the information disclosed in the above background section is only for understanding the background of the application and thus may include information that does not form the prior art that is already known to those of ordinary skill in the art.
Disclosure of Invention
The invention mainly aims to provide a method for tracking a wireless signal tag by a mobile terminal, which solves the problems of discontinuity, inaccurate measurement and even misjudgment of a UWB signal when the wireless signal tag is tracked by UWB positioning in the prior art, and improves the accuracy and the stability of the wireless signal tag positioning.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
A method for a mobile terminal to track a wireless signal tag, comprising the steps of:
S1, in the direction holding and position changing process of a mobile terminal, the mobile terminal utilizes a UWB sensor to measure the distance and angle of a target wireless signal tag based on an AOA algorithm, and simultaneously utilizes the course angle measuring sensor to measure the course angle of the mobile terminal, and records a plurality of different distances between the mobile terminal and the target wireless signal tag, the AOA angle corresponding to each distance and the course angle;
S2, determining the minimum distance among the plurality of different distances, and determining a target angle range taking the direction corresponding to the minimum distance as the center;
s3, selecting a plurality of AOA angles measured in the target angle range and course angles measured by measuring points corresponding to each AOA angle, and respectively calculating angle differences between each AOA angle and a corresponding course angle to obtain a group of angle differences;
s4, determining a measurement angle difference between the AOA angle and the course angle according to the group of angle differences;
And S5, compensating the currently measured course angle of the mobile terminal by using the measured angle difference, and replacing an AOA angle with the angle obtained after compensation to finish UWB positioning based on an AOA algorithm.
Further:
The AOA angle measured in step S1 includes an AOA angle of 0 degrees, the minimum distance in step S2 is a distance corresponding to an AOA angle of 0 degrees, and the target angle range is a target angle range centered on the AOA angle of 0 degrees.
In step S1, after the mobile terminal receives the instruction of tracking the wireless signal tag, the user is prompted to perform in-situ turning through voice and/or picture information, so as to drive the mobile terminal to change in direction and position along with the in-situ turning of the user.
In step S2, the target angle range is a [ -60, 60] degree range centered on the direction corresponding to the minimum distance.
In step S4, different weights are given to each angle difference in the set of angle differences, where the closer to the minimum distance, the greater the weight of the angle difference measured is, and the weighted filtering calculation is performed on each angle difference based on the weight of each angle difference, so as to obtain the measured angle difference.
The weighted filtering calculation comprises taking the weights as product coefficients, performing product operation on each angle difference and the respective weights to obtain a group of weighted angle differences, summing the weighted angle differences, and dividing the sum of the weighted angle differences by the sum of the weights to obtain the filtered measured angle differences.
And when detecting that the position of the mobile terminal changes, repeatedly executing the steps S1-S5, continuously correcting the measured angle difference, and continuously updating the angle of the tracking wireless signal tag by using the corrected measured angle difference.
The heading angle measurement sensor is an IMU sensor.
The IMU sensor includes a gyroscope and an accelerometer.
A computer readable storage medium storing a computer program which, when executed by a processor, implements the method.
The invention has the following beneficial effects:
In the tracking and positioning process of the wireless signal tag by the mobile terminal, the invention firstly searches the measurement angle difference between the AOA angle measured by the UWB sensor of the mobile terminal on the target wireless signal tag and the self course angle measured by the mobile terminal, namely, firstly establishes the compensation relation between the AOA angle measured by the mobile terminal aiming at the target tag and the course angle of the mobile terminal in real time, then compensates the course angle measured by the mobile terminal in real time by using the measurement angle difference, replaces the original AOA angle by the new AOA angle obtained after compensation (namely, replaces the AOA angle measured by the UWB sensor of the mobile terminal in real time after angle compensation calculation), and completes the UWB positioning based on the AOA algorithm. Therefore, the invention utilizes the advantages of continuity, good stability and high precision of the course angle measurement of the mobile terminal, overcomes the defects of signal discontinuity, signal loss, misjudgment and the like when the UWB tracks the tag by data fusion, overcomes the defects of unreliable signal and misjudgment when the traditional UWB tracks the tag, ensures that the mobile terminal can continuously and stably position the wireless signal tag, and improves the positioning accuracy and reliability. The invention corrects the error and limitation of the prior AOA algorithm by the data fusion method, thereby obtaining a more stable and reliable UWB positioning result and indicating the result to the user in real time, and the positioning result is not affected no matter whether the user walks or not, and the measurement angle difference can be updated in real time, so that the error is not generated due to the walking of the user, and the positioning accuracy and reliability are ensured.
The method for tracking the wireless signal tag by the mobile terminal can overcome the limitation of the traditional single UWB measurement method, realize more accurate and reliable UWB positioning results and improve the accuracy and reliability of wireless tag positioning and tracking.
In the preferred scheme, an effective range exists for the measurement angle of the UWB signal, and the problem of measurement error is easy to generate when the signal received by the mobile phone exceeds the angle range. When the mobile terminal turns along with the user, the UWB sensor can continuously measure the distance and angle information between the UWB sensor and the tag, and the best matching angle data is selected for fusion calculation. Therefore, even if errors exist in certain angle ranges, the errors can be compensated through data in other effective angle ranges, positioning accuracy and stability are improved, a user cannot influence positioning results whether the user is backward or walks, and the error positioning results cannot be given out because the user is backward to the tag.
Other advantages of embodiments of the present invention are further described below.
Drawings
Fig. 1 is a flowchart of a method for a mobile terminal to track a wireless signal tag according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a sensor recording data of a plurality of location points according to an embodiment of the present invention.
Fig. 3 is a schematic diagram of distances between a plurality of location points recorded by a sensor and a wireless signal tag according to an embodiment of the present invention.
Detailed Description
The following describes embodiments of the present invention in detail. It should be emphasized that the following description is merely exemplary in nature and is in no way intended to limit the scope of the invention or its applications.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing embodiments of the invention and to simplify the description by referring to the figures, rather than to indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the embodiments of the present invention, the meaning of "plurality" is two or more, unless explicitly defined otherwise.
Referring to fig. 1, an embodiment of the present invention provides a method for tracking a wireless signal tag by a mobile terminal, which is characterized by comprising the following steps:
S1, in the direction holding and position changing process of a mobile terminal, the mobile terminal utilizes a UWB sensor to measure the distance and angle of a target wireless signal tag based on an AOA algorithm, and simultaneously utilizes the course angle measuring sensor to measure the course angle of the mobile terminal, and a plurality of different distances (see d0, d1, d2 and d3 shown in fig. 3) between the mobile terminal and the target wireless signal tag, the AOA angle corresponding to each distance and the course angle are recorded;
S2, determining the minimum distance (d 0 shown in fig. 3) in the plurality of different distances, and determining a target angle range taking the direction corresponding to the minimum distance as the center;
preferably, the AOA angle measured in step S1 comprises an AOA angle of 0 degrees, the minimum distance in step S2 is a distance corresponding to an AOA angle of 0 degrees, the target angle range is a target angle range centered on the AOA angle of 0 degrees;
S3, selecting a plurality of AOA angles measured in the target angle range and course angles measured by measuring points corresponding to each AOA angle, and respectively calculating angle differences (delta) between each AOA angle and the corresponding course angle to obtain a group of angle differences;
s4, determining a measurement angle difference between the AOA angle and the course angle according to the group of angle differences;
And S5, compensating the currently measured course angle of the mobile terminal by using the measured angle difference, and replacing an AOA angle with the angle obtained after compensation to finish UWB positioning based on an AOA algorithm.
In some embodiments, the heading angle measurement sensor may be an IMU sensor, which typically includes a gyroscope and an accelerometer. The heading angle measurement sensor may be any other sensor capable of relatively continuous heading angle measurement, such as a magnetic field sensor or the like.
In the tracking and positioning process of the wireless signal tag, the distance and angle (AOA angle) information between the wireless signal tag and the target tag is measured by using the UWB sensor, corresponding course angle data provided by a course angle measuring sensor (such as an IMU sensor) is utilized, a compensation relation between the AOA angle measured by the mobile terminal aiming at the target tag and the course angle of the mobile terminal is built in real time, and then the current course angle measured in real time by the mobile terminal is subjected to compensation calculation according to the compensation relation to obtain a new AOA angle to replace the original AOA angle. The current course angle of the mobile terminal is compensated by using the measured angle difference to serve as a new AOA angle, and the obtained UWB positioning result corrects the measured deviation of the original AOA angle, so that the positioning accuracy and reliability are improved. The invention can fully utilize the advantages of the IMU sensor and the UWB sensor, and overcomes the error and the limitation of the traditional AOA algorithm, thereby obtaining a more stable and reliable UWB positioning result.
In a preferred embodiment, in step S2, the target angle range is a [ -60, 60] degree range centered on the direction corresponding to the minimum distance. Of course, the selection of the target angle range is not limited thereto.
In a preferred embodiment, in step S4, different weights are given to each angle difference in the set of angle differences, where the closer to the minimum distance, the greater the weight of the angle difference measured is, and the weighted filter calculation is performed on each angle difference based on the respective weight, so as to obtain the measured angle difference. In a specific embodiment, the weighted filtering calculation includes taking the weights as product coefficients, performing product operation on each angle difference and the respective weights to obtain a set of weighted angle differences, summing the weighted angle differences, and dividing the sum of the weights by the sum of the weights, thereby obtaining the filtered measured angle differences.
In the present invention, a filtering algorithm is used to process the set of angle differences that are calculated from the measured data of the UWB sensor and the IMU sensor to extract useful information from the noisy data. In one embodiment, first, a set of angle difference data is obtained, which are measured at different distances of the mobile terminal from the target wireless signal tag. Then, for the set of angle difference data, a weight is assigned to each angle difference based on their proximity to the minimum distance. Preferably, the closer to the minimum distance the measured angle difference is given a greater weight, which is done in order to emphasize those data points measured near the minimum distance, since the data points measured at the minimum distance are generally more reliable. Next, a weighted filter calculation is performed. For each angle difference, multiplying it by a corresponding weight to obtain a set of weighted angle differences. These weighted angle differences are then summed and divided by the sum of the weights (normalized) to obtain a filtered measured angle difference. Finally, the measured angle difference calculated by the weighted filtering is output, and the angle is used for subsequent angle compensation and label tracking. By the weighted filtering algorithm, the system can more effectively process noise and uncertainty in the measured data, so that the accuracy and the robustness of tag tracking are improved.
In a preferred embodiment, when detecting that the mobile terminal has a position change, steps S1-S5 are repeatedly performed to continuously correct the measured angle difference, and the corrected measured angle difference is used to continuously update the angle of tracking the wireless signal tag.
In a preferred embodiment, in step S1, after the mobile terminal receives the instruction for tracking the wireless signal tag, the user is prompted to perform in-situ turning through voice and/or picture information, so as to drive the mobile terminal to change in direction and position along with the in-situ turning of the user. Of course, the method does not need to turn the user, and only the holding direction and the position of the mobile terminal are changed within a certain time, the measurement data can be acquired for fusion processing, and the positioning accuracy is improved.
Specific embodiments of the present invention are described further below.
As a specific example, as shown in fig. 2 to 3, assuming that the tag of the wireless signal is in the north direction of the user (the user does not know the position of the tag at this time), the user turns around the handset in the clockwise direction, and the handset records data of a plurality of positions, and for clarity, only data of four positions p0, p1, p2, and p3 are shown in fig. 2 to 3. The UWB distance sensor records four distances d0, d1, d2, d3, the UWB sensor also records four angle values (not shown) of AOA at the corresponding positions, A0, A1, A2, A3, and the IMU sensor records four angle values (not shown) of heading angles, h0, h1, h2, h3, at the corresponding positions. In fact, when the mobile phone rotates one turn along with the rotation of the user, the distance between the mobile phone and the tag shows a sine-cosine relationship along with the change of the angle.
According to the foregoing manner, in the foregoing step S1, during the search process, the UWB sensor records a plurality of distance and angle information (AOA angles), and calculates the position of the target tag relative to the mobile terminal, while the heading angle measuring sensor also measures the heading angle corresponding to each distance, and when the search process is completed, the UWB sensor may stop searching and measuring the target tag, and obtain the measured angle difference between the AOA angle and the heading angle by the foregoing methods of steps S2 to S4, to prepare for the next compensation operation. And then, based on the current course angle measured by the mobile terminal in real time, performing compensation calculation by using the measured angle difference, and completing UWB positioning of the target tag by using the obtained measured angle to replace the original AOA angle.
Specifically, a minimum distance among a plurality of different distances can be determined, a target angle range taking a direction corresponding to the minimum distance position as a center is determined, then a plurality of AOA angles measured in the target angle range and course angles measured by measuring points corresponding to the AOA angles are selected, and angle differences between the AOA angles and corresponding course angles are calculated respectively to obtain a group of angle differences; from this set of angle differences, the measured angle difference between the AOA angle and the heading angle can be determined by a weighted filtering algorithm or the like.
In the traditional UWB positioning method, although the UWB sensor can measure distance and angle information, the measurement mode has signal discontinuity and error, and compared with the traditional UWB positioning method, the continuous course angle data and UWB measurement data are fused through the course angle measurement sensor, such as an IMU sensor, and the accuracy and reliability of UWB positioning are improved by utilizing the advantages of stability and reliability of the course angle data.
As described above, in the positioning process, firstly, the UWB sensor is used for measuring the distance and angle information between the mobile terminal and the target tag, and the IMU sensor of the mobile terminal is used for measuring the course angle, so that the compensation relation between the AOA angle and the course angle is established. The IMU sensor is continuous in course angle measurement, has the characteristics of stability and reliability, is not influenced by UWB measurement discontinuity, and is higher in measurement accuracy. By compensating this heading angle with the measured angle difference, the defect of discontinuity in the AOA angle measurement can be overcome. The course angle is used for compensation to replace the measurement result of the AOA angle corresponding to the original minimum distance moment, the data fusion between the measurement results of two different sensors is realized through the compensation calculation of the deviation compensation angle, the measurement deviation of the original AOA angle is corrected through the data fusion, the defects of signal loss or misjudgment and the like when the UWB tracks the tag are overcome, the defects of unreliable signals and misjudgment when the existing UWB tracks the tag are eliminated, and the positioning accuracy and reliability are improved.
By the data fusion method, the method for tracking the wireless signal tag by the mobile terminal can overcome the limitation of single UWB measurement, realize more accurate UWB positioning, obtain more stable and reliable positioning results, indicate to a user, update the measurement angle difference (offset) in real time, ensure the positioning accuracy and reliability without affecting the positioning results by the user whether the user moves backward or walks.
Further, the preferred embodiment of the present invention can solve the following problems:
the signal propagation path and time may vary due to the large angle between the signal direction and the UWB antenna. In some cases, the signal inputs may have similar time differences at different angles (e.g., 45 degrees and 135 degrees). This means that within some different angular ranges, there may be a similarity in the time differences of signal propagation, which may result in the AOA algorithm not accurately measuring the angle.
The preferred embodiment of the invention prompts the user to turn around to find the accurate minimum distance moment through the mobile terminal, and can effectively solve the problem of inaccurate measurement results caused by the fact that the signal angle is not in the effective range.
When the signal angle is not within the effective range of [ -60, 60], such as 135 degrees, if the AOA algorithm is directly used for measurement, the algorithm may misjudge the measured data as 45 degrees due to the change of the signal propagation path and time. Such misjudgment may lead to inaccurate positioning results. Through the swivel, the angle of the received signal can be changed continuously, so that the UWB sensor can measure more accurate angle information. When the user turns round, the UWB sensor can continuously measure the distance and angle information between the UWB sensor and the tag, and the best matching angle data is selected for fusion calculation. Thus, even if errors exist in certain angle ranges, the errors can be compensated by data of other angles, and the accuracy and the stability of positioning are improved. Therefore, by prompting the user to turn, the invention can find the accurate minimum distance moment and ensure that the signal angle is in the effective range, thereby obtaining more accurate positioning result. This helps to solve the problem of similar conditions (e.g., at 45 degrees and 135 degrees) of signal input time differences, improving the accuracy and stability of positioning.
The embodiments of the present invention also provide a storage medium storing a computer program which, when executed, performs at least the method as described above.
The embodiment of the invention also provides a control device, which comprises a processor and a storage medium for storing a computer program; wherein the processor is adapted to perform at least the method as described above when executing said computer program.
The embodiments of the present invention also provide a processor executing a computer program, at least performing the method as described above.
The storage medium may be implemented by any type of non-volatile storage device, or combination thereof. The nonvolatile Memory may be a Read Only Memory (ROM), a programmable Read Only Memory (PROM, programmable Read-Only Memory), an erasable programmable Read Only Memory (EPROM, erasableProgrammable Read-Only Memory), an electrically erasable programmable Read Only Memory (EEPROM, electricallyErasable Programmable Read-Only Memory), a magnetic random Access Memory (FRAM, ferromagneticRandom Access Memory), a Flash Memory (Flash Memory), a magnetic surface Memory, an optical disk, or a compact disk Read Only Memory (CD-ROM, compact Disc Read-Only Memory); the magnetic surface memory may be a disk memory or a tape memory. The storage media described in embodiments of the present invention are intended to comprise, without being limited to, these and any other suitable types of memory.
In the several embodiments provided by the present invention, it should be understood that the disclosed systems and methods may be implemented in other ways. The above described device embodiments are only illustrative, e.g. the division of the units is only one logical function division, and there may be other divisions in practice, such as: multiple units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. In addition, the various components shown or discussed may be coupled or directly coupled or communicatively coupled to each other via some interface, whether indirectly coupled or communicatively coupled to devices or units, whether electrically, mechanically, or otherwise.
The units described as separate units may or may not be physically separate, and units 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present invention may be integrated in one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated in one unit; the integrated units may be implemented in hardware or in hardware plus software functional units.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware associated with program instructions, where the foregoing program may be stored in a computer readable storage medium, and when executed, the program performs steps including the above method embodiments; and the aforementioned storage medium includes: a mobile storage device, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or optical disk, or the like, which can store program codes.
Or the above-described integrated units of the invention may be stored in a computer-readable storage medium if implemented in the form of software functional modules and sold or used as separate products. Based on such understanding, the technical solutions of the embodiments of the present invention may be embodied in essence or a part contributing to the prior art in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in the embodiments of the present invention. And the aforementioned storage medium includes: a removable storage device, ROM, RAM, magnetic or optical disk, or other medium capable of storing program code.
The methods disclosed in the method embodiments provided by the invention can be arbitrarily combined under the condition of no conflict to obtain a new method embodiment.
The features disclosed in the several product embodiments provided by the invention can be combined arbitrarily under the condition of no conflict to obtain new product embodiments.
The features disclosed in the embodiments of the method or the apparatus provided by the invention can be arbitrarily combined without conflict to obtain new embodiments of the method or the apparatus.
The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several equivalent substitutions and obvious modifications can be made without departing from the spirit of the invention, and the same should be considered to be within the scope of the invention.
Claims (10)
1. A method for a mobile terminal to track a wireless signal tag, comprising the steps of:
S1, in the direction holding and position changing process of a mobile terminal, the mobile terminal utilizes a UWB sensor to measure the distance and angle based on an AOA algorithm for a target wireless signal tag, and simultaneously utilizes a course angle measuring sensor to measure the course angle of the mobile terminal, and records a plurality of different distances between the mobile terminal and the target wireless signal tag, the AOA angle corresponding to each distance and the course angle;
S2, determining the minimum distance among the plurality of different distances, and determining a target angle range taking the direction corresponding to the minimum distance as the center;
s3, selecting a plurality of AOA angles measured in the target angle range and course angles measured by measuring points corresponding to each AOA angle, and respectively calculating angle differences between each AOA angle and a corresponding course angle to obtain a group of angle differences;
s4, determining a measurement angle difference between the AOA angle and the course angle according to the group of angle differences;
And S5, compensating the currently measured course angle of the mobile terminal by using the measured angle difference, and replacing an AOA angle with the angle obtained after compensation to finish UWB positioning based on an AOA algorithm.
2. The method of claim 1, wherein the AOA angle measured in step S1 comprises an AOA angle of 0 degrees, the minimum distance in step S2 is a distance corresponding to an AOA angle of 0 degrees, and the target angular range is a target angular range centered on the AOA angle of 0 degrees.
3. The method according to claim 1, wherein in step S1, after the mobile terminal receives the instruction for tracking the wireless signal tag, the user is prompted to perform an in-situ turn through voice and/or picture information, so as to drive the mobile terminal to change in direction and position along with the in-situ turn of the user.
4. The method of claim 1, wherein in step S2, the target angular range is a [ -60, 60] degree range centered on the direction corresponding to the minimum distance.
5. The method according to claim 1, wherein in step S4, different weights are given to each angle difference in the set of angle differences, wherein the closer to the minimum distance, the greater the weight of the angle difference measured is, and wherein the weighted filter calculation is performed on each angle difference based on the respective weight, resulting in the measured angle difference.
6. The method of claim 5 wherein said weighted filter calculation includes multiplying each angular difference by a respective weight with a weight as a product coefficient to obtain a set of weighted angular differences, summing said weighted angular differences, and dividing by the sum of weights to obtain said filtered measured angular differences.
7. The method according to any one of claims 1 to 6, wherein when a change in position of the mobile terminal is detected, steps S1-S5 are repeatedly performed, continuously correcting the measured angle difference, and continuously updating the angle of tracking wireless signal tags using the corrected measured angle difference.
8. The method of any of claims 1 to 6, wherein the heading angle measurement sensor is an IMU sensor.
9. The method of claim 8, wherein the IMU sensor comprises a gyroscope and an accelerometer.
10. A computer readable storage medium storing a computer program, which when executed by a processor, implements the method of any one of claims 1 to 9.
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| CN114063067A (en) * | 2021-11-16 | 2022-02-18 | 深圳市飞睿智能有限公司 | Object state sensing detection method and system |
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