WO2016187752A1

WO2016187752A1 - Method and device for measuring antenna attitude

Info

Publication number: WO2016187752A1
Application number: PCT/CN2015/079596
Authority: WO
Inventors: 李明凡; 李颖哲; 耿卫东
Original assignee: 华为技术有限公司
Priority date: 2015-05-22
Filing date: 2015-05-22
Publication date: 2016-12-01
Also published as: CN107534202B; CN107534202A

Abstract

An embodiment of the present invention relates to a technical field of antenna attitude measurement, and discloses a method and device for measuring an antenna attitude, so as to address the complex antenna manufacturing process in prior art due to the need to add a measurement device to each antenna during the antenna manufacturing process. The method provided in the embodiment of the present invention comprises: acquiring I images captured correspondingly from I viewpoints by an electronic device, wherein each image comprises a sub image of an antenna to be measured, I ≥ 2, and I is an integer; acquiring a two-dimensional coordinate of each point of a to-be-measured set in each of the I images with respect to an electronic device coordinate system, wherein the to-be-measured set is a set formed by at least two points in the sub image of the antenna to be measured; acquiring a three-dimensional coordinate of said point with respect to an antenna coordinate system; and determining attitude information of the antenna to be measured according to the two-dimensional coordinates of the points with respect to the electronic device coordinate system and the three-dimensional coordinates of the points with respect to the antenna coordinate system.

Description

Method and device for measuring antenna attitude

Technical field

The present invention relates to the field of antenna attitude measurement technologies, and in particular, to a method and apparatus for measuring an antenna attitude.

Background technique

In the antenna erection of outdoor communication, the attitude of the antenna has a very important influence on the coverage of the signal, and will further affect the quality of the network communication. Therefore, it is important to measure the attitude of the antenna. The antenna attitude is typically reflected by antenna attitude information (eg, downtilt, azimuth, etc.).

At present, the antenna attitude is generally measured by adding a measuring device to each antenna, wherein the measuring device mainly comprises a sensor, a bracket and a wireless communication module, and the bracket is used for fixedly connecting the antenna and the sensor; The antenna attitude information is used to transmit the antenna attitude information measured by the sensor to the device that needs to acquire the antenna attitude information through the wireless communication module.

Since there is a safety hazard in directly installing the measuring device for the already installed antenna, the measuring device is generally installed for each antenna in the process of producing the antenna; however, this causes the process of producing the antenna to be complicated.

Summary of the invention

Embodiments of the present invention provide a method and apparatus for measuring an attitude of an antenna, which is used to solve the problem in the prior art that a measuring device is required for each antenna in the process of producing an antenna, thereby causing a complicated process for producing an antenna. The problem.

In order to achieve the above object, embodiments of the present invention adopt the following technical solutions:

In a first aspect, a method of measuring an attitude of an antenna is provided, comprising:

Obtaining an image that the electronic device collects correspondingly from one viewpoint; wherein each The image includes an antenna sub-image to be measured, I≥2, and I is an integer;

Acquiring two-dimensional coordinates of each point in the to-be-measured set of each of the I images in an electronic device coordinate system; wherein the to-be-measured set is at least two points of the to-be-measured antenna sub-image a collection of

Obtaining three-dimensional coordinates of the points in the antenna coordinate system;

Determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.

With reference to the first aspect, in a first possible implementation, the determining, according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system, The posture information of the measurement antenna is described, including:

Obtaining, according to the two-dimensional coordinates of the points in the electronic device coordinate system, the three-dimensional coordinates of the points in the reference coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;

Determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.

In conjunction with the first possible implementation of the first aspect, in a second possible implementation, the three-dimensional coordinates according to the points in the reference coordinate system and the coordinates of the points in the antenna coordinates Determining the attitude information of the antenna to be measured, including:

Obtaining a rotation matrix between the world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;

Obtaining posture information of the antenna to be measured is obtained according to a rotation matrix between the world coordinate system and the antenna coordinate system.

In conjunction with the second possible implementation of the first aspect, in a third possible implementation, the reference coordinate system is a calibration plate coordinate system; each of the images further includes Marking a sub-image; obtaining a rotation matrix between the world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system ,include:

_Obtaining a rotation matrix R _{c2a of the} calibration plate coordinate system to the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system ;

Obtaining a rotation matrix R _{p2c of} the electronic device coordinate system to the calibration plate coordinate system according to the calibration plate sub-image included in each of the images;

_Obtaining a rotation matrix R _{w2a of} the world coordinate system to the antenna coordinate system according to the formula R _w2a =R _w2p R _p2c R _c2a ; wherein R _w2p is a rotation matrix of the world coordinate system to the electronic device coordinate system .

With reference to the first aspect, the first possible implementation manner of the first aspect, and the third possible implementation manner, in a fourth possible implementation manner, the to-be-measured set is: the antenna to be measured A set of two endpoints of the long axis of the sub-image, or a set of points on the outer contour of the image of the antenna sub-image to be measured.

With reference to the first aspect, the first possible implementation manner of the first aspect, and the fourth possible implementation manner, in a fifth possible implementation manner, the posture information of the antenna to be measured includes the following information. At least one of: azimuth, tilt angle.

In a second aspect, an apparatus is provided, comprising:

a first acquiring unit, configured to acquire one image that is collected by the electronic device from the I viewpoints; wherein each of the images includes an antenna sub-image to be measured, I≥2, and I is an integer;

a second acquiring unit, configured to acquire two-dimensional coordinates of each point in the to-be-measured set of each of the I images in an electronic device coordinate system; wherein the to-be-measured set is the antenna to be measured a collection of at least two points of a sub-image;

a third acquiring unit, configured to acquire three-dimensional coordinates of the points in an antenna coordinate system;

a determining unit, configured to determine posture information of the antenna to be measured according to two-dimensional coordinates of the points in the electronic device coordinate system and three-dimensional coordinates of the points in the antenna coordinate system.

With reference to the second aspect, in a first possible implementation manner, the determining unit is specifically configured to:

With reference to the first possible implementation of the second aspect, in a second possible implementation, the determining unit is specifically configured to:

In conjunction with the second possible implementation of the second aspect, in a third possible implementation, the reference coordinate system is a calibration plate coordinate system; each of the images further includes a calibration plate sub-image; the determining The unit is specifically used to:

With reference to the second aspect, the first possible implementation manner of the second aspect, and the third possible implementation manner, in the fourth possible implementation manner, the to-be-measured set is: the antenna to be measured A set of two endpoints of the long axis of the sub-image, or a set of points on the outer contour of the image of the antenna sub-image to be measured.

With reference to the second aspect, the first possible implementation manner of the second aspect, and the fourth possible implementation manner, in a fifth possible implementation manner, the posture information of the antenna to be measured includes the following information. At least one of: azimuth, tilt angle.

The method and device for measuring an attitude of an antenna provided by the embodiment obtains an image of an antenna that is correspondingly collected from an I viewpoint, wherein each image includes an image of the antenna to be measured; and the image is obtained according to the image. 2D coordinates of at least two points of the antenna sub-image to be measured in the electronic device coordinate system, according to the two-dimensional coordinates of the at least two points in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system, Determine the attitude information of the antenna to be measured. The technical solution measures the attitude of the antenna by using one image correspondingly collected from one viewpoint, and does not need to install any hardware device on the antenna in the process, so that it can solve the prior art, because it needs to be in the process of producing the antenna. The root antenna is equipped with a measuring device, which leads to a more complicated process of producing an antenna. In addition, there is no need to install any hardware device on the antenna in the process, and the cost of measuring the attitude of the antenna can be saved.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and other drawings can be obtained from those skilled in the art without any inventive labor.

FIG. 1 is a flowchart of a method for measuring an attitude of an antenna according to Embodiment 1 of the present invention; schematic diagram;

2 is a schematic flowchart of a method for measuring an attitude of an antenna according to Embodiment 2 of the present invention;

3 is a schematic flowchart of a method for measuring an attitude of an antenna according to Embodiment 3 of the present invention;

4 is a schematic structural diagram of an apparatus according to Embodiment 4 of the present invention;

FIG. 5 is a schematic structural diagram of a device according to Embodiment 5 of the present invention.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The term "plurality" as used herein refers to two or more.

Embodiment 1

FIG. 1 is a schematic flowchart diagram of a method for measuring an attitude of an antenna according to an embodiment of the present invention. The method shown in Figure 1 includes:

S101: Acquire an I image that is collected by the electronic device from one viewpoint; wherein each image includes an antenna sub-image to be measured, I≥2, and I is an integer.

The execution body of the method for measuring the attitude of the antenna provided by the embodiment of the present invention may be the “electronic device” described above, or may be a virtual device or a physical device different from the electronic device.

A camera is installed in the “electronic device” for collecting images; the electronic device may specifically be: a smart phone, a tablet computer, or the like.

“Viewpoint” refers to the location where the electronic device is located; the images acquired by the electronic device at the same viewpoint are the same image. The "I viewpoint" can be selected by the user to enable the electronic device to capture any I position of the antenna sub-image to be measured.

The “I images acquired by the electronic device from the I viewpoints” specifically include: the electronic device collects one image from each viewpoint.

For example, the electronic device collects 1 image correspondingly from one viewpoint through the camera. Wherein, the I viewpoints may be: 4-5 viewpoints uniformly arranged within a range of 45-60 degrees centered on a certain orientation of the antenna to be measured (for example, a long axis direction or a short axis direction, etc.) . Of course, I can also determine I viewpoints by other means. It should be noted that the larger the value of I is, the more accurate the attitude information of the antenna to be measured is finally obtained.

S102: in each image of the I image, obtaining two-dimensional coordinates of each point in the set to be measured in an electronic device coordinate system; wherein the to-be-measured set is composed of at least two points of the antenna sub-image to be measured Collection.

The "to-be-measured set" may be a set of any number of points of the antenna sub-image to be measured; wherein the "point" here is an exponential point, similar to the "intersection", "vertex" in the mathematical sense, "Midpoint", "Endpoint", etc. Each point in the set to be measured may be preset, or may be acquired by the execution subject in the process of executing the method.

Optionally, the set to be measured is a set of two endpoints of a long axis of the antenna sub-image to be measured, or a set of points on an outer contour of the antenna sub-image to be measured. In addition, it may also be a set of specific points on the outer contour of the antenna sub-image to be measured, or a set of two end points of the short axis of the antenna sub-image to be measured, and the like. The “specific point” may be a preset point, for example, a point from a certain point on the outer contour of the antenna sub-image to be measured, an integral multiple of a preset distance from the point, and the like.

The “electronic device coordinate system” is a three-dimensional coordinate system formed by an image captured by the electronic device and an axis perpendicular to the two-dimensional plane; wherein the two-dimensional plane is x in the electronic device coordinate system, The plane in which the y-axis is located, the axis perpendicular to the two-dimensional plane is the z-axis in the electronic device coordinate system. The "two-dimensional coordinates in the electronic device coordinate system" is the coordinates in the two-dimensional plane in which the image captured by the electronic device is located.

For example, if an electronic device (such as a smart phone) contains a screen and its screen The screen is a rectangle, and the “electronic device coordinate system” may specifically be: the direction of the bottom edge of the electronic device screen to the right is the direction in which the x-axis is located, and the direction of the vertical direction of the screen is the direction in which the y-axis is located, and The direction in which the screen is vertically upward is the direction in which the z-axis is located.

S103: Acquire three-dimensional coordinates of the points in the antenna coordinate system.

For example, generally, the execution subject has been able to know information such as the shape of the antenna to be measured before performing the method. The execution body may establish a three-dimensional model for the antenna to be measured according to information such as the shape of the antenna to be measured, and determine the antenna coordinate system. In theory, any one of the three-dimensional models can be used as any coordinate axis of the antenna coordinate system; optionally, the direction of the long axis of the antenna sub-image to be measured in the three-dimensional model can be used as the antenna coordinate system. The direction of the z-axis. The electronic device can directly obtain the three-dimensional coordinates of any point of the antenna to be measured in the antenna coordinate system.

S104: Determine posture information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.

Optionally, the attitude information of the antenna to be measured includes at least one of the following information: azimuth angle, tilt angle

Optionally, S104 may include: Step 1): obtaining a rotation matrix between the antenna coordinate system and the world coordinate system according to the two-dimensional coordinates of each point in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system. Step 2), according to the rotation matrix between the antenna coordinate system and the world coordinate system, obtain the attitude information of the antenna to be measured.

Specifically, the foregoing step 1) may include: step 11), obtaining a coordinate between the antenna coordinate system and the electronic device coordinate system according to the two-dimensional coordinates of each point in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system. a rotation matrix; step 12), acquiring a rotation matrix between the electronic device coordinate system and the world coordinate system; step 13), according to a rotation matrix between the antenna coordinate system and the electronic device coordinate system, and an electronic device coordinate system and a world coordinate system The rotation matrix gives the antenna coordinate system and the world coordinate system.

For the implementation method of obtaining the rotation matrix between the antenna coordinate system and the electronic device coordinate system in step 11), refer to the calibration plate coordinate system obtained in the second embodiment to sit on the antenna. For the specific implementation of the rotation matrix of the label, the implementation of the step 12) can also refer to the second embodiment, and details are not described herein again.

Optionally, the S104 may include: acquiring three-dimensional coordinates of each point in a reference coordinate system according to two-dimensional coordinates of each point in an electronic device coordinate system; wherein, the reference coordinate system is a calibration plate coordinate system or a world coordinate system; The attitude information of the antenna to be measured is determined according to the three-dimensional coordinates of each point in the reference coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system.

For example, the "reference coordinate system" may be a world coordinate system or a user-defined coordinate system; the user-defined coordinate system is referred to herein as a calibration plate coordinate system.

The method for measuring an attitude of an antenna provided by the embodiment obtains an image of an antenna that is correspondingly collected from an I viewpoint, wherein each image includes an image of the antenna to be measured; and according to the image, the image to be measured is acquired. The two-dimensional coordinates of the at least two points of the antenna sub-image in the electronic device coordinate system, thereby determining the two-dimensional coordinates of the at least two points in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system Measure the attitude information of the antenna. The technical solution measures the attitude of the antenna by using one image correspondingly collected from one viewpoint, and does not need to install any hardware device on the antenna in the process, so that it can solve the prior art, because it needs to be in the process of producing the antenna. The root antenna is equipped with a measuring device, which leads to a more complicated process of producing an antenna. In addition, there is no need to install any hardware device on the antenna in the process, and the cost of measuring the attitude of the antenna can be saved.

Embodiment 2

The "reference coordinate system" in the first embodiment is the calibration plate coordinate system in this embodiment.

It should be noted that the position of the calibration plate has been set before the implementation of the embodiment; wherein the position of the calibration plate may be an image capable of simultaneously acquiring the antenna to be measured at one viewpoint (ie, the antenna sub-image to be measured) ) and any position of the image of the calibration plate (ie, the calibration plate sub-image). During the measurement of the attitude of the antenna (i.e., during the execution of the method of Figure 2 by the electronic device), the position of the calibration plate does not change. The closer the distance between the position where the calibration plate is located and the position where the antenna to be measured is located, the antenna to be measured obtained by the electronic device The more accurate the gesture information.

FIG. 2 is a schematic flowchart diagram of a method for measuring an attitude of an antenna according to an embodiment of the present invention. The execution body of the method shown in FIG. 2 is an electronic device, and the method includes:

S201: Acquire one image correspondingly from one viewpoint; wherein, one image is acquired from each viewpoint, and each image includes an antenna sub-image to be measured and a calibration sub-image, I≥2, and I is an integer.

For related description of the step S201, reference may be made to the above, and details are not described herein again.

In the present embodiment, the "I viewpoint" is such that the electronic device can simultaneously acquire the viewpoint including the image of the antenna to be measured and the image of the calibration board.

S202: In each image of the I images, obtain two-dimensional coordinates of each point in the set to be measured in an electronic device coordinate system.

In this embodiment, the set to be measured is a set of points formed on the outer contour of the antenna sub-image to be measured, or a set of two endpoints of the long axis of the antenna sub-image to be measured.

The electronic device can obtain the two-dimensional coordinates of each point on the outer contour of the antenna sub-image to be measured in an image in an electronic device coordinate system by using the image of the antenna to be measured in an image as a foreground, and the image is in the image. The rest of the background is used as a background to form a mask image. On the mask image, the two-dimensional coordinates of the points on the outer contour of the antenna sub-image to be measured are calculated in the electronic device coordinate system. Exemplarily, the electronic device can obtain the two-dimensional coordinates of each point on the outer contour of the antenna sub-image to be measured in the electronic device coordinate system by calling the findContour function in the opencv (open source) data packet.

The electronic device can obtain the end point of the long axis of the antenna sub-image to be measured in an image by: forming a 2×N matrix of the two-dimensional coordinates of the N front sights on the mask image in the electronic device coordinate system, wherein The element on each column of the matrix is a two-dimensional coordinate of a front spot in the electronic device coordinate system; a point K obtained by taking the mean value of the elements on each column of the matrix, and the absolute value of the matrix is larger The feature vector L corresponding to the feature value, that is, the long axis axis. The line determined by K and L and the antenna to be measured The outer contour of the sub-image must have two intersection points, which are the two endpoints of the long axis of the antenna sub-image to be measured. Illustratively, the N front attractions are generally all of the previous attractions on the mask image. The electronic device can obtain the mean value of the elements on each column in the matrix by performing Principal Component Analysis (PCA) on the 2×N matrix.

Suppose that the number of elements in the set to be measured is J, where J ≥ 2, and J is an integer; then, in the ith image, points in the set to be measured can be expressed as:

among them,

a vector representing a two-dimensional coordinate of the jth point in the set to be measured under the i-th image;

Specifically can be expressed as

1 ≤ i ≤ I, 1 ≤ j ≤ J, i, j are integers.

S203: Obtain three-dimensional coordinates of each point in the calibration plate coordinate system according to the two-dimensional coordinates of each point in the electronic device coordinate system.

For example, an electronic device can be

The minimum principle is to obtain the three-dimensional coordinates of the jth point in the set to be measured in the calibration plate coordinate system;

Representing: the projection of the three-dimensional coordinates of the j-th point in the calibration set in the calibration plate coordinate system on the i-th image, and the position of the j-th point in the i-th image (ie, the jth The distance between the two-dimensional coordinates of the point in the electronic device coordinate system. This can be achieved by the following steps:

1), obtain the foot of each reference line from P _j to the jth point, labeled Z _j .

Wherein, P _j represents a vector formed by the three-dimensional coordinates of the j-th point to be obtained in the calibration plate coordinate system; alternatively, the initial value of P _{j is} the origin of the calibration plate coordinate system; of course, it is not limited thereto. The reference line of the jth point is: the optical center of the camera under each viewpoint, and the line where the jth point is located in the image acquired by the electronic device at the viewpoint.

The line L _i of the optical center of the camera at the i-th viewpoint and the position of the j-th point in the i-th image can be expressed as:

Indicates the rotation matrix of the electronic device coordinate system to the calibration coordinate system at the i-th viewpoint.

Express

Transposed matrix

Representation vector

The kth element, k is 0 or 1.

Wherein, the electronic device can be obtained by the following method

Obtaining an external parameter of the viewpoint lower point electronic device by using the calibration board sub-image and the antenna sub-image to be measured in the image acquired by the viewpoint under the i-th viewpoint; wherein the external parameter includes

with

Indicates the translation matrix of the electronic device coordinate system to the calibration plate coordinate system at the i-th viewpoint. Specifically, the electronic device can obtain an external parameter of the electronic device at each view according to the image acquired at each view point and call the calibrateCamera function of opencv.

2) The update Z _j P _j. Optional, the electronic device can

The value is taken as the updated P _j .

Steps 1) and 2) are performed M times, and the finally updated P _{j is} used as the three-dimensional coordinates of the j-th point obtained by the electronic device after the step S203 in the calibration plate coordinate system. Where M is an integer greater than one. The larger the value of M, the more accurate the three-dimensional coordinates of the j-th point obtained by the electronic device in the calibration plate coordinate system; alternatively, M=200.

S204: Acquire three-dimensional coordinates of each point in an antenna coordinate system.

The electronic device establishes a three-dimensional model for the antenna to be measured in advance and determines an antenna coordinate system. The direction in which the long axis of the antenna sub-image to be measured in the three-dimensional model is located is taken as the direction of the z-axis of the antenna coordinate system. The electronic device can directly obtain the three-dimensional coordinates of any point of the antenna to be measured in the antenna coordinate system.

A vector composed of three-dimensional coordinates of the j-th point in the antenna coordinate system is denoted as F _j .

S205: According to the three-dimensional coordinates of each point in the coordinate plate coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system, the rotation matrix of the calibration plate coordinate system to the antenna coordinate system is obtained.

For example, the three-dimensional coordinates of each point in the antenna coordinate system are mapped to the calibration plate coordinate system according to the rotation matrix R and the translation matrix T; the three-dimensional coordinates of each point in the calibration plate coordinate system are compared to corresponding When the matching degree of the points after the mapping is the highest, the matching degree between the three-dimensional coordinates in the calibration plate coordinates is the rotation matrix R _{c2a of the} calibration plate coordinate system to the antenna coordinate system.

For example, R _c2a can be determined by the following method, of course, not limited thereto. The method may specifically include: marking the vectors formed by the three-dimensional coordinates of the J points in the calibration plate coordinate system as P ₁ , P ₂ , . . . , P _j , . . . , P _J , respectively. The vectors formed by the three-dimensional coordinates of the point in the antenna coordinate system are respectively labeled as F ₁ , F ₂ , ..., F _j , ..., F _J ; then, the two endpoints of the J points are in the antenna coordinate system. After the three-dimensional coordinates are mapped to the calibration plate coordinate system according to the rotation matrix R ₂ and the translation matrix T ₂ , the obtained three-dimensional coordinates are respectively composed of R ₂ F ₁ + T ₂ , R ₂ F ₂ + T ₂ , ... R ₂ F _j + T ₂ , ..., R ₂ F _J + T ₂ ; further, R _c2a is

The lowest R ₂ .

It should be noted that R _c2a under each viewpoint is the same.

S206: Obtain a rotation matrix of the world coordinate system to the antenna coordinate system according to the rotation matrix of the calibration plate coordinate system to the antenna coordinate system.

For example, according to the formula R _w2a = R _w2p R _p2c R _c2a , a rotation matrix R _{w2a of the} world coordinate system to the antenna coordinate system is _obtained ; wherein R _w2p is a rotation matrix of the world coordinate system to the electronic device coordinate system. This can be achieved by the following steps:

1), get R _w2p under each viewpoint, specific:

According to the formula

Get R _w2p under the i-th viewpoint, ie

Wherein, φ, θ, and ψ are respectively the roll angle, the direction angle, and the elevation angle of the obtained electronic device according to the data measured by the acceleration sensor in the electronic device under the i-th viewpoint.

It should be noted that, in an implementation, the electronic device further includes an acceleration sensor, and the method may further include: when the electronic device collects an image at each viewpoint, recording the data measured by the acceleration sensor in the electronic device to obtain the view point. The rotation matrix of the world coordinate system to the electronic device coordinate system.

In addition, it should be noted that the data measured by the acceleration sensor in the electronic device is data in the sensor coordinate system. In the embodiment of the present invention, the electronic device coordinate system is consistent with the sensor coordinate system as an example; wherein the electronic device coordinate system and the sensor coordinate system are consistent, the rotation matrix between the electronic device coordinate system and the sensor coordinate system is Each element is 0. In the specific implementation, if the two coordinate systems are inconsistent, the electronic device needs to first convert the data measured by the acceleration sensor into the number in the electronic device coordinate system. According to this, the rotation matrix of the world coordinate system to the electronic device coordinate system is obtained. The sensor coordinate system is a coordinate system preset in the sensor.

2), get R _p2c under each viewpoint, specific:

For the acquisition process of R _p2c under the i-th viewpoint, reference may be made to step S203 above.

3), get R _c2a under each viewpoint, specific:

R _c2a the i-th viewpoint is the R _c2a obtained in the above step S205.

4), get R _w2a under each viewpoint, specific:

According to the formula

Obtain R _w2a under the i-th viewpoint, that is,

S207: Obtain posture information of the antenna to be measured according to a rotation matrix of the world coordinate system to the antenna coordinate system. The posture information includes a downtilt angle and an azimuth angle. specific:

1), according to the formula

The orientation [f _i , n _i , s _i ] of the antenna to be measured in the world coordinate system is obtained. Wherein, f _i , n _i , s _i respectively represent: in the world coordinate system, the long-axis direction vector, the front surface normal vector and the side surface normal vector of the antenna sub-image to be measured; f _a , n _a , s _a respectively represent : On the three-dimensional model of the antenna to be measured, the long-axis direction vector, the front surface normal vector, and the side surface normal vector of the antenna sub-image to be measured.

2) Obtain the downtilt and azimuth angles of the antenna to be measured at each viewpoint. specific:

According to the formula l _i =90-arccos(g'·f _i )*180/arccos(-1), the downtilt angle l _{i of the} antenna to be measured at the i-th viewpoint is obtained; where g'=gg·s _i ,g Represents a gravity vector, g = (0, 0, 1) ^T , g' represents the projection of g on the side surface of the antenna to be measured.

According to the formula z _i =arctan2(n _a '(0), n _a '(1))*180/arccos(-1)-90, the azimuth angle z _{i of the} antenna to be measured at the i-th viewpoint is obtained. Where n _a '(0) denotes the kth element of n _a ', k is 0 or 1; n _a '=(n _a (0), n _a (1), 0), indicating that n _{a is} on a horizontal plane Projection; n _a (k) represents the kth element of n _a .

3) Obtain the attitude information of the antenna to be measured. specific:

According to the formula

The downtilt angle l of the antenna to be measured is obtained.

According to the formula

The azimuth angle z of the antenna to be measured is obtained.

The method for measuring the posture of the antenna provided by the embodiment, the electronic device collects one image correspondingly from one viewpoint, wherein each image includes an image of the antenna to be measured; and according to the image, the antenna to be measured is obtained. The three-dimensional coordinates of at least two points of the image in the calibration plate coordinate system, thereby determining according to the three-dimensional coordinates of the at least two points in the calibration plate coordinate system and the three-dimensional coordinates of the at least two points in the antenna coordinate system The attitude information of the antenna to be measured. The technical solution measures the attitude of the antenna by using one image correspondingly collected from one viewpoint, and does not need to install any hardware device on the antenna in the process, so that it can solve the prior art, because it needs to be in the process of producing the antenna. The root antenna is equipped with a measuring device, which leads to a more complicated process of producing an antenna. Moreover, there is no need to install any hardware device on the antenna in the process, and the cost of measuring the attitude of the antenna can be saved. In addition, since the calibration plate coordinate system is used as the reference coordinate system in the present embodiment, the stability of the reference coordinate system is high, and thus the measurement result can be made more accurate.

Embodiment 3

The "reference coordinate system" in the first embodiment is the world coordinate system in this embodiment.

FIG. 3 is a schematic flowchart diagram of a method for measuring an attitude of an antenna according to an embodiment of the present invention. The method shown in Figure 3 is applied to an electronic device, the method comprising:

S301: Acquire one image correspondingly from one viewpoint; wherein each viewpoint acquires one image, and each image includes an antenna sub-image to be measured, I≥2, and I is an integer.

S302: In each image of the I images, obtain two-dimensional coordinates of each point in the set to be measured in an electronic device coordinate system.

S303: Obtain three-dimensional coordinates of each point in the world coordinate system according to the two-dimensional coordinates of each point in the electronic device coordinate system.

For example, the electronic device may acquire three-dimensional coordinates of each point in the world coordinate system according to the specific implementation method of step S203 described above. Specifically, the electronic device replaces the “scaling plate coordinate system” in the related explanation of the above step S203 with the “world coordinate system”. You can get the three-dimensional coordinates of each point in the world coordinate system.

S304: Acquire three-dimensional coordinates of each point in an antenna coordinate system.

S305: Obtain a rotation matrix of the world coordinate system to the antenna coordinate system according to the three-dimensional coordinates of each point in the world coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system.

For example, according to the formula R _w2a = R _w2p R _p2a , the rotation matrix R _{w2a of the} world coordinate system to the antenna coordinate system is _obtained . This can be achieved by the following steps:

1), obtaining R _w2p under each viewpoint, specific: Refer to the related description of 1) in step S206 in the second embodiment.

2), obtaining R _p2a under each viewpoint, specifically: the electronic device may acquire R _w2a according to the specific implementation manner of step S205 described above. Specifically, the electronic device replaces the “scaling plate coordinate system” in the specific implementation manner of the above step S205 with the “world coordinate system”, and replaces R _c2a with R _w2a to obtain R _w2a .

S306: Obtain posture information of the antenna to be measured according to a rotation matrix between the world coordinate system and the antenna coordinate system. The posture information includes a downtilt angle and an azimuth angle.

It should be noted that the related description of step S301 may refer to step S101 above. The related description of step S302 may refer to step S202. The related description of step S304 may refer to step S204 in the second embodiment. Step S207 in the second example, and details are not described herein again.

The method for measuring the posture of the antenna provided by the embodiment, the electronic device collects one image correspondingly from one viewpoint, wherein each image includes an image of the antenna to be measured; and according to the image, the antenna to be measured is obtained. Determining the three-dimensional coordinates of at least two points of the image in the world coordinate system, thereby determining the antenna to be measured according to the three-dimensional coordinates of the at least two points in the world coordinate system and the three-dimensional coordinates of the at least two points in the antenna coordinate system Gesture information. The technical solution measures the attitude of the antenna by using one image correspondingly collected from one viewpoint, and does not need to install any hardware device on the antenna in the process, so that it can solve the prior art, because it needs to be in the process of producing the antenna. The root antenna is equipped with a measuring device, which leads to a more complicated process of producing an antenna. And, not in the process It is necessary to add any hardware device to the antenna, and it can also save the cost of measuring the attitude of the antenna. In addition, since the world coordinate system is used as the reference coordinate system in the present embodiment, and the direction in which the coordinate axes of the world coordinate system are located is known, the method of measuring the attitude of the antenna can be realized simply.

Embodiment 4

4 is a schematic structural diagram of a device according to the embodiment, which is used to perform the method for measuring the attitude of the antenna provided in the first embodiment. For the explanation of the related content in this embodiment, reference may be made to the first embodiment. The apparatus 4 as shown in FIG. 4 may include:

The first acquiring unit 41 is configured to acquire, by the electronic device, I images that are correspondingly collected from the I viewpoints, where each of the images includes an antenna sub-image to be measured, I≥2, and I is an integer;

a second acquiring unit 42 is configured to acquire two-dimensional coordinates of each point in the to-be-measured set of each of the I images in an electronic device coordinate system, where the to-be-measured set is the to-be-measured a collection of at least two points of an antenna sub-image;

The third obtaining unit 43 is configured to acquire three-dimensional coordinates of the points in the antenna coordinate system;

The determining unit 44 is configured to determine posture information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.

In an implementation manner of this embodiment, the determining unit 44 is specifically configured to:

In this implementation, the determining unit 44 is specifically configured to:

According to the three-dimensional coordinates of the points in the reference coordinate system and the points in the Calculating a three-dimensional coordinate in an antenna coordinate system, and obtaining a rotation matrix between the world coordinate system and the antenna coordinate system;

In this optional manner, exemplarily, the reference coordinate system is a calibration plate coordinate system; each of the images further includes a calibration plate sub-image; the determining unit 44 is specifically configured to:

In any of the foregoing manners of the present embodiment, the set to be measured is: a set of two endpoints of a long axis of the antenna sub-image to be measured, or the antenna sub-image to be measured A collection of points on the outer contour.

Optionally, the posture information of the antenna to be measured includes at least one of the following information: an azimuth angle and a tilt angle.

It should be noted that the device 4 in this embodiment may be the above “electronic device” or may be a virtual device different from the electronic device.

The apparatus provided in this embodiment obtains an image of an antenna that is to be measured from the I viewpoints by acquiring an image of the antenna sub-image to be measured in each image; and acquiring an image of the antenna sub-image to be measured according to the I image. Determining the two-dimensional coordinates of the at least two points in the electronic device coordinate system, thereby determining the posture of the antenna to be measured according to the two-dimensional coordinates of the at least two points in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system information. The technical solution measures the antenna attitude by using one image correspondingly collected from one viewpoint. In this process, it is not necessary to install any hardware device on the antenna, so that it is possible to solve the problem that the process of producing the antenna is complicated due to the need to install measurement equipment for each antenna in the process of producing the antenna in the prior art. . In addition, there is no need to install any hardware device on the antenna in the process, and the cost of measuring the attitude of the antenna can be saved.

Embodiment 5

In hardware implementation, the first obtaining unit 41, the second obtaining unit 42, the third obtaining unit 43, and the determining unit 44 in the foregoing fourth embodiment may be embedded in hardware or in a memory independent of the device, so as to facilitate processing. The device invokes the operations corresponding to the above modules, and the processor may be a central processing unit (CPU), a microprocessor, a single chip microcomputer, or the like.

5 is a schematic structural diagram of a device according to the embodiment, which is used to perform the method for measuring the attitude of the antenna provided in the first embodiment. For the explanation of the related content in this embodiment, reference may be made to the first embodiment. The apparatus 5 as shown in FIG. 5 may include a memory 51, a processor 52, a wireless interface 53, and a bus system 54.

Between memory 51 and processor 52 are coupled together by bus system 54.

For example, the bus system 54 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. The bus system 54 can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in Figure 5, but it does not mean that there is only one bus or one type of bus.

The wireless interface 53 is used to enable communication between the device 5 and other devices.

The memory 51 is for storing a program. In particular, the program can include program code, the program code including computer operating instructions. For example, the memory 51 may be a high speed random access memory (RAM), or may be a non-volatile memory, such as at least one disk storage.

The processor 52 executes the program stored in the memory 51 to implement the method provided in the first embodiment. A method of measuring the attitude of an antenna.

The processor 52 is configured to perform the following actions:

Obtaining, by the electronic device, I images that are correspondingly collected from one viewpoint; wherein each of the images includes an antenna sub-image to be measured, I≥2, and I is an integer;

Optionally, the processor 52 is specifically configured to:

Optionally, the reference coordinate system is a calibration plate coordinate system; each of the images further includes a calibration plate sub-image; and the processor 52 is specifically configured to:

Optionally, the to-be-measured set is: a set of two endpoints of a long axis of the to-be-measured antenna sub-image, or a set of points on an outer contour of the to-be-measured antenna sub-image.

It should be noted that the device 5 in this embodiment may be the above “electronic device” or may be a virtual device different from the electronic device. When the device 5 is the above-mentioned "electronic device", referring to the above-mentioned method embodiment, the device 5 may further include a camera; in some optional implementations, the device 5 may further include a physical component such as an acceleration sensor.

The apparatus provided in this embodiment obtains an image of an antenna that is to be measured from the I viewpoints by acquiring an image of the antenna sub-image to be measured in each image; and acquiring an image of the antenna sub-image to be measured according to the I image. Determining the two-dimensional coordinates of the at least two points in the electronic device coordinate system, thereby determining the posture of the antenna to be measured according to the two-dimensional coordinates of the at least two points in the electronic device coordinate system and the three-dimensional coordinates of each point in the antenna coordinate system information. The technical solution measures the attitude of the antenna by using one image correspondingly collected from one viewpoint, and does not need to install any hardware device on the antenna in the process, so that it can solve the prior art, because it needs to be in the process of producing the antenna. The root antenna is equipped with a measuring device, which leads to a more complicated process of producing an antenna. In addition, there is no need to install any hardware device on the antenna in the process, and the cost of measuring the attitude of the antenna can be saved.

It will be apparent to those skilled in the art that for the convenience and brevity of the description, The following is an example of the division of each functional module. In practical applications, the above-mentioned function assignment can be completed by different functional modules as needed, that is, the internal structure of the device is divided into different functional modules to complete all of the above descriptions or Some features. For the specific working process of the system, the device and the unit described above, reference may be made to the corresponding process in the foregoing method embodiments, and details are not described herein again.

In the several embodiments provided by the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. , including several instructions All or part of the steps of the method of the various embodiments of the present invention are performed by a computer device (which may be a personal computer, server, or network device, etc.) or processor. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a RAM, a magnetic disk, or an optical disk, and the like, which can store program codes.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of the invention should be determined by the scope of the claims.

Claims

A method for measuring an attitude of an antenna, comprising:

Obtaining, by the electronic device, I images that are correspondingly collected from one viewpoint; wherein each of the images includes an antenna sub-image to be measured, I≥2, and I is an integer;

Acquiring two-dimensional coordinates of each point in the to-be-measured set of each of the I images in an electronic device coordinate system; wherein the to-be-measured set is at least two points of the to-be-measured antenna sub-image a collection of

Obtaining three-dimensional coordinates of the points in the antenna coordinate system;

Determining the attitude information of the antenna to be measured according to the two-dimensional coordinates of the points in the electronic device coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
The method according to claim 1, wherein said determining said waiting according to said two-dimensional coordinates of said points in an electronic device coordinate system and three-dimensional coordinates of said points in said antenna coordinate system Measuring the attitude information of the antenna, including:

Obtaining, according to the two-dimensional coordinates of the points in the electronic device coordinate system, the three-dimensional coordinates of the points in the reference coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;

Determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
The method according to claim 2, wherein said determining said waiting according to said three-dimensional coordinates of said points in said reference coordinate system and three-dimensional coordinates of said points in said antenna coordinate system Measuring the attitude information of the antenna, including:

Obtaining a rotation matrix between the world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;

Obtaining posture information of the antenna to be measured is obtained according to a rotation matrix between the world coordinate system and the antenna coordinate system.
The method of claim 3 wherein said reference coordinate system a calibration plate coordinate system; each of the images further includes a calibration plate sub-image; the three-dimensional coordinates according to the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system The coordinates, the rotation matrix between the world coordinate system and the antenna coordinate system, including:

Obtaining a rotation matrix R c2a of the calibration plate coordinate system to the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system ;

Obtaining a rotation matrix R p2c of the electronic device coordinate system to the calibration plate coordinate system according to the calibration plate sub-image included in each of the images;

Obtaining a rotation matrix R w2a of the world coordinate system to the antenna coordinate system according to the formula R w2a =R w2p R p2c R c2a ; wherein R w2p is a rotation matrix of the world coordinate system to the electronic device coordinate system .
The method according to any one of claims 1 to 4, wherein the set to be measured is: a set of two end points of a long axis of the antenna sub-image to be measured, or the antenna to be measured A collection of points on the outer contour of a sub-image.
The method according to any one of claims 1 to 5, wherein the attitude information of the antenna to be measured comprises at least one of the following information: an azimuth angle and a tilt angle.
A device, comprising:

a first acquiring unit, configured to acquire one image that is collected by the electronic device from the I viewpoints; wherein each of the images includes an antenna sub-image to be measured, I≥2, and I is an integer;

a second acquiring unit, configured to acquire two-dimensional coordinates of each point in the to-be-measured set of each of the I images in an electronic device coordinate system; wherein the to-be-measured set is the antenna to be measured a collection of at least two points of a sub-image;

a third acquiring unit, configured to acquire three-dimensional coordinates of the points in an antenna coordinate system;

a determining unit, configured to determine posture information of the antenna to be measured according to two-dimensional coordinates of the points in the electronic device coordinate system and three-dimensional coordinates of the points in the antenna coordinate system.
The device according to claim 7, wherein said determining unit has Body for:

Obtaining, according to the two-dimensional coordinates of the points in the electronic device coordinate system, the three-dimensional coordinates of the points in the reference coordinate system; wherein the reference coordinate system is a calibration plate coordinate system or a world coordinate system;

Determining the attitude information of the antenna to be measured according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system.
The device according to claim 8, wherein the determining unit is specifically configured to:

Obtaining a rotation matrix between the world coordinate system and the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system;

Obtaining posture information of the antenna to be measured is obtained according to a rotation matrix between the world coordinate system and the antenna coordinate system.
The apparatus according to claim 9, wherein the reference coordinate system is a calibration plate coordinate system; each of the images further includes a calibration plate sub-image; and the determining unit is specifically configured to:

Obtaining a rotation matrix R c2a of the calibration plate coordinate system to the antenna coordinate system according to the three-dimensional coordinates of the points in the reference coordinate system and the three-dimensional coordinates of the points in the antenna coordinate system ;

Obtaining a rotation matrix R p2c of the electronic device coordinate system to the calibration plate coordinate system according to the calibration plate sub-image included in each of the images;

Obtaining a rotation matrix R w2a of the world coordinate system to the antenna coordinate system according to the formula R w2a =R w2p R p2c R c2a ; wherein R w2p is a rotation matrix of the world coordinate system to the electronic device coordinate system .
The device according to any one of claims 7 to 10, wherein the set to be measured is: a set of two endpoints of a long axis of the antenna sub-image to be measured, or the antenna to be measured A collection of points on the outer contour of a sub-image.
The apparatus according to any one of claims 7 to 11, wherein the attitude information of the antenna to be measured comprises at least one of the following information: an azimuth angle and a tilt angle.