WO2018040573A1 - 一种天线控制方法、装置及计算机存储介质 - Google Patents

一种天线控制方法、装置及计算机存储介质 Download PDF

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Publication number
WO2018040573A1
WO2018040573A1 PCT/CN2017/080464 CN2017080464W WO2018040573A1 WO 2018040573 A1 WO2018040573 A1 WO 2018040573A1 CN 2017080464 W CN2017080464 W CN 2017080464W WO 2018040573 A1 WO2018040573 A1 WO 2018040573A1
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WIPO (PCT)
Prior art keywords
antenna
target
end device
strength
polarization direction
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PCT/CN2017/080464
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English (en)
French (fr)
Inventor
王旭辉
任冠佼
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纳恩博（北京）科技有限公司
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Publication of WO2018040573A1 publication Critical patent/WO2018040573A1/zh

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    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q1/00—Details of, or arrangements associated with, antennas
    • H01Q1/12—Supports; Mounting means
    • H01Q1/22—Supports; Mounting means by structural association with other equipment or articles
    • H01Q1/24—Supports; Mounting means by structural association with other equipment or articles with receiving set
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q3/00—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system
    • H01Q3/02—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole
    • H01Q3/08—Arrangements for changing or varying the orientation or the shape of the directional pattern of the waves radiated from an antenna or antenna system using mechanical movement of antenna or antenna system as a whole for varying two co-ordinates of the orientation

Definitions

  • the present invention relates to the field of electronic technologies, and in particular, to an antenna control method and apparatus, and a computer storage medium.
  • An antenna is arranged on the beacon tag, and the anchor node anchor is provided with two antennas, and the tag and the anchor perform UWB (Ultra Wideband) communication through the above three antennas.
  • UWB Ultra Wideband
  • the tag end is carried by the user, and the posture is variability.
  • the change of the tag attitude will change the polarization direction of the tag-end antenna, and the communication quality between the tag end and the anchor end will decrease.
  • the prior art has a technical problem of how to improve the communication quality when the tag pose changes.
  • the present application provides an antenna control method, apparatus, and computer storage medium for improving communication quality between a beacon end device and an anchor node device when the posture changes.
  • the present invention provides an antenna control method, which is applied to a beacon end device, where the beacon end device includes at least two first antennas having different polarization directions, and the method includes:
  • control target first antenna is in a receiving and receiving state, including:
  • determining, according to the detection result, a target first antenna that matches a current polarization direction and a polarization direction of a second antenna of the anchor node device from the at least two first antennas including:
  • Determining, according to the polarization direction of the second antenna obtained in advance, the first antenna having the smallest angle between the current polarization direction and the polarization direction of the second antenna is the target first antenna.
  • the method further includes:
  • the communication signal strength between the first antenna and the second antenna is represented by the following signal strength:
  • the received strength of the signal sent by the first antenna to the second antenna or the received strength of the signal sent by the second antenna to the first antenna; when the second antenna is sent to the first antenna
  • the beacon end device is required to obtain the location from the anchor node device The receiving strength of the signal sent by the second antenna to the first antenna.
  • obtaining a communication signal strength between each of the first antenna and the second antenna including:
  • a communication signal strength between each of the first antennas and the second antenna is obtained by sequentially communicating with the second antenna by each of the first antennas.
  • the method further includes:
  • the communication signal strength between the target first antenna and the second antenna is represented by the following signal strength:
  • the beacon end device is required to obtain the received strength of the signal sent by the second antenna to the target first antenna from the anchor node end device.
  • the first antenna of the control target is switched to the transmitting and receiving state, and the first antenna other than the first antenna of the control target is in a non-transceive state, including:
  • the target first antenna is switched to the transmitting and receiving state, and the first antenna other than the target first antenna is not received or received. status.
  • the present invention provides an antenna control apparatus, which is disposed on a beacon end device, where the beacon end device includes at least two first antennas having different polarization directions, and the apparatus includes:
  • the detecting module is configured to detect a current posture of the beacon end device, and obtain a detection result
  • a determining module configured to determine, according to the detection result, a target first antenna that matches a current polarization direction and a polarization direction of a second antenna of the anchor node device from the at least two first antennas;
  • a control module configured to control the target first antenna to be in a transceiving state, and communicate with the anchor node device by using the target first antenna.
  • control module is configured to determine whether the target first antenna is currently in a transceiving state, and if yes, maintaining a transceiving state of the target first antenna; if not, controlling the target first antenna switching And transmitting and receiving, and controlling the first antenna other than the target first antenna to be in a non-transceive state.
  • the determining module is configured to determine, according to the detection result and a setting orientation of the at least two first antennas in the beacon end device, the current current of the at least two first antennas Polarization direction; determining, according to the polarization direction of the second antenna obtained in advance, the first antenna having the smallest angle between the current polarization direction and the polarization direction of the second antenna as the target first antenna.
  • the device further includes:
  • a first obtaining module configured to obtain, after the determining module determines, from the at least two first antennas, a target first antenna that matches a polarization direction of a second antenna of the anchor node device a communication signal strength between each of the first antenna and the second antenna, determining whether a communication signal strength between the target first antenna and the second antenna is the strongest; if yes, notifying the The control module performs a process of subsequently controlling the target first antenna to be in a transceiving state; if not, notifying the detecting module to re-detect the posture of the beacon end device, and re-determining the target first antenna;
  • the communication signal strength between the first antenna and the second antenna is represented by the following signal strength:
  • the received strength of the signal sent by the first antenna to the second antenna, or the second day The received strength of the signal sent by the line to the first antenna; when the received strength of the signal sent by the second antenna to the first antenna is required, the beacon end device is required to obtain the location from the anchor node device The receiving strength of the signal sent by the second antenna to the first antenna.
  • the first obtaining module is configured to perform communication signal strength between each of the first antennas and the second antenna by sequentially communicating with the second antenna by each of the first antennas. .
  • the device further includes:
  • a second obtaining module configured to obtain, after the determining module determines, from the at least two first antennas, a target first antenna that matches a polarization direction of a second antenna of the anchor node device Determining whether the communication signal strength reaches a threshold value by the communication signal strength between the target first antenna and the second antenna; if yes, notifying the control module to perform subsequent control that the target first antenna is in a transmitting and receiving state Processing, if not, notifying the detecting module to re-detect the posture of the beacon end device, and re-determining the target first antenna;
  • the communication signal strength between the target first antenna and the second antenna is represented by the following signal strength:
  • the beacon end device is required to obtain the received strength of the signal sent by the second antenna to the target first antenna from the anchor node end device.
  • the control module controls the target first antenna to switch to the receiving and receiving state, and controls the target first antenna.
  • the first antenna other than is in a non-transceive state.
  • the application also provides a computer storage medium comprising a set of instructions that, when executed, cause at least one processor to perform operations comprising:
  • the beacon end device includes at least two first antennas having different polarization directions, and the current polarization is determined from the at least two first antennas according to the detection result of detecting the current posture of the beacon end device. And a target first antenna that matches a polarization direction of the second antenna of the anchor node device, and then controls the target first antenna to be in a transceiving state, and then communicates with the anchor node device through the target first antenna.
  • the present invention sets antennas having different polarization directions at the beacon end device, and on the other hand, selects a polarization matching direction of the second antenna of the anchor node device according to the current posture of the beacon end device, that is, the current
  • the antenna that communicates with the anchor node device may be the best antenna. Therefore, the beacon device in this application can still communicate with the anchor node device through the antenna that communicates well with the anchor node device when the posture changes. It can be seen that the invention improves the communication quality between the beacon end device and the anchor node end device when the posture changes.
  • FIG. 2 is a schematic diagram of a beacon end device and an anchor node end device in the present application
  • FIG. 3 is a schematic diagram of another beacon end device and an anchor node end device in the present application.
  • FIG. 4 is a schematic diagram of a possible data packet transmission and reception in the present application.
  • FIG. 5 is a schematic diagram of an antenna control apparatus in the present application.
  • the application provides an antenna control method, device and computer storage medium for improving The communication quality between the beacon end device and the anchor node device when the attitude changes.
  • the present invention provides the following ideas:
  • the beacon end device includes at least two first antennas having different polarization directions, and the current polarization is determined from the at least two first antennas according to the detection result of detecting the current posture of the beacon end device. And a target first antenna that matches a polarization direction of the second antenna of the anchor node device, and then controls the target first antenna to be in a transceiving state, and then communicates with the anchor node device through the target first antenna.
  • the present invention sets antennas having different polarization directions at the beacon end device, and on the other hand, selects a polarization matching direction of the second antenna of the anchor node device according to the current posture of the beacon end device, that is, the current
  • the antenna that communicates with the anchor node device may be the best antenna. Therefore, the beacon device in this application can still communicate with the anchor node device through the antenna that communicates well with the anchor node device when the posture changes. It can be seen that the invention improves the communication quality between the beacon end device and the anchor node end device when the posture changes.
  • a first aspect of the present invention provides an antenna control method. Referring to FIG. 1, a flowchart of an antenna control method in the present application is provided. The method includes:
  • S102 Determine, according to the detection result, a target first antenna that matches a current polarization direction and a polarization direction of a second antenna of the anchor node device from the at least two first antennas;
  • S103 Control the target first antenna to be in a transceiving state, and communicate with the anchor node device by using the target first antenna.
  • the beacon end device in the present application may be a device such as a remote controller or a smart watch that can adjust the posture arbitrarily.
  • the anchor node end device is, for example, a balance car, a drone, a robot or a controller, etc., and the portion of the anchor node end device provided with the antenna is usually stationary.
  • the present invention does not impose any specific restrictions on the beacon end device and the anchor node end device.
  • the beacon end device and the anchor node end device in the present application can communicate based on the UWB technology, and the beacon end device of the UWB communication is also referred to as a tag, a tag end, a tag end device or a tag device, etc., and the anchor node end device is abbreviated. It is an anchor, an anchor, an anchor device, or an anchor device.
  • the beacon end device in the present application is provided with at least two first antennas, and each of the first antennas is disposed in a different orientation, and thus the polarization directions of the first antennas are different.
  • the beacon end device is provided with two first antennas whose polarization directions are vertical, ANT_11 and ANT_12.
  • the polarization ranges of the at least two first antennas should cover the surrounding space of the beacon end device as much as possible, and those skilled in the art can select the number and orientation of the first antenna according to actual conditions.
  • the invention is not specifically limited.
  • the anchor node device is provided with a second antenna, such as ANT_21 and ANT_22 shown in FIGS. 2 and 3.
  • the number of the second antennas is not specifically limited in the present invention.
  • the current posture of the beacon end device is detected, and the detection result is obtained.
  • the motion state of the beacon end device is detected by a gravity sensor or a gyroscope, and then the current posture of the beacon end device is calculated according to the detected motion state.
  • the target first antenna whose current polarization direction matches the polarization direction of the second antenna of the anchor node device is determined.
  • the portion of the anchor node device that sets the second antenna generally remains relatively stationary, or is relatively stationary, so that the polarization direction of the second antenna is fixed or nearly fixed.
  • the polarization direction of the second antenna is regarded as fixed.
  • the target first antenna refers to a first antenna whose current polarization direction matches the polarization direction of the second antenna.
  • determining the first antenna is specifically implemented by the following process:
  • Determining, according to the polarization direction of the second antenna obtained in advance, the first antenna having the smallest angle between the current polarization direction and the polarization direction of the second antenna is the target first antenna.
  • the current polarization direction of each antenna is determined according to the detection result and the orientation of each antenna. For example, as shown in FIG. 2 and FIG. 3, it is assumed that the orientation of the first antenna ANT_11 is parallel to the fixed plate of the beacon end device, and the orientation of the ANT_12 is perpendicular to the fixed plate.
  • the current posture of the beacon end device is as shown in FIG. 2
  • the orientation orientation of ANT_11 and ANT_12 it can be determined that the polarization direction of ANT_11 is vertical ground upward, and the polarization direction of ANT_12 is parallel to the ground.
  • the current posture of the beacon end device is as shown in FIG. 3
  • the orientation orientation of ANT_11 and ANT_12 it can be determined that the polarization direction of ANT_11 is parallel to the ground, and the polarization direction of ANT_12 is perpendicular to the ground upward.
  • the first antenna having the smallest angle between the current polarization direction and the polarization direction of the second antenna is the target first antenna.
  • the default polarization direction of the second antenna can be directly set at the beacon end device, for example, perpendicular to the ground.
  • the anchor node device may also send the polarization direction of the second antenna to the beacon end device after establishing a communication connection with the beacon device.
  • the beacon end device calculates an angle between a current polarization direction of each first antenna and a polarization direction of the second antenna according to a polarization direction of the second antenna.
  • an angle may be obtained by subtracting a polarization direction of the second antenna from a current polarization direction of the first antenna, or may be obtained by subtracting a current polarization direction of the first antenna from a polarization direction of the second antenna.
  • the angle is not specifically limited in the present invention. Then, the smallest angle is determined from all the angles, and the smallest angle is corresponding.
  • the first antenna is determined to be the target first antenna.
  • the polarization directions of the second antennas ANT_21 and ANT_22 are all perpendicular to the ground upward, so the polarization direction of either antenna of ANT_21 or ANT_22 is used as the polarization direction of the second antenna.
  • the polarization direction of ANT_21 minus the current polarization direction of ANT_11 obtains an angle of 0 degrees
  • the polarization direction of ANT_21 minus the current polarization direction of ANT_12 obtains an angle of 90 degrees clockwise.
  • 0 degree is the smallest angle, so it is determined that the ANT_11 corresponding to the angle of 0 degrees is the target first antenna.
  • the polarization direction of ANT_21 minus the current polarization direction of ANT_11 is 90 degrees counterclockwise, and the polarization direction of ANT_21 is subtracted from the current polarization direction of ANT_12 to obtain an angle of 0 degrees.
  • 0 degree is the smallest angle, so it is determined that the ANT_12 corresponding to the angle of 0 degrees is the target first antenna.
  • the control target first antenna is in a transceiving state, and then communicates with the anchor node device through the target first antenna.
  • the determined first antenna may be in the transmitting and receiving state, and may not be currently in the transmitting and receiving state. Therefore, in the present application, S103 specifically includes:
  • the beacon end device can read the state value of the target first antenna, and if the state value indicates the receiving and receiving state, determine that the target first antenna is in the transmitting and receiving state; otherwise, if the state value indicates the non-transceiving state, determine The target first antenna is in a non-transceive state.
  • the antenna does not need to be switched, and the current state of the target first antenna, that is, the transmitting and receiving state, is still maintained. If the target first antenna is in a non-transceive state, the first antenna of the target is sent and received, and the target is controlled first. The other antennas other than the antenna are in a non-transceive state to switch to communicate with the anchor node via the target first antenna.
  • the beacon end device's posture is as shown in FIG. 2, and communicates with the anchor node device through ANT_11.
  • the attitude of the beacon end device is as shown in FIG. 3.
  • ANT_12 is the target first antenna. Since ANT_11 is in the transceiving state at this time, ANT_12 is in the non-transceive state.
  • the beacon end device switches ANT_12 from the non-transceive state to the transceiving state, and switches ANT_11 from the transceiving state to the non-transceiving state, so that the beacon device is from T2.
  • communication with the anchor node device is performed through ANT_12.
  • beacon end device still maintains the attitude shown in FIG. 2 at time T2, so the target first antenna is still ANT_11. Since ANT_11 is already in the transmitting and receiving state at this time, there is no need to switch the antenna, and ANT_11 is still in the transmitting and receiving state, and ANT_12 is in the non-transceiving state.
  • antennas having different polarization directions are disposed on the beacon end device to satisfy the beacon end device to communicate with the anchor node device in different polarization directions;
  • the beacon end device selects the antenna with the best communication quality of the anchor node device to communicate with each other.
  • the beacon end device can still communicate with the anchor node device when the posture changes.
  • Anchor node device communication It can be seen that the invention improves the communication quality between the beacon end device and the anchor node end device when the posture changes.
  • the method further includes:
  • the communication signal strength between the first antenna and the second antenna uses the following signals Strength to indicate:
  • the received strength of the signal sent by the first antenna to the second antenna or the received strength of the signal sent by the second antenna to the first antenna; when the second antenna is sent to the first antenna
  • the beacon end device is required to obtain the receiving strength of the signal sent by the second antenna to the first antenna from the anchor node device.
  • the target first antenna may be shielded, damaged, or faulty, and the quality of the communication signal strength is poor even if the polarization direction matches the polarization direction of the second antenna. Case. Therefore, in the present application, after determining the target first antenna, it is further necessary to further obtain the communication signal strength between each of the first antenna and the second antenna. In order to obtain the communication signal strength between each of the first antenna and the second antenna, the method further includes:
  • a communication signal strength between each of the first antennas and the second antenna is obtained by sequentially communicating with the second antenna by each of the first antennas.
  • each of the first antennas is switched to communicate with the second antenna according to a preset interval.
  • the preset interval is, for example, 5 ms, 1 ms, etc., and the present invention is not specifically limited.
  • controlling any one of the first antennas to be in a transceiving state, and controlling other first antennas to be in a non-transceive state; and controlling the other first antenna at a second moment of the preset interval after the first moment The transmitting and receiving states are controlled, and the first antenna and the other first antennas that are in the transmitting and receiving state at the first moment are controlled to be in a non-transmission state. And so on, until each of the first antennas is in a transceiving state and communicates with the second antenna.
  • the communication signal strength between the first antenna and the second antenna currently in the transmitting and receiving state is obtained.
  • the obtained communication signal strength may be obtained by the beacon end device itself; it may also be obtained by the anchor node end device and then provided to the beacon end device.
  • the communication signal strength between the first antenna and the second antenna is specifically the receiving strength of the signal sent by the first antenna to the second antenna.
  • the beacon end device receives any signal sent by the anchor node device through the second antenna, reads the receiving strength when receiving the arbitrary signal, and uses the receiving strength as the communication signal strength between the first antenna and the second antenna.
  • At least two first antennas are as shown in FIG. 3.
  • the reception strength of ANT_11 to ANT_21 is 3 dB, and the reception strength of ANT_12 to ANT_21 is 100 dB. Therefore, the communication signal strength between ANT_11 and ANT_21 is 3 dB, and the communication signal strength between ANT_12 and ANT_21 is 100 dB.
  • the communication signal strength between the first antenna and the second antenna is specifically the reception strength of the signal sent by the second antenna to the first antenna.
  • the anchor node device receives any signal sent by the beacon end device through the first antenna that is currently in the transmitting and receiving state, reads the receiving strength when receiving the signal, and the antenna identifier carried in the signal, and the receiving strength is received. Recorded as the communication signal strength of the first antenna corresponding to the antenna identifier.
  • the antenna identifier is used to uniquely identify a first antenna on a beacon end device. Then, after all the first antennas communicate with the second antenna, the recorded antenna identifier and the corresponding receiving strength are fed back to the beacon end device, so that the beacon end device obtains the receiving strength of the second antenna to the first antenna.
  • ANT_22 receives a signal from the signalling device.
  • the received reception strength is 3 dB
  • the antenna identification is "Tom_ANT_11”.
  • the antenna identifier “Tom_ANT_11” represents the ANT_11 antenna of the beacon end device Tom.
  • the anchor node device records "Tom_ANT_11-3dB”.
  • ANT_22 receives a signal from the beacon end device again, and reads the received strength to 100 dB, and the antenna identifier is "Tom_ANT_12".
  • the anchor node device records "Tom_ANT_12-100dB”.
  • the anchor node device transmits the recorded "Tom_ANT_11-3dB, Tom_ANT_12-100dB" to the beacon end device.
  • the beacon end device parses the record sent by the anchor node end device, determines that the communication signal strength of the ANT_11 and the second antenna is 3 dB, and the communication signal strength of the ANT_12 and the second antenna is 100 dB.
  • the beacon end device according to the strength of the communication signal obtained by itself, or the anchor node end
  • the strength of the communication signal provided is determined to determine whether the communication signal strength between the target first antenna and the second antenna is the strongest among the communication signal strengths between all the first antennas and the second antenna. If the communication signal strength between the target first antenna and the second antenna is the strongest among all communication signal strengths, then S103 is performed. On the other hand, if the communication signal strength between the target first antenna and the second antenna is not the strongest among all the communication signal strengths, the communication indicating the target first antenna and the second antenna determined in S102 is not optimal. Therefore, in the present application, S101 to S102 are performed again to re-determine the target first antenna until the determined target first antenna is the strongest among the communication signal strengths of all the first antennas.
  • the beacon end device switches to the posture shown in FIG. 3, and the target first antenna ANT_12 is determined.
  • the communication signal strengths of ANT_11 and ANT_12 and the second antenna are 3dB and 100dB respectively, and the communication signal strength of ANT_12 is greater than the communication signal strength of ANT_11, so the target first antenna is determined accurately, and the ANT_12 is switched to communicate with the anchor node device.
  • the communication signal strength between the target first antenna and the second antenna is the strongest among all the antennas, and if so, the communication quality between the target first antenna and the second antenna is the best. Switch to the target first antenna communication. Otherwise, the target first antenna is re-determined until it is determined that the target first antenna whose polarization direction matches and the communication signal is strongest.
  • the first antenna that ensures that the target first antenna is the best communication quality is realized, and the influence of factors such as the target first antenna being shielded or the target first antenna being damaged on the target first antenna is reduced.
  • a preset number of times for example, 3 or 4, may be set. Then, if the number of times S101 to S102 is repeatedly executed reaches a preset number of times, and the target first antenna is still not the strongest communication signal strength, an alarm prompt may be output, prompting the user to check the antenna, or the communication signal strength is the strongest.
  • the first antenna is determined to be the target first antenna or the like.
  • the method further includes:
  • the communication signal strength between the target first antenna and the second antenna is represented by the following signal strength:
  • the beacon end device is required to obtain the received strength of the signal sent by the second antenna to the target first antenna from the anchor node end device.
  • the target first antenna may be shielded, damaged, or faulty, etc., so that even if the polarization direction matches the polarization direction of the second antenna, the communication signal strength is insufficient to support The case of normal communication. Therefore, in the present application, after determining the target first antenna, it is further necessary to further obtain the communication signal strength between the target first antenna and the second antenna.
  • the obtained communication signal strength may be obtained by the beacon end device itself; it may also be obtained by the anchor node end device and then provided to the beacon end device.
  • the communication signal strength between the target first antenna and the second antenna is specifically the reception strength of the signal sent by the target first antenna to the second antenna.
  • the communication signal strength between the target first antenna and the second antenna is specifically the reception strength of the signal sent by the second antenna to the target first antenna.
  • the communication signal strength between each of the first antenna and the second antenna has been obtained in detail in the above. In this embodiment, the communication signal strength between the target first antenna and the second antenna is similar, so here is not I will repeat them one by one.
  • the beacon end device according to the strength of the communication signal obtained by itself, or the anchor node end
  • the strength of the communication signal provided is determined to determine whether the communication signal strength between the target first antenna and the second antenna reaches a threshold.
  • the threshold in the present application is the minimum strength at which the first antenna and the second antenna can communicate normally.
  • the person skilled in the art to which the present invention pertains is not limited by the actual setting.
  • the strength of the communication signal between the two antennas can be characterized by parameters such as signal-to-noise ratio, signal strength, and interference signal strength.
  • the first antenna with a signal to noise ratio higher than the signal to noise ratio threshold may be regarded as the target first antenna; or the first antenna with the interference signal strength lower than the interference threshold may be regarded as the target first antenna.
  • a plurality of parameters for evaluating the strength of the communication signal may be used in combination, for example, two first antennas with the smallest interference signal may be selected, and then the signal to noise ratio is higher than the signal from the two first antennas.
  • a first antenna of the noise ratio threshold is used as the target first antenna.
  • the communication signal strength between the target first antenna and the second antenna reaches a threshold, it indicates that the beacon end device can normally communicate with the anchor node device through the target first antenna, and thus S103 is performed.
  • the communication signal strength between the target first antenna and the second antenna does not reach the threshold, it indicates that the target first antenna determined in S102 does not support normal communication with the anchor node device, so in this application, execute again.
  • S101 to S102 to re-determine the target first antenna until the determined communication signal strength between the target first antenna and the second antenna reaches a threshold.
  • the communication quality between the target first antenna and the second antenna is not only optimal, but the communication quality is qualified. At this time, communication is performed through the target first antenna. Otherwise, the target first antenna is re-determined until it is determined that the target first antenna is of acceptable communication quality.
  • the target first antenna can be set a preset number of times, for example, 3 or 4. Then, if the number of times S101 to S102 is repeatedly executed reaches a preset number of times, and the communication signal strength of the target first antenna is still not hitting the threshold, an alarm prompt may be output, prompting the user to check the antenna, or the communication signal strength is strongest.
  • the first antenna is determined to be the target first antenna or the like.
  • the beacon end device switching antenna from affecting the positioning of the beacon end device by the anchor node end device
  • the control target first antenna is switched to the transmitting and receiving state, and the first antenna other than the control target first antenna is in a non-transceiving state.
  • FIG. 4 is a schematic diagram of a possible data packet transmission and reception.
  • the anchor node device and the beacon device use TWR (Two-Way Ranging) method for ranging.
  • TWR Tro-Way Ranging
  • each ranging needs to be based on 3 communications.
  • the beacon end device sends the first data packet to the anchor node end device.
  • the beacon end device records the timestamp of sending the first data packet, and the timestamp of sending the first data packet is tt1.
  • the anchor node device receives the first data packet and records the timestamp of receiving the first data packet.
  • the timestamp of receiving the first data packet is ta1.
  • the anchor node device feeds back the second data packet to the beacon end device to notify the beacon end device that the first data packet has been received. While the second data packet is being sent, the timestamp of transmitting the second data packet is recorded, and the time stamp for transmitting the second data packet is ta2.
  • the beacon end device receives the second data packet and records the timestamp of receiving the second data packet.
  • the time stamp of the second data packet is received as tt2.
  • the beacon end device further calculates the time tt3 at which the third data packet is transmitted, and includes the recorded tt1, tt2, and tt3 in the third data packet.
  • the beacon end device clock reaches tt3
  • the third data packet is sent to the anchor node end device to notify The anchor node device successfully receives the second data packet.
  • the anchor node device receives the third data packet, and records the timestamp of receiving the third data packet, which is recorded as ta3.
  • T reply2 tt3–tt2.
  • T round1 indicates the time from the transmission of the first data packet to the reception of the feedback
  • T reply1 indicates the time when the anchor node device feeds back the second data packet
  • T round2 indicates the time from the transmission of the second data packet to the reception of the feedback
  • T Reply2 indicates that the beacon end device feeds back the third data packet
  • T prop in Fig. 4 indicates the transit time of the data packet from being transmitted to being received.
  • the angle is detected using a PDOA (Phase Difference of Arrival) method.
  • the phases of the third data packet (or the first data packet) are obtained by the anchor node devices ANT_21 and ANT_22.
  • the phase of the third data packet (or the first data packet) received by the ANT_21 is recorded as P1 (unit In radians
  • the conversion to angle is (PD/(2 ⁇ ))*360.
  • the angle may also be detected by using an AOA (Angle of Arrival) or TDOA (Time Difference of Arrival), and the present invention does not specifically limit the present invention.
  • AOA Angle of Arrival
  • TDOA Time Difference of Arrival
  • the phase difference can be further converted into an azimuth, and then the anchor node device locates the beacon end device according to the detected distance.
  • the beacon end device may specifically detect the reception strength of the second data packet received by each of the first antennas. Similarly, if the beacon end device detects the communication signal strength between the target first antenna and the second antenna, the beacon end device may specifically detect the receiving strength of the second data packet received by the target first antenna.
  • the anchor node device may specifically detect that the second antenna receives the first data packet or the third data that is sent by each of the first antennas. The receiving strength of the packet.
  • the first data packet and the third data packet further include an antenna identifier of the first antenna that transmits the data packet.
  • the anchor node end device may specifically detect the first data packet or the first data packet sent by the second antenna receiving target first antenna. The receiving strength of the three packets.
  • the anchor node end device detects the reception strength of each of the first antennas or the target first antennas by detecting the reception strength of the received first data packet, the detected reception strength may further be packetized and sent in the second data packet.
  • the beacon device is provided to enable the beacon device to obtain the communication signal strength.
  • the first data packet, the second data packet, and the third data packet may further include various types of interaction between the beacon end device and the anchor node end.
  • Information and data such as a control command sent by the anchor node to the beacon end, a request command at the beacon end, a polarization direction of the second antenna, a posture of the beacon end device, and the like.
  • a person of ordinary skill in the art to which the present invention pertains may make selections according to actual conditions, and the present invention is not specifically limited.
  • the second aspect of the present invention further provides an antenna control apparatus, which is disposed on the beacon end device, as shown in FIG. 5, and includes:
  • the detecting module 101 is configured to detect a current posture of the beacon end device, and obtain a detection result
  • the determining module 102 is configured to determine, according to the detection result, a target first antenna that matches a current polarization direction and a polarization direction of a second antenna of the anchor node device from the at least two first antennas;
  • the control module 103 is configured to control the target first antenna to be in a transceiving state, and communicate with the anchor node device through the target first antenna.
  • control module 103 is configured to determine whether the target first antenna is currently in the transmitting and receiving state, and if yes, maintaining the transmitting and receiving state of the target first antenna; if not, controlling the target first antenna to switch to Transmitting and receiving, and controlling the first antenna other than the target first antenna to be in a non-transceive state.
  • the determining module 102 is configured to determine the current polarization direction of the at least two first antennas according to the detection result and the setting orientation of the at least two first antennas in the beacon end device; Determining a polarization direction of the second antenna that is obtained in advance, and determining that the first antenna having the smallest angle between the current polarization direction and a polarization direction of the second antenna is the target first antenna.
  • the device further includes:
  • a first obtaining module configured to obtain, after the determining module 102 determines, from the at least two first antennas, a target first antenna that matches a polarization direction of a second antenna of the anchor node device Determining whether the communication signal strength between the target first antenna and the second antenna is the strongest among the communication signal strengths between the first antenna and the second antenna; if yes, notifying the control module 103 Performing a process of subsequently controlling the target first antenna to be in a transceiving state; if not, notifying the detecting module 101 to re-detect the posture of the beacon end device, and re-determining the target first antenna;
  • the communication signal strength between the first antenna and the second antenna is represented by the following signal strength:
  • the received strength of the signal sent by the first antenna to the second antenna, or the second day The received strength of the signal sent by the line to the first antenna; when the received strength of the signal sent by the second antenna to the first antenna is required, the beacon end device is required to obtain the location from the anchor node device The receiving strength of the signal sent by the second antenna to the first antenna.
  • the first obtaining module is configured to sequentially communicate with the second antenna through each of the first antennas to obtain a communication signal strength between each of the first antennas and the second antenna.
  • the device further includes:
  • a second obtaining module configured to obtain, after determining, from the at least two first antennas of the determining module 102, that the current polarization direction matches the target first antenna of the second antenna of the anchor node device Determining whether the strength of the communication signal between the target first antenna and the second antenna reaches a threshold; if not, notifying the control module 103 to perform subsequent processing to control that the target first antenna is in a transmitting and receiving state If not, the notification detecting module 101 re-detects the posture of the beacon end device, and re-determines the target first antenna;
  • the communication signal strength between the target first antenna and the second antenna is represented by the following signal strength:
  • the beacon end device is required to obtain the received strength of the signal sent by the second antenna to the target first antenna from the anchor node end device.
  • the control module 103 controls the target first antenna to switch to the transmitting and receiving state, and controls the first antenna other than the target first antenna. It is not in the state of sending and receiving.
  • the present application further provides a computer storage medium comprising a set of instructions that, when executed, cause at least one processor to perform operations including:
  • the beacon end device includes at least two first antennas having different polarization directions, and the current polarization is determined from the at least two first antennas according to the detection result of detecting the current posture of the beacon end device. And a target first antenna that matches a polarization direction of the second antenna of the anchor node device, and then controls the target first antenna to be in a transceiving state, and then communicates with the anchor node device through the target first antenna.
  • the present invention sets antennas having different polarization directions at the beacon end device, and on the other hand, selects a polarization matching direction of the second antenna of the anchor node device according to the current posture of the beacon end device, that is, the current
  • the antenna that communicates with the anchor node device may be the best antenna. Therefore, the beacon device in this application can still communicate with the anchor node device through the antenna that communicates well with the anchor node device when the posture changes. It can be seen that the invention improves the communication quality between the beacon end device and the anchor node end device when the posture changes.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the present invention can employ a computer program product embodied on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer usable program code embodied therein. form.
  • computer usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the apparatus implements the functions specified in one or more blocks of a flow or a flow and/or block diagram of the flowchart.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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Abstract

本申请提供了一种天线控制方法、装置及计算机存储介质，用于提高姿态变化时信标端设备与锚节点端设备的通信质量。所述方法应用于信标端设备，所述信标端设备包括极化方向不同的至少两根第一天线，所述方法包括：对信标端设备的当前姿态进行检测，获得检测结果；根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。

Description

一种天线控制方法、装置及计算机存储介质
相关申请的交叉引用
本申请基于申请号为201610756196.6、申请日为2016年08月29日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本发明涉及电子技术领域，尤其涉及一种天线控制方法、装置及计算机存储介质。
背景技术
信标tag上设置有一根天线，锚节点anchor设置有两根天线，tag与anchor通过上述三根天线进行UWB(超宽带，Ultra Wideband)通信。但是，tag端由用户携带，姿态可变性强。而tag姿态的变化会使tag端天线的极化方向也随之变化，进而导致tag端与anchor端的通信质量下降。
所以，现有技术存在如何在tag姿态变化时提高通信质量的技术问题。
发明内容
本申请提供了一种天线控制方法、装置及计算机存储介质，用于提高姿态变化时信标端设备与锚节点端设备的通信质量。
第一方面，本发明提供了一种天线控制方法，应用于信标端设备，所述信标端设备包括极化方向不同的至少两根第一天线，所述方法包括：
对信标端设备的当前姿态进行检测，获得检测结果；
根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向 与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
可选的，控制目标第一天线处于收发状态，包括：
判断所述目标第一天线当前是否处于收发状态，如果是，则维持所述目标第一天线的收发状态；如果否，则控制所述目标第一天线切换到收发状态，以及控制所述目标第一天线以外的第一天线处于非收发状态。
可选的，根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线，包括：
根据所述检测结果以及所述至少两根第一天线在所述信标端设备中的设置朝向，确定出所述至少两根第一天线的所述当前极化方向；
根据预先获得的所述第二天线的极化方向，确定所述当前极化方向与所述第二天线的极化方向夹角最小的所述第一天线为所述目标第一天线。
可选的，在从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，还包括：
获得每根第一天线与所述第二天线之间的通信信号强度，判断所述目标第一天线与所述第二天线之间的通信信号强度是否为其中最强；如果是，则执行后续控制所述目标第一天线处于收发状态的处理；如果否，则重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对第一天线发来的信号的接收强度；当为所述第二天线对第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所 述第二天线对第一天线发来的信号的接收强度。
可选的，获得每根第一天线与所述第二天线之间的通信信号强度，包括：
通过每根所述第一天线依次与所述第二天线通信，来获得所述每根第一天线与所述第二天线之间的通信信号强度。
可选的，在从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，还包括：
获得所述目标第一天线与所述第二天线之间的通信信号强度，判断所述通信信号强度是否达到阈值；如果达到，则执行后续控制所述目标第一天线处于收发状态的处理；如果未达到，则重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述目标第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述目标第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对目标第一天线发来的信号的接收强度；当为所述第二天线对目标第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对目标第一天线发来的信号的接收强度。
可选的，控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态，包括：
在确定所述信标端设备与所述锚节点端设备之间完成一次完整的定位操作后，才控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态。
另一方面，本发明还提供了一种天线控制装置，设置于信标端设备，所述信标端设备包括极化方向不同的至少两根第一天线，所述装置包括：
检测模块，配置为对信标端设备的当前姿态进行检测，获得检测结果；
确定模块，配置为根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
控制模块，配置为控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
可选的，所述控制模块配置为判断所述目标第一天线当前是否处于收发状态，如果是，则维持所述目标第一天线的收发状态；如果否，则控制所述目标第一天线切换到收发状态，以及控制所述目标第一天线以外的第一天线处于非收发状态。
可选的，所述确定模块配置为根据所述检测结果以及所述至少两根第一天线在所述信标端设备中的设置朝向，确定出所述至少两根第一天线的所述当前极化方向；根据预先获得的所述第二天线的极化方向，确定所述当前极化方向与所述第二天线的极化方向夹角最小的所述第一天线为所述目标第一天线。
可选的，所述装置还包括：
第一获得模块，配置为在所述确定模块从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，获得每根第一天线与所述第二天线之间的通信信号强度，判断所述目标第一天线与所述第二天线之间的通信信号强度是否为其中最强；如果是，则通知所述控制模块执行后续控制所述目标第一天线处于收发状态的处理；如果否，则通知所述检测模块重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述第一天线对第二天线发来的信号的接收强度，或者，所述第二天 线对第一天线发来的信号的接收强度；当为所述第二天线对第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对第一天线发来的信号的接收强度。
可选的，所述第一获得模块配置为通过每根所述第一天线依次与所述第二天线通信，来获得所述每根第一天线与所述第二天线之间的通信信号强度。
可选的，所述装置还包括：
第二获得模块，配置为在所述确定模块从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，获得所述目标第一天线与所述第二天线之间的通信信号强度，判断所述通信信号强度是否达到阈值；如果达到，则通知所述控制模块执行后续控制所述目标第一天线处于收发状态的处理；如果未达到，则通知所述检测模块重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述目标第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述目标第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对目标第一天线发来的信号的接收强度；当为所述第二天线对目标第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对目标第一天线发来的信号的接收强度。
可选的，所述控制模块在确定所述信标端设备与所述锚节点端设备之间完成一次完整的定位操作后，才控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态。
本申请还提供了一种计算机存储介质，该计算机存储介质包括一组指令，当执行所述指令时，引起至少一个处理器执行包括以下的操作：
对信标端设备的当前姿态进行检测，获得检测结果；
根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
本申请实施例中的上述一个或多个技术方案，至少具有如下一种或多种技术效果：
在本申请中，信标端设备包括极化方向不同的至少两根第一天线，根据对信标端设备的当前姿态进行检测的检测结果，从至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线，然后控制目标第一天线处于收发状态，进而通过目标第一天线与锚节点端设备通信。所以，一方面，本发明在信标端设备设置极化方向不同的天线，另一方面，根据信标端设备当前姿态选择出与锚节点端设备的第二天线极化方向匹配，也就是当前与锚节点端设备通信质量可能最好的天线，因此，本申请中的信标端设备在姿态变化时，依然可以通过与锚节点端设备通信良好的天线与锚节点端设备通信。可见，本发明提高了姿态变化时信标端设备与锚节点端设备的通信质量。
附图说明
图1为本申请的天线控制方法流程图；
图2为本申请中一信标端设备与锚节点端设备示意图；
图3为本申请中另一信标端设备与锚节点端设备示意图；
图4为本申请中一种可能的数据包收发示意图；
图5为本申请中的天线控制装置示意图。
具体实施方式
本申请提供了一种天线控制方法、装置及计算机存储介质，用于提高 姿态变化时信标端设备与锚节点端设备的通信质量。
为了解决上述技术问题，本发明提供的思路如下：
在本申请中，信标端设备包括极化方向不同的至少两根第一天线，根据对信标端设备的当前姿态进行检测的检测结果，从至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线，然后控制目标第一天线处于收发状态，进而通过目标第一天线与锚节点端设备通信。所以，一方面，本发明在信标端设备设置极化方向不同的天线，另一方面，根据信标端设备当前姿态选择出与锚节点端设备的第二天线极化方向匹配，也就是当前与锚节点端设备通信质量可能最好的天线，因此，本申请中的信标端设备在姿态变化时，依然可以通过与锚节点端设备通信良好的天线与锚节点端设备通信。可见，本发明提高了姿态变化时信标端设备与锚节点端设备的通信质量。
下面通过附图以及具体实施例对本发明技术方案做详细的说明，应当理解本申请实施例以及实施例中的具体特征是对本申请技术方案的详细的说明，而不是对本申请技术方案的限定，在不冲突的情况下，本申请实施例以及实施例中的技术特征可以相互组合。
本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
本发明第一方面提供了一种天线控制方法，请参考图1，为本申请中天线控制方法的流程图。该方法包括：
S101：对信标端设备的当前姿态进行检测，获得检测结果；
S102：根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
S103：控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
具体来讲，本申请中的信标端设备可为遥控器、智能手表等用户可以任意调整姿态的设备。锚节点端设备例如为平衡车、无人机、机器人或控制器等，锚节点端设备设有天线的部分通常静止。本发明对信标端设备和锚节点端设备不做具体限制。本申请中的信标端设备与锚节点端设备之间可以基于UWB技术进行通信，UWB通信的信标端设备也简称为tag、tag端、tag端设备或tag设备等，锚节点端设备简称为anchor、anchor端、anchor端设备或anchor设备等。
本申请中的信标端设备设置有至少两根第一天线，并且每根第一天线的设置朝向不同，进而每根第一天线的极化方向不同。例如图2和图3所示，信标端设备设置有ANT_11和ANT_12两根极化方向垂直的第一天线。在具体实现过程中，至少两根第一天线的极化范围应尽可能地覆盖信标端设备的周围空间，本发明所属领域的普通技术人员可以根据实际选择第一天线的数量和设置朝向，本发明不做具体限制。
另外，锚节点端设备设置有第二天线，例如图2和图3所示的ANT_21和ANT_22。对于第二天线的数量本发明也不做具体限制。
首先，在S101中，对信标端设备的当前姿态进行检测，获得检测结果。具体来讲，在本申请中，通过重力传感器或陀螺仪检测出信标端设备的运动状态，然后根据检测出的运动状态计算出信标端设备的当前姿态。
接下来，在S102中，根据检测结果，确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线。具体来讲，在具体实现过程中，锚节点端设备设置第二天线的部分通常保持相对静止，或者几乎相对静止，因此第二天线的极化方向固定或者几乎固定。为了便于描述，在本申请中，将第二天线的极化方向视为固定。
在本申请中，目标第一天线指的是当前极化方向与第二天线的极化方向匹配的第一天线。其中，确定第一天线具体是通过如下过程实现：
根据所述检测结果以及所述至少两根第一天线在所述信标端设备中的设置朝向，确定出所述至少两根第一天线的所述当前极化方向；
根据预先获得的所述第二天线的极化方向，确定所述当前极化方向与所述第二天线的极化方向夹角最小的所述第一天线为所述目标第一天线。
首先，根据检测结果以及每根天线的设置朝向，确定出每根天线的当前极化方向。举例来说，如图2和图3所示，假设第一天线ANT_11的设置朝向为平行于信标端设备的固定板，ANT_12的设置朝向为垂直于固定板。当信标端设备的当前姿态如图2所示时，根据ANT_11和ANT_12的设置朝向，可以确定出ANT_11的极化方向为垂直地面朝上，ANT_12的极化方向为平行于地面。当信标端设备的当前姿态如图3所示时，根据ANT_11和ANT_12的设置朝向，可以确定出ANT_11的极化方向为平行于地面，ANT_12的极化方向为垂直于地面朝上。
然后，根据预先获得的第二天线的极化方向，确定当前极化方向与第二天线的极化方向夹角最小的第一天线为目标第一天线。
具体来说，由于第二天线的极化方向固定，因此可以在信标端设备直接设置第二天线的默认极化方向，例如垂直于地面朝上。或者，锚节点端设备也可以在与信标端设备建立通信连接之后，将第二天线的极化方向发送给信标端设备。
信标端设备根据第二天线的极化方向，计算出每根第一天线的当前极化方向与第二天线的极化方向之间的夹角。在具体实现过程中，可以通过第一天线的当前极化方向减去第二天线的极化方向获得夹角，也可以通过第二天线的极化方向减去第一天线的当前极化方向获得夹角，本发明不做具体限制。然后，从所有夹角中确定出最小的夹角，并将最小的夹角对应 的第一天线确定为目标第一天线。
沿用上文中的图2来说，第二天线ANT_21和ANT_22的极化方向均为垂直于地面朝上，因此以ANT_21或ANT_22任一天线的极化方向作为第二天线的极化方向。ANT_21的极化方向减去ANT_11的当前极化方向获得夹角0度，ANT_21的极化方向减去ANT_12的当前极化方向获得夹角顺时针90度。在上述两个夹角中，0度为最小的夹角，因此确定夹角0度对应的ANT_11为目标第一天线。
沿用上文中的图3来说，ANT_21的极化方向减去ANT_11的当前极化方向获得夹角逆时针90度，ANT_21的极化方向减去ANT_12的当前极化方向获得夹角0度。在上述两个夹角中，0度为最小的夹角，因此确定夹角0度对应的ANT_12为目标第一天线。
确定出目标第一天线后，在S103中，控制目标第一天线处于收发状态，进而通过目标第一天线与锚节点端设备通信。
由于确定出的目标第一天线当前可能已经处于收发状态，也可能当前未处于收发状态，所以，在本申请中，S103具体包括：
判断所述目标第一天线当前是否处于收发状态，如果是，则维持所述目标第一天线的收发状态；如果否，则控制所述目标第一天线切换到收发状态，以及控制所述目标第一天线以外的第一天线处于非收发状态。
具体来讲，确定出目标第一天线后，判断目标第一天线是否处于收发状态。具体来讲，信标端设备可以读取目标第一天线的状态值，如果状态值指示为收发状态，则判断目标第一天线处于收发状态；反之，如果状态值指示为非收发状态，则判断目标第一天线处于非收发状态。
进一步，如果目标第一天线已经处于收发状态了，则不需要切换天线，仍然维持目标第一天线的当前状态，即收发状态即可。而如果目标第一天线处于非收发状态，则启动目标第一天线为收发状态，同时控制目标第一 天线以外的其他第一天线处于非收发状态，以切换到通过目标第一天线与锚节点端设通信。
举例来说，假设在T1时刻，信标端设备的姿态如图2所示，通过ANT_11与锚节点端设备通信。在T1之后的T2时刻，信标端设备的姿态如图3所示，通过姿态检测，确定出T2时刻ANT_12的极化方向与ANT_21和ANT_22的极化方向匹配，故ANT_12为目标第一天线。由于此时ANT_11处于收发状态，ANT_12处于非收发状态，因此，信标端设备将ANT_12从非收发状态切换到收发状态，并将ANT_11从收发状态切换到非收发状态，使得信标端设备从T2时刻开始，通过ANT_12与锚节点端设备通信。
再举例来说，假设信标端设备在T2时刻依然维持在图2所示的姿态，因此目标第一天线仍然为ANT_11。由于此时ANT_11已经处于收发状态，所以不需要切换天线，仍然保持ANT_11处于收发状态，ANT_12处于非收发状态。
由上述描述可以看出，本发明一方面，在信标端设备设置极化方向不同的天线，以满足信标端设备以不同极化方向的天线与锚节点端设备通信；另一方面，根据信标端设备当前姿态选择出与锚节点端设备通信质量最好的天线来通信，通过上述两方面，实现信标端设备在姿态变化时，依然可以通过与锚节点端设备通信良好的天线与锚节点端设备通信。可见，本发明提高了姿态变化时信标端设备与锚节点端设备的通信质量。
作为一种可选的实施方式，在S102之后，还可以进一步包括：
获得每根第一天线与所述第二天线之间的通信信号强度，判断所述目标第一天线与所述第二天线之间的通信信号强度是否为其中最强；如果是，则执行后续控制所述目标第一天线处于收发状态的处理；如果否，则重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述第一天线与所述第二天线之间的通信信号强度用以下信号 强度来表示：
所述第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对第一天线发来的信号的接收强度；当为所述第二天线对第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对第一天线发来的信号的接收强度。
具体来讲，在具体实现过程中，目标第一天线可能由于被屏蔽、损坏或故障等因素，而导致即使极化方向与第二天线的极化方向匹配，但通信信号强度的质量却不佳的情况。因此，在本申请中，在确定出目标第一天线后，还需要进一步获得每根第一天线与第二天线之间的通信信号强度。为了获得每根第一天线与第二天线之间的通信信号强度，还包括：
通过每根所述第一天线依次与所述第二天线通信，来获得所述每根第一天线与所述第二天线之间的通信信号强度。
具体来讲，在S102之前，S102之后，或者S102执行过程中，按照预设间隔，切换每根第一天线与第二天线进行通信。预设间隔例如为5ms、1ms等，本发明不做具体限制。具体为，在第一时刻，控制其中任意一根第一天线处于收发状态，并控制其他第一天线处于非收发状态；第一时刻之后预设间隔的第二时刻，控制另一根第一天线处于收发状态，并控制包括第一时刻处于收发状态的第一天线和其他第一天线处于非收发状态。以此类推，直到每一根第一天线均单独处于收发状态与第二天线通信为止。
在每一根第一天线单独处于收发状态的过程中，获得当前处于收发状态的第一天线与第二天线之间的通信信号强度。
在本申请中，获得通信信号强度可以由信标端设备自己获得；也可以由锚节点端设备获得，然后再提供给信标端设备。
具体来讲，如果由信标端设备自己获得，则第一天线与第二天线之间的通信信号强度具体为第一天线对第二天线发来的信号的接收强度。具体 来讲，信标端设备接收锚节点端设备通过第二天线发送来的任意信号，读取接收该任意信号时的接收强度，将接收强度作为第一天线和第二天线之间的通信信号强度。
例如，至少两根第一天线如图3所示，ANT_11对ANT_21的接收强度为3dB，ANT_12对ANT_21的接收强度为100dB。所以，ANT_11与ANT_21之间的通信信号强度为3dB，ANT_12与ANT_21之间的通信信号强度为100dB。
如果由锚节点端设备获得，则第一天线与第二天线之间的通信信号强度具体为第二天线对第一天线发来的信号的接收强度。具体来讲，锚节点端设备接收信标端设备通过当前处于收发状态的第一天线发送来的任意信号，读取接收该信号时的接收强度以及携带在信号中的天线标识，将该接收强度记录为该天线标识对应的第一天线的通信信号强度。其中，天线标识用于唯一标识一个信标端设备上的一根第一天线。然后，在所有第一天线均与第二天线通信之后，将记录的天线标识和对应的接收强度反馈给信标端设备，以使信标端设备获得第二天线对第一天线的接收强度。
例如，至少两根天线如图3所示，ANT_22接收到一个来自信号端设备的信号。读取到接收强度为3dB，天线标识为“Tom_ANT_11”。其中，天线标识“Tom_ANT_11”表示信标端设备Tom的ANT_11天线。锚节点端设备记录下“Tom_ANT_11—3dB”。接着，ANT_22再次接收到一个来自信标端设备的信号，读取到接收强度为100dB，天线标识为“Tom_ANT_12”。锚节点端设备记录下“Tom_ANT_12—100dB”。接着，锚节点端设备将记录的“Tom_ANT_11—3dB，Tom_ANT_12—100dB”发送给信标端设备。信标端设备解析锚节点端设备发送的记录，确定ANT_11与第二天线的通信信号强度为3dB，ANT_12与第二天线的通信信号强度为100dB。
接下来，信标端设备根据自己获得的通信信号强度，或者锚节点端设 备提供的通信信号强度，判断目标第一天线与第二天线之间的通信信号强度是否为所有第一天线与第二天线之间的通信信号强度中最强的。如果目标第一天线与第二天线之间的通信信号强度为所有通信信号强度中最强的，则执行S103。反之，如果目标第一天线与第二天线之间的通信信号强度不为所有通信信号强度中最强的，表示S102中判断出的目标第一天线与第二天线的通信并不是最佳的。所以在本申请中，再次执行S101至S102，以重新确定出目标第一天线，直到确定出的目标第一天线为所有第一天线中通信信号强度中最强的为止。
沿用上文的例子来说，假设信标端设备切换到了图3所示的姿态，确定出目标第一天线ANT_12。ANT_11和ANT_12与第二天线的通信信号强度分别为3dB和100dB，ANT_12的通信信号强度大于ANT_11的通信信号强度，所以目标第一天线确定准确，切换到ANT_12与锚节点端设备通信。
由上述描述可知，判断目标第一天线与第二天线之间的通信信号强度是否为所有天线中最强的，如果是，表示目标第一天线与第二天线之间的通信质量最佳，才切换到目标第一天线通信。否则，重新确定目标第一天线，直到确定出极化方向匹配且通信信号最强的目标第一天线。通过上述实施例，实现了确保目标第一天线为当前通信质量最佳的第一天线，减小了例如目标第一天线被屏蔽，或者目标第一天线损坏等因素对目标第一天线的影响。
当然，在具体实现过程中，为了节约设备资源，同时尽快为用户确定出目标第一天线，可以设置预设次数，例如3或4等。那么，如果反复执行S101至S102的次数达到预设次数后，目标第一天线依然不是通信信号强度最强的，则可以输出报警提示，提示用户对天线进行检查，或者将通信信号强度最强的第一天线确定为目标第一天线等。
作为另一种可选的实施方式，在S102之后，还可以进一步包括：
获得所述目标第一天线与所述第二天线之间的通信信号强度，判断所述通信信号强度是否达到阈值；如果达到，则执行后续控制所述目标第一天线处于收发状态的处理；如果未达到，则重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述目标第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述目标第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对目标第一天线发来的信号的接收强度；当为所述第二天线对目标第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对目标第一天线发来的信号的接收强度。
具体来讲，在具体实现过程中，目标第一天线可能由于被屏蔽、损坏或故障等因素，而导致即使极化方向与第二天线的极化方向匹配，但通信信号强度的却不足以支持正常通信的情况。因此，在本申请中，在确定出目标第一天线后，还需要进一步获得目标第一天线与第二天线之间的通信信号强度。在本申请中，获得通信信号强度可以由信标端设备自己获得；也可以由锚节点端设备获得，然后再提供给信标端设备。
具体来讲，如果由信标端设备自己获得，则目标第一天线与第二天线之间的通信信号强度具体为目标第一天线对第二天线发来的信号的接收强度。如果由锚节点端设备获得，则目标第一天线与第二天线之间的通信信号强度具体为第二天线对目标第一天线发来的信号的接收强度。上文中已经详细介绍了如何获得每根第一天线与第二天线之间的通信信号强度，本实施例中获得目标第一天线与第二天线之间的通信信号强度也是类似，因此这里就不再一一赘述了。
接下来，信标端设备根据自己获得的通信信号强度，或者锚节点端设 备提供的通信信号强度，判断目标第一天线与第二天线之间的通信信号强度是否达到阈值。本申请中的阈值为第一天线与第二天线能够正常通信的最低强度，本发明所属领域的普通技术人员根据实际设置，此处不做限制。
还需要指出的是，两个天线之间的通信信号强度，可以采用信噪比、信号强度、干扰信号强度等参数来表征。比如，信噪比高于信噪比阈值的第一天线可以认为是目标第一天线；或者，干扰信号强度低于干扰阈值的第一天线，可以认为是目标第一天线。
另外，还可以将多个用于评价通信信号强度的参数结合起来使用，比如，可以选取干扰信号最小的两个第一天线，然后从这两个第一天线中再选取信噪比高于信噪比阈值的一个第一天线作为目标第一天线。当然，需要理解的是，本段提供的参数结合方式仅为一种示例，实际处理中可以具备更多的信号强度评价参数，以及不同的结合方式，本申请中不进行穷举。
如果目标第一天线与第二天线之间的通信信号强度达到阈值，表示信标端设备通过目标第一天线可以与锚节点端设备正常通信，因此执行S103。反之，如果目标第一天线与第二天线之间的通信信号强度未达到阈值，则表示S102中判断出的目标第一天线不支持与锚节点端设备正常通信，所以在本申请中，再次执行S101至S102，以重新确定出目标第一天线，直到确定出的目标第一天线与第二天线之间的通信信号强度达到阈值为止。
由上述描述可知，判断目标第一天线与第二天线之间的通信信号强度是否达到阈值，如果是，表示目标第一天线与第二天线之间的通信质量不仅最佳，而且通信质量合格，此时才通过目标第一天线通信。否则，重新确定目标第一天线，直到确定出通信质量合格的目标第一天线。通过上述实施例，实现了确保目标第一天线当前通信质量足以支持正常通信，避免了在切换到目标第一天线后无法正常通信。
当然，在具体实现过程中，为了节约设备资源，同时尽快为用户确定 出目标第一天线，可以设置预设次数，例如3或4等。那么，如果反复执行S101至S102的次数达到预设次数后，目标第一天线的通信信号强度依然打不打阈值，则可以输出报警提示，提示用户对天线进行检查，或者将通信信号强度最强的第一天线确定为目标第一天线等。
进一步，为了避免信标端设备切换天线影响锚节点端设备对信标端设备的定位，在本申请中，在确定信标端设备与锚节点端设备之间完成一次完整的定位操作后，才控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态。
下面对锚节点端设备对信标端设备进行定位的方法进行简要介绍，请参考图4，为一种可能的数据包收发示意图。
锚节点端设备与信标端设备采用TWR(双向测距，Two-Way Ranging)的方法进行测距。在本申请中，为了定位信标端设备，每次测距需要基于3次通信。
第一，信标端设备向锚节点端设备发送第一数据包。信标端设备发出第一数据包的同时，记录下发送第一数据包的时间戳，本申请将发送第一数据包的时间戳记为tt1。
第二，锚节点端设备接收第一数据包，并记录接收第一数据包的时间戳，本申请将接收第一数据包的时间戳记为ta1。然后，锚节点端设备向信标端设备反馈第二数据包，以通知信标端设备已接收第一数据包。在发出第二数据包的同时，记录下发送第二数据包的时间戳，本申请将发送第二数据包的时间戳记为ta2。
第三，信标端设备接收第二数据包，并记录接收第二数据包的时间戳，本申请中将接收第二数据包的时间戳记为tt2。信标端设备进一步计算出发送第三数据包的时间tt3，并将记录到的tt1、tt2和tt3包含到第三数据包内。在信标端设备时钟到达tt3时，将第三数据包发送给锚节点端设备，以通知 锚节点端设备成功接收第二数据包。
第四，锚节点端设备接收第三数据包，并记录接收第三数据包的时间戳，记为ta3。
接下来，由于信标端设备和锚节点端设备的时钟可能不同步，所以需计算
Tround1＝tt2-tt1，
Treply1＝ta2–ta1，
Tround2＝ta3–ta2，
Treply2＝tt3–tt2。
其中，Tround1表示第一数据包从发送到接收到反馈的用时，Treply1表示锚节点端设备反馈第二数据包的用时，Tround2表示第二数据包从发送到接收到反馈的用时，Treply2表示信标端设备反馈第三数据包用时；图4中的Tprop表示数据包从发送到被接收的在途时间。
可见，T＝(Tround1–Treply1)/2就为第一数据包从信标端设备发送到锚节点端设备的在途时间。因此，信标端设备与锚节点端设备的距离DIS就是DIS＝T*V。其中，V为信号传播速度，为已知量。
进一步，采用PDOA(到达相位差，Phase Difference of Arrival)方法检测角度。具体为，获得锚节点端设备ANT_21和ANT_22接收第三数据包(或第一数据包)的相位，本申请中将ANT_21接收第三数据包(或第一数据包)的相位记为P1(单位弧度)，将ANT_22接收第三数据包(或第一数据包)的相位记为P2(单位弧度)。因此，相位差PD＝P1-P2。转化为角度就是(PD/(2π))*360。
当然，在具体实现过程中，也可以采用AOA(到达角，Angle of Arrival)或TDOA(到达时间差，Time Difference of Arrival)等方法检测角度，本发明不做具体限制。
相位差进一步可转化为方位，那么再根据检测出的距离，锚节点端设备就定位出了信标端设备。
在本申请中，如果由信标端设备检测第一天线与第二天线之间的通信信号强度，则信标端设备可以具体为检测每根第一天线接收第二数据包的接收强度。类似地，如果由信标端设备检测目标第一天线与第二天线之间的通信信号强度，则信标端设备可以具体为检测目标第一天线接收第二数据包的接收强度。
而如果由锚节点端设备检测第一天线与第二天线之间的通信信号强度，则锚节点端设备可以具体为检测第二天线接收每根第一天线发送的第一数据包或第三数据包的接收强度。当然，为了便于区别发送天线，在第一数据包和第三数据包中还包含有发送数据包的第一天线的天线标识。类似地，如果由锚节点端设备检测目标第一天线与第二天线之间的通信信号强度，则锚节点端设备可以具体为检测第二天线接收目标第一天线发送的第一数据包或第三数据包的接收强度。
进一步，如果锚节点端设备通过检测接收第一数据包的接收强度来检测每根第一天线或目标第一天线的接收强度，则进一步可以将检测到的接收强度打包在第二数据包中发送给信标端设备，以使信标端设备获得通信信号强度。
另外，在具体实现过程中，为了节约设备资源，减少数据包发送频率，上述第一数据包、第二数据包和第三数据包中还可以包含信标端设备和锚节点端交互的各种信息和数据，例如锚节点端向信标端发送的控制指令、信标端的请求指令、第二天线的极化方向、信标端设备的姿态等。本发明所属领域的普通技术人员可以根据实际进行选择，本发明不做具体限制。
基于与前述实施例中天线控制方法同样的发明构思，本发明第二方面还提供一种天线控制装置，设置于信标端设备，如图5所示，包括：
检测模块101，配置为对信标端设备的当前姿态进行检测，获得检测结果；
确定模块102，配置为根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
控制模块103，配置为控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
具体来讲，控制模块103配置为判断所述目标第一天线当前是否处于收发状态，如果是，则维持所述目标第一天线的收发状态；如果否，则控制所述目标第一天线切换到收发状态，以及控制所述目标第一天线以外的第一天线处于非收发状态。
确定模块102配置为根据所述检测结果以及所述至少两根第一天线在所述信标端设备中的设置朝向，确定出所述至少两根第一天线的所述当前极化方向；根据预先获得的所述第二天线的极化方向，确定所述当前极化方向与所述第二天线的极化方向夹角最小的所述第一天线为所述目标第一天线。
进一步，所述装置还包括：
第一获得模块，配置为在确定模块102从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，获得每根第一天线与所述第二天线之间的通信信号强度，判断所述目标第一天线与所述第二天线之间的通信信号强度是否为其中最强；如果是，则通知控制模块103执行后续控制所述目标第一天线处于收发状态的处理；如果否，则通知检测模块101重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述第一天线对第二天线发来的信号的接收强度，或者，所述第二天 线对第一天线发来的信号的接收强度；当为所述第二天线对第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对第一天线发来的信号的接收强度。
其中，第一获得模块配置为通过每根所述第一天线依次与所述第二天线通信，来获得所述每根第一天线与所述第二天线之间的通信信号强度。
或者，进一步，所述装置还包括：
第二获得模块，配置为在从确定模块102所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，获得所述目标第一天线与所述第二天线之间的通信信号强度，判断所述通信信号强度是否达到阈值；如果达到，则通知控制模块103执行后续控制所述目标第一天线处于收发状态的处理；如果未达到，则通知检测模块101重新检测所述信标端设备的姿态，并重新确定目标第一天线；
其中，所述目标第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
所述目标第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对目标第一天线发来的信号的接收强度；当为所述第二天线对目标第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对目标第一天线发来的信号的接收强度。
控制模块103在确定所述信标端设备与所述锚节点端设备之间完成一次完整的定位操作后，才控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态。
前述图1-图3实施例中的天线控制方法的各种变化方式和具体实例同样适用于本实施例的天线控制装置，通过前述对天线控制方法的详细描述，本领域技术人员可以清楚的知道本实施例中天线控制装置的实施方法，所以为了说明书的简洁，在此不再详述。
另外，基于前述方案，本申请还提供了一种计算机存储介质，该计算机存储介质包括一组指令，当执行所述指令时，引起至少一个处理器执行包括以下的操作：
对信标端设备的当前姿态进行检测，获得检测结果；
根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
本申请实施例中的上述一个或多个技术方案，至少具有如下一种或多种技术效果：
在本申请中，信标端设备包括极化方向不同的至少两根第一天线，根据对信标端设备的当前姿态进行检测的检测结果，从至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线，然后控制目标第一天线处于收发状态，进而通过目标第一天线与锚节点端设备通信。所以，一方面，本发明在信标端设备设置极化方向不同的天线，另一方面，根据信标端设备当前姿态选择出与锚节点端设备的第二天线极化方向匹配，也就是当前与锚节点端设备通信质量可能最好的天线，因此，本申请中的信标端设备在姿态变化时，依然可以通过与锚节点端设备通信良好的天线与锚节点端设备通信。可见，本发明提高了姿态变化时信标端设备与锚节点端设备的通信质量。
本领域内的技术人员应明白，本发明的实施例可提供为方法、系统、或计算机程序产品。因此，本发明可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本发明可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的 形式。
本发明是参照根据本申请的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本发明进行各种改动和变型而不脱离本发明的精神和范围。这样，倘若本发明的这些修改和变型属于本发明权利要求及其等同技术的范围之内，则本发明也意图包含这些改动和变型在内。

Claims (15)

  1. 一种天线控制方法，应用于信标端设备，所述信标端设备包括极化方向不同的至少两根第一天线，所述方法包括：
    对信标端设备的当前姿态进行检测，获得检测结果；
    根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
    控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
  2. 如权利要求1所述的方法，其中，控制目标第一天线处于收发状态，包括：
    判断所述目标第一天线当前是否处于收发状态，如果是，则维持所述目标第一天线的收发状态；如果否，则控制所述目标第一天线切换到收发状态，以及控制所述目标第一天线以外的第一天线处于非收发状态。
  3. 如权利要求2所述的方法，其中，根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线，包括：
    根据所述检测结果以及所述至少两根第一天线在所述信标端设备中的设置朝向，确定出所述至少两根第一天线的所述当前极化方向；
    根据预先获得的所述第二天线的极化方向，确定所述当前极化方向与所述第二天线的极化方向夹角最小的所述第一天线为所述目标第一天线。
  4. 如权利要求2所述的方法，其中，在从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，还包括：
    获得每根第一天线与所述第二天线之间的通信信号强度，判断所述目 标第一天线与所述第二天线之间的通信信号强度是否为其中最强；如果是，则执行后续控制所述目标第一天线处于收发状态的处理；如果否，则重新检测所述信标端设备的姿态，并重新确定目标第一天线；
    其中，所述第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
    所述第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对第一天线发来的信号的接收强度；当为所述第二天线对第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对第一天线发来的信号的接收强度。
  5. 如权利要求4所述的方法，其中，获得每根第一天线与所述第二天线之间的通信信号强度，包括：
    通过每根所述第一天线依次与所述第二天线通信，来获得所述每根第一天线与所述第二天线之间的通信信号强度。
  6. 如权利要求2所述的方法，其中，在从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，还包括：
    获得所述目标第一天线与所述第二天线之间的通信信号强度，判断所述通信信号强度是否达到阈值；如果达到，则执行后续控制所述目标第一天线处于收发状态的处理；如果未达到，则重新检测所述信标端设备的姿态，并重新确定目标第一天线；
    其中，所述目标第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
    所述目标第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对目标第一天线发来的信号的接收强度；当为所述第二天线对目标第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端 设备处获得所述第二天线对目标第一天线发来的信号的接收强度。
  7. 如权利要求2所述的方法，其中，控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态，包括：
    在确定所述信标端设备与所述锚节点端设备之间完成一次完整的定位操作后，才控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态。
  8. 一种天线控制装置，设置于信标端设备，所述信标端设备包括极化方向不同的至少两根第一天线，所述装置包括：
    检测模块，配置为对信标端设备的当前姿态进行检测，获得检测结果；
    确定模块，配置为根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
    控制模块，配置为控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
  9. 如权利要求8所述的装置，其中，所述控制模块，配置为判断所述目标第一天线当前是否处于收发状态，如果是，则维持所述目标第一天线的收发状态；如果否，则控制所述目标第一天线切换到收发状态，以及控制所述目标第一天线以外的第一天线处于非收发状态。
  10. 如权利要求9所述的装置，其中，所述确定模块，配置为根据所述检测结果以及所述至少两根第一天线在所述信标端设备中的设置朝向，确定出所述至少两根第一天线的所述当前极化方向；根据预先获得的所述第二天线的极化方向，确定所述当前极化方向与所述第二天线的极化方向夹角最小的所述第一天线为所述目标第一天线。
  11. 如权利要求9所述的装置，其中，所述装置还包括：
    第一获得模块，配置为在所述确定模块从所述至少两根第一天线中确 定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，获得每根第一天线与所述第二天线之间的通信信号强度，判断所述目标第一天线与所述第二天线之间的通信信号强度是否为其中最强；如果是，则通知所述控制模块执行后续控制所述目标第一天线处于收发状态的处理；如果否，则通知所述检测模块重新检测所述信标端设备的姿态，并重新确定目标第一天线；
    其中，所述第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
    所述第一天线对第二天线发来的信号的接收强度，或者，所述第二天线对第一天线发来的信号的接收强度；当为所述第二天线对第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对第一天线发来的信号的接收强度。
  12. 如权利要求11所述的装置，其中，所述第一获得模块，配置为通过每根所述第一天线依次与所述第二天线通信，来获得所述每根第一天线与所述第二天线之间的通信信号强度。
  13. 如权利要求9所述的装置，其中，所述装置还包括：
    第二获得模块，配置为在所述确定模块从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线之后，获得所述目标第一天线与所述第二天线之间的通信信号强度，判断所述通信信号强度是否达到阈值；如果达到，则通知所述控制模块执行后续控制所述目标第一天线处于收发状态的处理；如果未达到，则通知所述检测模块重新检测所述信标端设备的姿态，并重新确定目标第一天线；
    其中，所述目标第一天线与所述第二天线之间的通信信号强度用以下信号强度来表示：
    所述目标第一天线对第二天线发来的信号的接收强度，或者，所述第 二天线对目标第一天线发来的信号的接收强度；当为所述第二天线对目标第一天线发来的信号的接收强度时，需要所述信标端设备从所述锚节点端设备处获得所述第二天线对目标第一天线发来的信号的接收强度。
  14. 如权利要求13所述的装置，其中，所述控制模块，配置为在确定所述信标端设备与所述锚节点端设备之间完成一次完整的定位操作后，才控制目标第一天线切换到收发状态，以及控制目标第一天线以外的第一天线处于非收发状态。
  15. 一种计算机存储介质，该计算机存储介质包括一组指令，当执行所述指令时，引起至少一个处理器执行包括以下的操作：
    对信标端设备的当前姿态进行检测，获得检测结果；
    根据所述检测结果，从所述至少两根第一天线中确定出当前极化方向与锚节点端设备的第二天线的极化方向匹配的目标第一天线；
    控制所述目标第一天线处于收发状态，通过所述目标第一天线与所述锚节点端设备通信。
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