WO2023065110A1

WO2023065110A1 - Method for calibrating base station, and computer device and storage medium

Info

Publication number: WO2023065110A1
Application number: PCT/CN2021/124656
Authority: WO
Inventors: 赵勇胜
Original assignee: 深圳市优必选科技股份有限公司
Priority date: 2021-10-19
Filing date: 2021-10-19
Publication date: 2023-04-27

Abstract

Provided in the present application are a method for calibrating a base station, and a computer device and a storage medium. The method comprises: acquiring at least two groups of positioning measurement data measured during a target process, wherein each group of positioning measurement data comprises first position coordinates and a first measurement angle corresponding to the first position coordinates, the first position coordinates are position coordinates of a mobile device, and the first measurement angle is an angle, between the mobile device and a target base station, that is measured by the target base station when the mobile device is at the first position coordinates; according to the first position coordinates, which are in the at least two groups of positioning measurement data, determining position coordinates of the target base station on the basis of a straight line intersection principle, so as to perform position calibration on the target base station; and determining the orientation of the target base station according to the first position coordinates and the first measurement angle, which are in the at least two groups of positioning measurement data, and the position coordinates of the target base station, so as to perform orientation calibration on the target base station. By means of the technical solution, the calibration of a base station can be realized.

Description

基站标定方法、计算机设备以及存储介质Base station calibration method, computer equipment and storage medium

技术领域technical field

本申请涉及数据标定领域，尤其涉及基站标定方法、计算机设备以及存储介质。The present application relates to the field of data calibration, in particular to a base station calibration method, computer equipment and storage media.

背景技术Background technique

到达角度(Angle of Arrival，AOA)定位技术是近年来多用于进行室内定位的基站定位技术。通过在室内部署一个或多个AOA基站，AOA基站可根据AOA定位标签发出的无线信号的到达角度确定AOA定位标签的位置，从而确定安装有AOA定位标签的设备的位置。Angle of Arrival (AOA) positioning technology is a base station positioning technology that is mostly used for indoor positioning in recent years. By deploying one or more AOA base stations indoors, the AOA base station can determine the position of the AOA positioning tag according to the angle of arrival of the wireless signal sent by the AOA positioning tag, thereby determining the position of the device equipped with the AOA positioning tag.

在AOA定位***中，在利用AOA基站定位设备的位置之前，需要对AOA基站的位置和朝向进行标定。In the AOA positioning system, before using the AOA base station to locate the device, it is necessary to calibrate the position and orientation of the AOA base station.

发明内容Contents of the invention

本申请提供基站标定方法、计算机设备以及存储介质，以解决AOA基站的标定问题。The application provides a base station calibration method, computer equipment and a storage medium to solve the calibration problem of an AOA base station.

第一方面，提供一种基站标定方法，包括：In the first aspect, a base station calibration method is provided, including:

获取目标过程中测得的至少两组定位测量数据，所述目标过程是指安装有定位标签的移动设备在目标基站的覆盖范围内移动的过程，其中，每组定位测量数据包括第一位置坐标和第一位置坐标对应的第一测量角，所述第一位置坐标为所述移动设备的位置坐标，所述第一测量角为所述移动设备在所述第一位置坐标处时所述目标基站测得的所述移动设备相对于所述目标基站的角度；Acquiring at least two sets of positioning measurement data measured during the target process, the target process refers to the process in which the mobile device installed with the positioning tag moves within the coverage area of the target base station, wherein each set of positioning measurement data includes the first position coordinates A first measurement angle corresponding to the first position coordinate, the first position coordinate is the position coordinate of the mobile device, and the first measurement angle is the target when the mobile device is at the first position coordinate an angle of the mobile device relative to the target base station measured by the base station;

根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，以对所述目标基站进行位置标定；determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data, so as to calibrate the position of the target base station;

根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，以对所述目标基站进行方向标定。Determine the orientation of the target base station according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station, so as to perform direction calibration on the target base station.

第二方面，提供一种计算机设备，包括存储器以及一个或多个处理器，一个或多个处理器用于执行存储在存储器中的一个或多个计算机程序，一个或多个处理器在执行一个或多个计算机程序时，执行如下步骤：In a second aspect, a computer device is provided, including a memory and one or more processors, the one or more processors are used to execute one or more computer programs stored in the memory, and the one or more processors execute one or more For multiple computer programs, perform the following steps:

第三方面，提供一种计算机可读存储介质，计算机可读存储介质存储有计算机程序，计算机程序包括程序指令，上述程序指令当被处理器执行时执行如下步骤：In a third aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and the computer program includes program instructions. When the above-mentioned program instructions are executed by a processor, the following steps are performed:

在本申请的技术方案中，通过获取安装有定位标签的移动设备在基站的覆盖范围内移动的过程中测得的多个位置坐标与反映移动设备与目标基站之间的角度的组合，然后根据这多个位置坐标反映移动设备与目标基站之间的角度的组合，基于直线相交原则确定目标基站的位置坐标和朝向，完成了对基站的位置和朝向标定，标定的方法简单便捷，通过对基站进行位置和朝向标定，可以保证后续在利用基站进行定位时，可准确定位设备的位置。In the technical solution of this application, by obtaining the combination of multiple position coordinates measured during the movement of the mobile device with the positioning tag in the coverage area of the base station and reflecting the angle between the mobile device and the target base station, and then according to These multiple position coordinates reflect the combination of angles between the mobile device and the target base station. Based on the principle of straight line intersection, the position coordinates and orientation of the target base station are determined, and the position and orientation calibration of the base station is completed. The calibration method is simple and convenient. Calibrating the position and orientation can ensure that the position of the device can be accurately positioned when the base station is used for positioning.

附图说明Description of drawings

图1为本申请实施例提供的一种AOA定位***的***架构示意图；FIG. 1 is a schematic diagram of a system architecture of an AOA positioning system provided by an embodiment of the present application;

图2为本申请实施例提供的一种定位原理图；Fig. 2 is a positioning schematic diagram provided by the embodiment of the present application;

图3为本申请实施例提供的另一种定位原理图；Fig. 3 is another positioning schematic diagram provided by the embodiment of the present application;

图4为本申请实施例提供的一种基站标定方法的流程示意图；FIG. 4 is a schematic flowchart of a base station calibration method provided in an embodiment of the present application;

图5为本申请实施例提供的一种移动设备与目标基站之间的位置示意图；FIG. 5 is a schematic diagram of a position between a mobile device and a target base station according to an embodiment of the present application;

图6为本申请实施例提供的另一种基站标定方法的流程示意图；FIG. 6 is a schematic flowchart of another base station calibration method provided in the embodiment of the present application;

图7是本申请实施例提供的一种基站标定装置的结构示意图；FIG. 7 is a schematic structural diagram of a base station calibration device provided in an embodiment of the present application;

图8是本申请实施例提供的一种计算机设备的结构示意图。Fig. 8 is a schematic structural diagram of a computer device provided by an embodiment of the present application.

具体实施方式Detailed ways

下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行描述。The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.

本申请的技术方案可适用于利用AOA定位技术进行定位的场景。为便于理解，首先对AOA定位技术进行介绍。The technical solution of the present application can be applied to the scene where the AOA positioning technology is used for positioning. For ease of understanding, the AOA positioning technology is firstly introduced.

参见图1，图1为本申请实施例提供的一种AOA定位***的***架构示意图，如图1所示，AOA定位***可包括至少一个AOA定位基站101和移动设备102，其中，移动设备102上安装有AOA定位基站101可识别的定位标签，定位标签可发出AOA定位基站101能够识别到的主动式标签信号。定位基站101基于预置的角度测量算法(例如多信号分类(multiple signal classification，MUSIC)算法)可测得该主动式标签信号的到达角度，到达角度包括俯仰角和方位角，俯仰角用于反映移动设备发出该主动式标签信号时在垂直方向(即指示高度的方向)上相对于AOA基站的方位；方位角用于反映移动设备发出该主动式标签信号时在水平方向上相对于AOA基站的方位，即将移动设备与AOA基站映射至同一水平面时移动设备发出该主动式标签信号时相对于AOA基站的方位。进一步地，AOA定位基站101可根据主动式标签信号的到达角度，计算出定位标签的位置，从而实现对该安装有定位标签的移动设备的定位。具体地，移动设备102包括但不限于为智能手环、智能手表、手机、智能机器人等。Referring to FIG. 1, FIG. 1 is a schematic diagram of a system architecture of an AOA positioning system provided by an embodiment of the present application. As shown in FIG. 1, the AOA positioning system may include at least one AOA positioning base station 101 and a mobile device 102, wherein the mobile device 102 A positioning tag recognizable by the AOA positioning base station 101 is installed on it, and the positioning tag can send out an active tag signal that the AOA positioning base station 101 can recognize. The positioning base station 101 can measure the angle of arrival of the active tag signal based on a preset angle measurement algorithm (such as a multiple signal classification (MUSIC) algorithm). The angle of arrival includes a pitch angle and an azimuth angle, and the pitch angle is used to reflect The orientation of the mobile device relative to the AOA base station in the vertical direction (that is, the direction indicating the height) when the mobile device sends out the active tag signal; the azimuth angle is used to reflect the horizontal direction relative to the AOA base station when the mobile device sends out the active tag signal Azimuth refers to the orientation of the mobile device relative to the AOA base station when the mobile device sends out the active tag signal when the mobile device and the AOA base station are mapped to the same horizontal plane. Further, the AOA positioning base station 101 can calculate the location of the positioning tag according to the angle of arrival of the active tag signal, so as to realize the positioning of the mobile device installed with the positioning tag. Specifically, the mobile device 102 includes, but is not limited to, a smart bracelet, a smart watch, a mobile phone, a smart robot, and the like.

在一些可能的实施场景中，AOA定位***可基于两个AOA定位基站实现定位，基于两个AOA定位基站实现定位的原理图可以如图2所示，图2中以X轴和Y轴表分别示水平面上的两个方向，以Z轴表示垂直方向，图2中以基站的天线的方向平行于垂直方向为例。当移动设备102发出主动式标签信号时，AOA定位基站1011和AOA定位基站1012可以接收到该主动式标签信号，从而分别测得该主动式标签信号的到达角度。其中，移动设备102发出该主动式标签信号时，与AOA定位基站1011的之间形成的俯仰角为v1，与AOA定位基站1011之间形成的方位角为w1，与AOA定位基站1012之间形成的俯仰角为v2，与AOA定位基站1012之间形成的方位角为w2。假设移动设备的位置坐标为(x，y，z)，AOA定位基站1011的位置坐标为(X1，Y1，Z1)，AOA定位基站1012的位置坐标为(X2，Y2，Z2)，由图2可知，则：In some possible implementation scenarios, the AOA positioning system can realize positioning based on two AOA positioning base stations, and the principle diagram of realizing positioning based on two AOA positioning base stations can be shown in Figure 2, which is represented by X-axis and Y-axis in Figure 2 2 shows two directions on the horizontal plane, and the Z axis shows the vertical direction. In FIG. 2 , it is taken as an example that the direction of the antenna of the base station is parallel to the vertical direction. When the mobile device 102 sends out an active tag signal, the AOA positioning base station 1011 and the AOA positioning base station 1012 can receive the active tag signal, thereby respectively measuring the angle of arrival of the active tag signal. Wherein, when the mobile device 102 sends out the active tag signal, the pitch angle formed with the AOA positioning base station 1011 is v1, the azimuth angle formed with the AOA positioning base station 1011 is w1, and the angle formed with the AOA positioning base station 1012 is The pitch angle of 1 is v2, and the azimuth angle formed with the AOA positioning base station 1012 is w2. Assuming that the position coordinates of the mobile device are (x, y, z), the position coordinates of the AOA positioning base station 1011 are (X1, Y1, Z1), and the position coordinates of the AOA positioning base station 1012 are (X2, Y2, Z2), as shown in FIG. 2 It can be seen that:

w1、w2、v1、v2为测得的到达角度，在AOA定位基站1011与AOA定位基站1012的位置坐标(X1，Y1，Z1)、(X2，Y2，Z2)已知的情况下，可求解得到移动设备的位置坐标(x，y，z)。w1, w2, v1, and v2 are the measured angles of arrival. When the position coordinates (X1, Y1, Z1) and (X2, Y2, Z2) of the AOA positioning base station 1011 and the AOA positioning base station 1012 are known, the solution can be solved Get the location coordinates (x, y, z) of the mobile device.

在另一些可能的实施场景中，在AOA定位基站具备测距功能(如基于飞行时差(time of flight，TOF)测距的方式测得AOA定位基站与移动设备之间的距离)的情况下，AOA定位***可基于一个AOA定位基站实现定位，基于一个AOA基站实现定位的原理图可以如图3所示，图3中以X轴和Y轴表示水平面上的两个方向，以Z轴表示垂直方向，图3中以基站的天线的方向平行于垂直方向为例。AOA定位基站1013可以接收到主动式标签信号，从而测得主动式标签信号的到达角度，以及AOA定位基站101与移动设备之间的距离。移动设备102发出该主动式标签信号时，与AOA定位基站101的之间形成的俯仰角为v3，与AOA定位基站101之间形成的方位角为w3，AOA定位基站101与移动设备102之间的距离为D。假设移动设备的位置坐标为(x，y，z)，AOA定位基站101的位置坐标为(X3，Y3，Z3)，则：In some other possible implementation scenarios, when the AOA positioning base station has a ranging function (such as measuring the distance between the AOA positioning base station and the mobile device based on time of flight (time of flight, TOF) ranging), The AOA positioning system can realize positioning based on an AOA positioning base station. The schematic diagram of positioning based on an AOA base station can be shown in Figure 3. In Figure 3, the X axis and the Y axis represent the two directions on the horizontal plane, and the Z axis represents the vertical direction. direction. In FIG. 3 , it is taken as an example that the direction of the antenna of the base station is parallel to the vertical direction. The AOA positioning base station 1013 can receive the active tag signal, so as to measure the angle of arrival of the active tag signal and the distance between the AOA positioning base station 101 and the mobile device. When the mobile device 102 sends out the active tag signal, the pitch angle formed with the AOA positioning base station 101 is v3, the azimuth angle formed with the AOA positioning base station 101 is w3, and the distance between the AOA positioning base station 101 and the mobile device 102 is The distance is D. Assuming that the location coordinates of the mobile device are (x, y, z), and the location coordinates of the AOA positioning base station 101 are (X3, Y3, Z3), then:

x-X3＝D*sinv3*cosw3x-X3＝D*sinv3*cosw3

y-Y3＝D*sinv3*sinw3y-Y3=D*sinv3*sinw3

z-Z3＝D*cosv3z-Z3=D*cosv3

由于w3和v3为测得的达到角度，D为测得的距离，在AOA定位基站101的位置坐标(X3，Y3，Z3)已知的情况下，可求解得到移动设备的位置坐标(x，y，z)。Since w3 and v3 are the measured arrival angles, and D is the measured distance, when the position coordinates (X3, Y3, Z3) of the AOA positioning base station 101 are known, the position coordinates (x, y, z).

需要说明的是，上述图2和图3示出的情况为AOA基站的天线平行于垂直方向的角度情况，上述公式也为AOA基站的天线平行于垂直方向的角度情况下的公式，在AOA基站的天线与垂直方向不平行的情况下，上述公式可适应性调整。It should be noted that the above-mentioned situation shown in FIG. 2 and FIG. 3 is the angle of the antenna of the AOA base station parallel to the vertical direction, and the above formula is also the formula of the angle of the antenna of the AOA base station parallel to the vertical direction. When the antenna is not parallel to the vertical direction, the above formula can be adjusted adaptively.

在其他实施场景中，AOA定位***还可以基于三个、四个等其他数量的 AOA定位基站实现定位。结合上述内容可知，通过预先确定AOA定位基站的位置坐标，可以根据主动式标签信号的到达角度对移动设备进行定位，因此，有必要对AOA基站进行位置标定。In other implementation scenarios, the AOA positioning system may also implement positioning based on three, four, or other numbers of AOA positioning base stations. Combining the above content, it can be seen that by pre-determining the position coordinates of the AOA positioning base station, the mobile device can be positioned according to the angle of arrival of the active tag signal. Therefore, it is necessary to calibrate the position of the AOA base station.

基于此，本申请提出了一种基站标定方法，通过安装有定位标签的移动设备围绕基站移动，获取移动设备在移动过程中的多个测量数据，测量数据包括位置数据和测角数据，根据多个测量数据可完成对AOA基站的标定。以下具体介绍本申请的技术方案。Based on this, this application proposes a base station calibration method. By moving around the base station with a mobile device equipped with a positioning tag, multiple measurement data of the mobile device during the movement process are obtained. The measurement data includes position data and angle measurement data. The measurement data can complete the calibration of the AOA base station. The technical solution of the present application is introduced in detail below.

参见图4，图4为本申请实施例提供的一种基站标定方法的流程示意图，该方法可以应用于上述AOA定位基站101，或者，移动设备102，或者，与上述AOA定位基站101或移动设备102连接的上位机设备中；如图4所示，该方法包括如下步骤：Referring to FIG. 4, FIG. 4 is a schematic flow diagram of a base station calibration method provided by an embodiment of the present application. This method can be applied to the above-mentioned AOA positioning base station 101, or the mobile device 102, or, with the above-mentioned AOA positioning base station 101 or the mobile device 102 connected host computer equipment; as shown in Figure 4, the method includes the following steps:

S201，获取目标过程中测得的至少两组定位测量数据，其中，每组定位测量数据包括第一位置坐标和第一位置坐标对应的第一测量角。S201. Acquire at least two sets of positioning measurement data measured during the target process, where each set of positioning measurement data includes first position coordinates and a first measurement angle corresponding to the first position coordinates.

这里，目标过程是指安装有定位标签的移动设备在目标基站的覆盖范围内移动的过程，其中，移动设备可以为前述提到的智能手环、智能手表、手机或智能机器人等。目标基站可以为前述提到的AOA定位基站。移动设备安装的定位标签与目标基站相匹配，即移动终端设备的定位标签发送的主动式标签信号能够被目标基站接收和识别，目标基站可以测得该主动式标签信号的到达角度。有关于主动式标签信号的到达角度的定义，可参考前述描述。具体地，定位标签发送的主动式标签信号可以为蓝牙信号或超宽带(ultra wideband，UWB)信号等，有关于定位标签与目标基站之间的通信方式以及定位标签发送的主动式标签信号的信号类型，本申请不做限定。Here, the target process refers to the process in which the mobile device installed with the positioning tag moves within the coverage of the target base station, wherein the mobile device can be the aforementioned smart bracelet, smart watch, mobile phone or smart robot. The target base station may locate the base station for the aforementioned AOA. The positioning tag installed on the mobile device matches the target base station, that is, the active tag signal sent by the positioning tag of the mobile terminal device can be received and recognized by the target base station, and the target base station can measure the angle of arrival of the active tag signal. For the definition of the angle of arrival of the active tag signal, refer to the foregoing description. Specifically, the active tag signal sent by the positioning tag can be a Bluetooth signal or an ultra wideband (UWB) signal, etc., which are related to the communication method between the positioning tag and the target base station and the active tag signal sent by the positioning tag. The type is not limited in this application.

第一位置坐标为移动设备的位置坐标。第一测量角为移动设备在该第一位置坐标处时目标基站测得的移动设备相对于目标基站的角度，也即移动设备在该第一位置坐标处目标基站测得的水平面上的信号接收角度，反映了移动设备在第一位置坐标处发送的主动式标签信号与目标基站的水平朝向之间的角度；目标基站的水平朝向用于指示目标基站在水平面上的信号发射方向和/信号接收方向，可以理解为是目标基站的天线在水平面上的方向。其中，第一测量角的取值范围可以为[-90°，90°]。示例性地，可参见图5，图5中以X轴和Y轴表示水平面上的两个方向，虚线箭头A指示的方向为目标基站的水平朝向，当移动设备位于P1处时，第一测量角为图5中的θ1；当移动设备位于P2处时，第一测量角为图5中的θ2；当移动设备位于P3处时，第一测量角为图5中的θ3。The first location coordinates are location coordinates of the mobile device. The first measurement angle is the angle of the mobile device relative to the target base station measured by the target base station when the mobile device is at the first position coordinates, that is, the signal reception of the mobile device on the horizontal plane measured by the target base station at the first position coordinates Angle, which reflects the angle between the active tag signal sent by the mobile device at the first position coordinates and the horizontal orientation of the target base station; the horizontal orientation of the target base station is used to indicate the signal transmission direction and/or signal reception of the target base station on the horizontal plane The direction may be understood as the direction of the antenna of the target base station on the horizontal plane. Wherein, the value range of the first measurement angle may be [-90°, 90°]. For example, refer to FIG. 5. In FIG. 5, X-axis and Y-axis represent two directions on the horizontal plane, and the direction indicated by the dotted arrow A is the horizontal orientation of the target base station. When the mobile device is located at P1, the first measurement The angle is θ1 in Figure 5; when the mobile device is at P2, the first measurement angle is θ2 in Figure 5; when the mobile device is at P3, the first measurement angle is θ3 in Figure 5.

具体实现中，可以驱使移动设备在目标基站的覆盖范围内围绕目标基站移动，每移动一次，则通过移动设备测量记录移动设备的位置坐标、移动设备上的定位标签发出的主动式标签信号的信号强度，以及被基站接收的主动式标签信号在水平面上的信号发送角度，并通过基站测量记录接收到的主动式标签信号在水平面上的信号接收角度(即第一测量角)。移动设备的位置坐标、主动式标签信号的信号强度、被基站接收的主动式标签信号在水平面上的信号发送角度以及主动式标签信号在水平面上的信号接收角度组成一次移动对应的一组测量数据。通过驱使移动设备移动多次，则可以获取到多组测量数据，然后从获取到的多组测量数据中抽取至少两次移动对应的测量数据，从至少两次移动对应的测量数据中可以获取到至少两组定位测量数据。其中，抽取测量数据的规则可以是移动设备移动的间隔大于预设间隔，以保证抽取的测量数据相互之间的差距足够大；可选地，抽取的规则也可以是移动设备发出的主动式标签信号的信号强度大于预设强度，以保证抽取的测量数据是有效数据；进一步可选地，抽取的规则还可以是移动设备移动的间隔大于预设间隔且移动式设备发出的主动式标签信号的信号强度。通过设置抽取规则，可以使得保证获取到的至少两组测量数据合理有效，有助于后续标定的准确性。In the specific implementation, the mobile device can be driven to move around the target base station within the coverage area of the target base station. Every time it moves, the mobile device measures and records the position coordinates of the mobile device and the active tag signal sent by the positioning tag on the mobile device. Intensity, and the signal transmission angle of the active tag signal received by the base station on the horizontal plane, and the signal receiving angle (that is, the first measurement angle) of the received active tag signal on the horizontal plane is measured and recorded by the base station. The location coordinates of the mobile device, the signal strength of the active tag signal, the signal transmission angle of the active tag signal received by the base station on the horizontal plane, and the signal receiving angle of the active tag signal on the horizontal plane form a set of measurement data corresponding to one movement . By driving the mobile device to move multiple times, multiple sets of measurement data can be obtained, and then the measurement data corresponding to at least two movements can be extracted from the obtained multiple sets of measurement data, and the measurement data corresponding to at least two movements can be obtained. At least two sets of positioning measurement data. Among them, the rule for extracting measurement data may be that the mobile device moves at an interval greater than a preset interval, so as to ensure that the gap between the extracted measurement data is large enough; optionally, the extraction rule may also be an active tag issued by the mobile device The signal strength of the signal is greater than the preset strength to ensure that the extracted measurement data is valid data; further optionally, the extraction rule can also be that the moving interval of the mobile device is greater than the preset interval and the active tag signal sent by the mobile device signal strength. By setting the extraction rules, it can be ensured that at least two sets of measurement data obtained are reasonable and effective, which contributes to the accuracy of subsequent calibration.

S202，根据至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定目标基站的位置坐标，以对目标基站进行位置标定。S202. According to the first position coordinates in at least two sets of positioning measurement data, determine the position coordinates of the target base station based on the straight line intersection principle, so as to calibrate the position of the target base station.

这里，由于目标基站的位置是固定不变的，移动设备每移动到一个位置时，移动设备与目标基站之间会形成一条空间直线，移动设备移动到多个位置时，则会形成多条空间直线。由于多条空间直线均经过目标基站，根据移动设备的多个位置坐标，确定经过这多个位置坐标的多条空间直线的交点，则可确定目标基站的位置，从而可实现对目标基站的位置标定。Here, since the position of the target base station is fixed, when the mobile device moves to a position, a spatial straight line will be formed between the mobile device and the target base station, and when the mobile device moves to multiple positions, multiple space lines will be formed. straight line. Because multiple spatial straight lines pass through the target base station, according to the multiple position coordinates of the mobile device, determine the intersection point of the multiple spatial straight lines passing through these multiple position coordinates, then the position of the target base station can be determined, so that the position of the target base station can be realized. calibration.

在一些可能的场景中，在目标基站的高度已知的情况下，可以只对目标基站在水平面上的位置进行标定，即只确定目标基站的水平坐标，其中，水平坐标是指水平面上的坐标。示例性地，可参见图5，水平坐标即为X轴和Y轴组成的平面上的坐标。In some possible scenarios, when the height of the target base station is known, only the position of the target base station on the horizontal plane can be calibrated, that is, only the horizontal coordinates of the target base station can be determined, where the horizontal coordinates refer to the coordinates on the horizontal plane . For example, referring to FIG. 5 , the horizontal coordinates are the coordinates on the plane formed by the X axis and the Y axis.

在将目标基站和移动设备映射至同一水平面的情况下，移动设备与目标基站连成的多条空间直线映射至水平面形成多条水平直线，多条水平直线会相交于目标基站在水平面上的映射位置。多条水平直线分别反映了移动设备在不同位置处与目标基站之间在水平面上的相对方位，移动设备在不同位置处与目标基站之间在水平面上的相对方位包括移动设备在水平面上相对于目标基站的方位和目标基站在水平面上相对于移动设备的方位，移动设备在水平面上相对于目标基站的方向通过第一测量角来表示，有关与第一测量角的定义，可参见前述描述；目标基站在水平面上相对于移动设备的方位，可以用第二测量角来表示，第二测量角为可以由移动设备测量得到，用于指示移动设备在第一位置坐标处发出的被目标基站接收到的主动式标签信号在水平面上的信号发送角度，反映了移动设备在第一位置处发送的被目标基站接收到的主动式标签信号与预设水平方向之间的角度。其中，第二测量角的取值范围可以为[-90°，90°]。示例性地，可参见图5，预设水平方向可以为X轴指示的方向，第二测量角可以为图5中的α1、α2、α3；可选地，预设水平方向也可以为Y轴指示的方向。In the case where the target base station and the mobile device are mapped to the same horizontal plane, multiple spatial straight lines connecting the mobile device and the target base station are mapped to the horizontal plane to form multiple horizontal straight lines, and the multiple horizontal straight lines will intersect with the mapping of the target base station on the horizontal plane Location. The multiple horizontal straight lines respectively reflect the relative orientations of the mobile device at different positions and the target base station on the horizontal plane, and the relative orientations of the mobile device at different positions and the target base station on the horizontal plane include The orientation of the target base station and the orientation of the target base station relative to the mobile device on the horizontal plane, and the direction of the mobile device relative to the target base station on the horizontal plane is represented by the first measurement angle. For the definition of the first measurement angle, please refer to the foregoing description; The orientation of the target base station relative to the mobile device on the horizontal plane can be represented by a second measurement angle, the second measurement angle can be measured by the mobile device, and is used to indicate that the mobile device sent at the first position coordinates is received by the target base station The received signal transmission angle of the active tag signal on the horizontal plane reflects the angle between the active tag signal sent by the mobile device at the first position and received by the target base station and the preset horizontal direction. Wherein, the value range of the second measurement angle may be [-90°, 90°]. For example, referring to FIG. 5, the preset horizontal direction may be the direction indicated by the X axis, and the second measurement angle may be α1, α2, and α3 in FIG. 5; optionally, the preset horizontal direction may also be the Y axis direction indicated.

因此，可根据第二测量角和移动设备的位置坐标确定水平直线，上述每组定位测量数据还包括第二测量角。对目标基站在水平面上的位置进行标定可包括如下步骤a1-a3。Therefore, the horizontal straight line can be determined according to the second measurement angle and the position coordinates of the mobile device, and each set of positioning measurement data above also includes the second measurement angle. Calibrating the position of the target base station on the horizontal plane may include the following steps a1-a3.

a1、根据目标定位测量数据中的第一位置坐标和第二测量角，确定目标定位测量数据对应的水平直线。a1. Determine a horizontal straight line corresponding to the target positioning measurement data according to the first position coordinates and the second measurement angle in the target positioning measurement data.

这里，目标定位测量数据为上述至少两组定位测量数据中的任意一组定位测量数据，水平直线的定义可参考前述描述。示例性地，可参见图5，L1为移动设备在P1处与目标基站连成的水平直线；L2为移动设备在P1处与目标基站连成的水平直线；L3为移动设备在P3处与目标基站连成的水平直线。Here, the target positioning measurement data is any set of positioning measurement data in the above at least two sets of positioning measurement data, and the definition of the horizontal line can refer to the foregoing description. Exemplarily, referring to FIG. 5 , L1 is the horizontal straight line formed by the mobile equipment at P1 and the target base station; L2 is the horizontal straight line formed by the mobile equipment at P1 and the target base station; L3 is the horizontal straight line formed by the mobile equipment at P3 and the target base station. A horizontal line formed by base stations.

具体地，假设目标定位测量数据中的位置坐标的水平坐标为(x0，y0)，目标定位测量数据中的第二测量角为α0。结合图5可知，在预设水平方向为X轴指示的方向的情况下，目标定位测量数据对应的水平直线可以用直线表达关系式y＝tanα0*x+(y0-tanα0*x0)来进行表示；在预设水平方向为方向为Y轴指示的方向的情况下，目标定位测量数据对应的水平直线可以用直线表达关系式y＝cotanα0*x+(y0-cotanα0*x0)来进行表示。Specifically, it is assumed that the horizontal coordinates of the position coordinates in the target positioning measurement data are (x0, y0), and the second measurement angle in the target positioning measurement data is α0. As can be seen in conjunction with FIG. 5, in the case where the preset horizontal direction is the direction indicated by the X axis, the horizontal straight line corresponding to the target positioning measurement data can be represented by the straight line expression relation y=tanα0*x+(y0-tanα0*x0); In the case where the preset horizontal direction is the direction indicated by the Y axis, the horizontal straight line corresponding to the target positioning measurement data can be expressed by the straight line expression relation y=cotanα0*x+(y0-cotanα0*x0).

a2、确定至少两组定位测量数据各自对应的水平直线两两之间的交点，以得到至少一个水平交点坐标。a2. Determine intersection points between two horizontal straight lines corresponding to at least two sets of positioning measurement data, so as to obtain at least one horizontal intersection point coordinates.

由于所有的水平直线在水平面上均会经过目标基站映射到水平面上的位置，因此，每两条直线会存在一个交点，每个交点存在一个水平坐标，从而可得到多个交点水平坐标。Since all horizontal straight lines are mapped to positions on the horizontal plane by the target base station, there is an intersection point between every two straight lines, and each intersection point has a horizontal coordinate, so that multiple intersection point horizontal coordinates can be obtained.

具体地，可以按照上述步骤a1的方式确定每条水平直线的直线关系表达式，然后选择任意两个关系表达式组成二元一次方程组，通过求解二元一次方程组中的x和y，可得到一个水平交点坐标；通过确定水平直线两两之间的交点，可得到m个交点坐标，

n为水平直线的数量，也即定位测量数据的组数。 Specifically, the straight-line relational expression of each horizontal straight line can be determined according to the above step a1, and then any two relational expressions can be selected to form a system of binary linear equations, and by solving x and y in the system of binary linear equations, one can Obtain the coordinates of a horizontal intersection point; by determining the intersection point between two horizontal lines, m intersection coordinates can be obtained,

n is the number of horizontal straight lines, that is, the number of sets of positioning measurement data.

a2、根据至少一个水平交点坐标，确定目标基站的水平坐标。a2. Determine the horizontal coordinates of the target base station according to the coordinates of at least one horizontal intersection point.

这里，水平交点坐标即代表了目标基站在水平面上的水平坐标。在水平交点坐标为一个的情况下，可以直接将水平交点坐标确定为目标基站的水平坐标；在水平交点坐标为多个的情况下，可以通过对多个水平交点坐标求平均，得到目标基站的水平坐标。Here, the coordinates of the horizontal intersection represent the horizontal coordinates of the target base station on the horizontal plane. In the case of one horizontal intersection coordinate, the horizontal intersection coordinate can be directly determined as the horizontal coordinate of the target base station; in the case of multiple horizontal intersection coordinates, the target base station can be obtained by averaging the coordinates of multiple horizontal intersection points horizontal coordinates.

具体地，计算目标基站的水平坐标的公式如下：Specifically, the formula for calculating the horizontal coordinates of the target base station is as follows:

其中，(X0，Y0)为计算得到的目标基站的水平坐标，(xj，yj)为第j个水平交点坐标，m为水平交点坐标的总数量。通过对至少一个水平交点求平均的方式确定目标基站的水平坐标，可以减小测量的误差，从而减小标定的误差。Wherein, (X0, Y0) is the calculated horizontal coordinates of the target base station, (xj, yj) is the coordinates of the jth horizontal intersection point, and m is the total number of horizontal intersection point coordinates. By determining the horizontal coordinates of the target base station in a manner of averaging at least one horizontal intersection point, the measurement error can be reduced, thereby reducing the calibration error.

在另一些可能的场景中，在目标基站的高度未知的情况下，还可以对目标基站在垂直方向上的坐标进行标定，也即确定目标基站的高度坐标。在一种可行的实施方式中，可以根据移动设备与目标基站之间的空间距离和移动设备与目标基站之间的水平距离，基于勾股定理确定目标基站的高度坐标，每组定位测量数据还可以包括第一位置坐标对应的第一空间距离，第一空间距离为移动设备在第一位置坐标处与目标基站的空间距离。具体地，对目标基站在垂直方向上的位置进行标定可包括如下步骤b1-b3。In some other possible scenarios, when the height of the target base station is unknown, the coordinates of the target base station in the vertical direction may also be calibrated, that is, the height coordinates of the target base station are determined. In a feasible implementation manner, the height coordinates of the target base station can be determined based on the Pythagorean Theorem according to the spatial distance between the mobile device and the target base station and the horizontal distance between the mobile device and the target base station, and each set of positioning measurement data is also The first spatial distance corresponding to the first position coordinate may be included, and the first spatial distance is the spatial distance between the mobile device and the target base station at the first position coordinate. Specifically, calibrating the position of the target base station in the vertical direction may include the following steps b1-b3.

b1、根据目标定位测量数据中的第一位置坐标，和目标基站的水平坐标，计算目标定位测量数据对应的水平距离。b1. Calculate a horizontal distance corresponding to the target positioning measurement data according to the first position coordinates in the target positioning measurement data and the horizontal coordinates of the target base station.

其中，目标定位测量数据对应的水平距离为目标定位数据对应的水平直线上移动设备与所述目标基站之间的线段的长度。示例性地，可参见图5，移动设备在P1位置处与目标基站连成的直线为L1，L1上P1与目标基站连成的线段的长度S为移动设备在P1位置处对应的水平距离。Wherein, the horizontal distance corresponding to the target positioning measurement data is the length of a line segment between the mobile device and the target base station on the horizontal straight line corresponding to the target positioning data. For example, referring to FIG. 5 , the straight line connecting the mobile device at the position P1 and the target base station is L1, and the length S of the line segment connecting P1 and the target base station on L1 is the corresponding horizontal distance of the mobile device at the position P1.

具体地，可根据如下公式计算目标定位测量数据对应的水平距离：Specifically, the horizontal distance corresponding to the target positioning measurement data can be calculated according to the following formula:

其中，Li为目标定位测量数据对应的水平距离，(xi，yi)为目标定位测量数据中的第一位置坐标，(X0，Y0)为目标基站的水平坐标。Wherein, Li is the horizontal distance corresponding to the target positioning measurement data, (xi, yi) is the first position coordinate in the target positioning measurement data, and (X0, Y0) is the horizontal coordinate of the target base station.

b2、根据目标定位测量数据对应的水平距离和目标定位测量数据中的第一空间距离，计算目标定位测量数据对应的第一高度数据。b2. Calculate first height data corresponding to the target positioning measurement data according to the horizontal distance corresponding to the target positioning measurement data and the first spatial distance in the target positioning measurement data.

这里，第一高度数据用于指示目标基站相对于移动设备的高度。具体地，第一高度数据的计算公式如下：Here, the first height data is used to indicate the height of the target base station relative to the mobile device. Specifically, the calculation formula of the first height data is as follows:

其中，Hi为目标定位测量数据对应的第一高度数据，Di为目标定位测量数据中的第一空间距离，Li为目标定位测量数据对应的水平距离。Wherein, Hi is the first altitude data corresponding to the target positioning measurement data, Di is the first spatial distance in the target positioning measurement data, and Li is the corresponding horizontal distance of the target positioning measurement data.

b3、根据至少两组定位数据各自对应的第一高度数据，和定位标签的高度，确定目标基站的高度坐标。b3. Determine the height coordinates of the target base station according to the first height data corresponding to at least two sets of positioning data and the height of the positioning tag.

这里，一组定位数据对应一个第一高度数据，至少两组定位数据，则对应至少两个第一高度数据。可以对至少两个第一高度数据求均值后再与定位标签的高度求和，从而得到目标基站的高度坐标，即

Z0为目标基站的高度坐标，h为定位标签的高度，n等于定位测量数据的组数。通过多组数据求均值的方式，可以避免因测量误差带来的高度坐标标定不准的问题。 Here, one set of positioning data corresponds to one first height data, and at least two sets of positioning data correspond to at least two first height data. At least two first height data can be averaged and then summed with the height of the positioning tag to obtain the height coordinates of the target base station, namely

Z0 is the height coordinate of the target base station, h is the height of the positioning tag, and n is equal to the number of groups of positioning measurement data. By calculating the mean value of multiple sets of data, the problem of inaccurate calibration of height coordinates caused by measurement errors can be avoided.

S203，根据至少两组定位测量数据中的第一位置坐标和第一测量角，以及目标基站的位置坐标，确定目标基站的朝向，以对目标基站进行方向标定。S203. Determine the orientation of the target base station according to the first position coordinates and the first measurement angle in at least two sets of positioning measurement data, and the position coordinates of the target base station, so as to calibrate the direction of the target base station.

这里，目标基站的朝向，用于指示目标基站在水平面上的信号发射方向和/或信号接收方向，可以理解为是目标基站的天线方向。Here, the orientation of the target base station is used to indicate the signal transmission direction and/or signal reception direction of the target base station on the horizontal plane, and may be understood as the antenna direction of the target base station.

具体地，可根据如下步骤c1-c3确定目标基站的朝向。Specifically, the orientation of the target base station can be determined according to the following steps c1-c3.

c1、根据目标定位测量数据中的位置坐标和目标基站的位置坐标，确定目标定位测量数据对应的水平直线与预设水平方向之间的夹角，以得到目标夹角。c1. According to the position coordinates in the target positioning measurement data and the position coordinates of the target base station, determine the included angle between the horizontal line corresponding to the target positioning measurement data and the preset horizontal direction, so as to obtain the target included angle.

这里，目标定位测量数据为上述至少两组定位测量数据中的任意一组定位测量数据，预设水平方向可以为图5所示的X轴或Y轴指示的方向。示例性地，目标定位测量数据对应的水平直线可参见图5中L2，当预设水平方向为Y轴指示的方向时，目标夹角可参见图5中的φ1，当预设水平方向为X轴指示的方向时，目标夹角为可参见图5中的φ2，可以理解的是，在理论情况下，φ2与α2相等。Here, the target positioning measurement data is any set of positioning measurement data in the above at least two sets of positioning measurement data, and the preset horizontal direction may be the direction indicated by the X axis or the Y axis shown in FIG. 5 . Exemplarily, the horizontal straight line corresponding to the target positioning measurement data can be referred to as L2 in Figure 5. When the preset horizontal direction is the direction indicated by the Y axis, the target angle can be referred to as φ1 in Figure 5. When the preset horizontal direction is X In the direction indicated by the axis, the target included angle is φ2 in FIG. 5 . It can be understood that, in a theoretical situation, φ2 is equal to α2.

在一种具体实施方式中，可以基于反正切公式计算目标定位测量数据对应的空间直线与预设水平方向之间的夹角，从而得到目标夹角。其中，在预设水平方向为X轴指示的方向的情况下，反正切公式如下：In a specific implementation manner, the included angle between the spatial straight line corresponding to the target positioning measurement data and the preset horizontal direction may be calculated based on the arctangent formula, so as to obtain the target included angle. Wherein, when the preset horizontal direction is the direction indicated by the X-axis, the arctangent formula is as follows:

在预设水平方向为Y轴指示的方向的情况下，反正切公式如下：In the case where the preset horizontal direction is the direction indicated by the Y-axis, the arctangent formula is as follows:

其中，φi为目标夹角，(x0，y0)为第一位置坐标，(X0，Y0)为目标基站的位置坐标。Wherein, φi is the target included angle, (x0, y0) is the coordinate of the first position, and (X0, Y0) is the position coordinate of the target base station.

可选地，也可以基于反余切公式、反余弦公式、反正弦公式等计算目标直线与垂直方向之间的目标夹角，本申请不做限定。Optionally, the target included angle between the target straight line and the vertical direction may also be calculated based on an arc cotangent formula, an arc cosine formula, an arc sine formula, etc., which is not limited in this application.

c2、计算目标定位测量数据中的第一测量角与目标夹角之间的角度和或角度差，以得到目标定位测量数据对应的朝向备选角。c2. Calculate the angle sum or angle difference between the first measurement angle in the target positioning measurement data and the target included angle, so as to obtain the orientation candidate angle corresponding to the target positioning measurement data.

其中，目标定位测量数据对应的朝向备选角具体为第一测量角与目标夹角之间的角度和还是第一测量角与目标夹角之间的角度差，取决于预设水平方向、目标基站的朝向以及移动设备与目标基站之间的水平直线这三者在水平面上的相对位置关系。Wherein, the orientation candidate angle corresponding to the target positioning measurement data is specifically the angle between the first measurement angle and the target angle or the angle difference between the first measurement angle and the target angle, depending on the preset horizontal direction, target The orientation of the base station and the horizontal line between the mobile device and the target base station are relative positions on the horizontal plane.

具体地，可参见图5，以预设水平方向为Y轴指示的方向为例，当目标基站的朝向、预设水平方向以及移动设备与目标基站之间的水平直线这三者在水平面上的相对位置关系如图5中的A(目标基站的朝向)、B(预设水平方向)、L2所示时，目标定位测量数据对应的朝向备选角等于目标定位测量数据中的第一测量角与目标夹角之间的角度和；当目标基站的朝向、预设水平方向以及移动设备与目标基站之间的水平直线这三者在水平面上的相对位置关系如图5中的A(目标基站的朝向)、B(预设水平方向)和L1所示时，目标定位测量数据对应的朝向备选角等于目标定位测量数据中的第一测量角与目标夹角之间的角度差。同理，在预设水平方向为X轴指示的方向的情况下，当目标基站的朝向、预设水平方向以及移动设备与目标基站之间的水平直线这三者在水平面上的相对位置关系如图5中的A(目标基站的朝向)、C(预设水平方向)和L2所示时，目标定位测量数据对应的朝向备选角等于目标定位测量数据中的目标夹角与第一测量角之间的角度差；当目标基站的朝向、预设水平方向以及移动设备与目标基站之间的水平直线这三者在水平面上的相对位置关系如图5中的A(目标基站的朝向)、C(预设水平方向)和L3所示时，目标定位测量数据对应的朝向备选角等于目标定位测量数据中的目标夹角与第一测量角之间的角度和。Specifically, referring to FIG. 5, taking the preset horizontal direction as the direction indicated by the Y-axis as an example, when the orientation of the target base station, the preset horizontal direction, and the horizontal line between the mobile device and the target base station are on the horizontal plane When the relative position relationship is shown in A (the orientation of the target base station), B (the preset horizontal direction), and L2 in Figure 5, the orientation candidate angle corresponding to the target positioning measurement data is equal to the first measurement angle in the target positioning measurement data The sum of angles with the target angle; when the orientation of the target base station, the preset horizontal direction, and the horizontal line between the mobile device and the target base station, the relative positional relationship of the three on the horizontal plane is as shown in A in Figure 5 (target base station orientation), B (preset horizontal direction) and L1, the orientation candidate angle corresponding to the target positioning measurement data is equal to the angle difference between the first measurement angle and the target angle in the target positioning measurement data. Similarly, when the preset horizontal direction is the direction indicated by the X-axis, when the orientation of the target base station, the preset horizontal direction, and the horizontal line between the mobile device and the target base station are relative to each other on the horizontal plane, such as When shown in A (the orientation of the target base station), C (the preset horizontal direction) and L2 in Fig. 5, the orientation candidate angle corresponding to the target positioning measurement data is equal to the target angle in the target positioning measurement data and the first measurement angle The angle difference between them; when the orientation of the target base station, the preset horizontal direction, and the horizontal line between the mobile device and the target base station, the relative positional relationship of the three on the horizontal plane is as shown in A in Figure 5 (the orientation of the target base station), When shown in C (preset horizontal direction) and L3, the orientation candidate angle corresponding to the target positioning measurement data is equal to the angle sum between the target angle in the target positioning measurement data and the first measurement angle.

c3、根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向。c3. Determine the horizontal orientation of the target base station according to the orientation candidate angles corresponding to the at least two sets of positioning measurement data.

在一种可行的实施方式中，可以对至少两组定位测量数据各自对应的朝向备选角取平均值，以得到目标朝向角，目标朝向角用于表征目标基站的水平朝向。具体地，目标朝向角的计算公式如下：In a feasible implementation manner, the orientation candidate angles corresponding to at least two sets of positioning measurement data may be averaged to obtain a target orientation angle, and the target orientation angle is used to characterize the horizontal orientation of the target base station. Specifically, the calculation formula of the target orientation angle is as follows:

其中，φi为朝向备选角，φ0为目标朝向角，n等于定位测量数据的组数。Among them, φi is the orientation candidate angle, φ0 is the target orientation angle, and n is equal to the number of sets of positioning measurement data.

在确定目标基站的水平坐标后再对目标基站的水平朝向进行标定，根据目标基站的水平坐标和移动设备的位置坐标重新确定目标基站与移动设备之间的水平直线与预设水平方向之间的夹角，可以防止因测量角度检测不准而带来的朝向标定不准的情况出现。After the horizontal coordinates of the target base station are determined, the horizontal orientation of the target base station is calibrated, and the distance between the horizontal line between the target base station and the mobile device and the preset horizontal direction is re-determined according to the horizontal coordinates of the target base station and the position coordinates of the mobile device. The included angle can prevent the inaccurate orientation calibration caused by inaccurate measurement angle detection.

可选地，为了提高标定的准确度，也可以在至少两组定位测量数据各自对应的朝向备选角中剔除一些误差较大的朝向备选角后，再对剩余的朝向备选角取平均值，以得到目标朝向角。例如，可以在剔除最大朝向备选角和最小朝向备选角后，对剩余的朝向备选角取平均值。本申请对确定目标朝向角的方式不做限定。Optionally, in order to improve the accuracy of the calibration, it is also possible to average the remaining orientation candidate angles after removing some orientation candidate angles with relatively large errors from the orientation candidate angles corresponding to at least two sets of positioning measurement data value to get the target orientation angle. For example, after removing the maximum orientation candidate angle and the minimum orientation candidate angle, an average value may be taken for the remaining orientation candidate angles. The present application does not limit the manner of determining the target orientation angle.

在图4对应的技术方案中，通过获取安装有定位标签的移动设备在基站的覆盖范围内移动的过程中测得的多个位置坐标与反映移动设备与目标基站之间的角度的组合，然后根据这多个位置坐标反映移动设备与目标基站之间的角度的组合，基于直线相交原则确定目标基站的位置坐标和朝向，完成了对基站的位置和朝向标定，标定的方法简单便捷，通过对基站进行位置和朝向标定，可以保证后续在利用基站进行定位时，可准确定位设备的位置。In the technical solution corresponding to Figure 4, by obtaining the combination of multiple position coordinates measured during the movement of the mobile device with the positioning tag in the coverage of the base station and reflecting the angle between the mobile device and the target base station, and then According to the combination of these multiple position coordinates reflecting the angle between the mobile device and the target base station, the position coordinates and orientation of the target base station are determined based on the principle of straight line intersection, and the position and orientation calibration of the base station is completed. The calibration method is simple and convenient. The base station performs position and orientation calibration, which can ensure that the position of the device can be accurately located when the base station is used for positioning.

可选地，在一些可能的情况中，在目标基站或移动设备具备测距功能的情况下，还可以基于三点定位原则，确定目标基站的位置坐标。参见图6，图6为本申请实施例提供的另一种基站标定方法的流程示意图，该方法可以应用于上述AOA定位基站101，或者，移动设备102，或者，与上述AOA定位基站101或移动设备102连接的上位机设备中；如图6所示，该方法包括如下步骤：Optionally, in some possible cases, if the target base station or the mobile device has a ranging function, the location coordinates of the target base station may also be determined based on the principle of three-point positioning. Referring to FIG. 6, FIG. 6 is a schematic flow chart of another base station calibration method provided by the embodiment of the present application. This method can be applied to the above-mentioned AOA positioning base station 101, or the mobile device 102, or, with the above-mentioned AOA positioning base station 101 or the mobile device In the host computer equipment that device 102 is connected; As shown in Figure 6, this method comprises the following steps:

S301，获取目标过程中测得的至少三组定位测量数据，其中，每组定位测量数据包括第一位置、第一坐标对应的第一测量角和所述第一位置坐标对应的第一空间距离。S301. Acquire at least three sets of positioning measurement data measured during the target process, wherein each set of positioning measurement data includes a first position, a first measurement angle corresponding to a first coordinate, and a first spatial distance corresponding to the first position coordinate .

这里，第一空间距离是指移动设备在第一位置坐标处与目标基站之间的空间距离，可参见前述图4实施例的描述，此处不再赘述。Here, the first spatial distance refers to the spatial distance between the mobile device and the target base station at the first position coordinates, which can be referred to the description of the foregoing embodiment in FIG. 4 , and will not be repeated here.

S302，根据至少三组定位测量数据中的位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定目标基站的位置坐标，以对目标基站进行位置标定。S302. Determine the position coordinates of the target base station based on the position coordinates and the first spatial distance in at least three sets of positioning measurement data, based on the three-point positioning principle in the line intersection principle, so as to calibrate the position of the target base station.

具体地，可以根据至少三组定位测量数据中的位置坐标和第一空间距离，构建距离表达方程组，距离表达方程组包括多个以位置坐标表达距离的方程是，其中，一个方程式以一组定位测量数据中的位置坐标和第一空间距离为已知量，并以目标基站的位置坐标为未知量；求解距离表达方程组中的未知量，以得到目标基站的位置坐标。Specifically, a distance expression equation group can be constructed according to the position coordinates and the first spatial distance in at least three sets of positioning measurement data, and the distance expression equation group includes a plurality of equations expressing distance in position coordinates, wherein one equation is represented by a set of The position coordinates and the first space distance in the positioning measurement data are known quantities, and the position coordinates of the target base station are taken as unknown quantities; the unknown quantities in the distance expression equations are solved to obtain the position coordinates of the target base station.

其中，距离表达方程组如下：Among them, the distance expression equations are as follows:

(xi-X) ²+(yi-Y) ²+(zi-Z) ²＝Di ²i＝1,2,3,..,n (xi-X) ² +(yi-Y) ² +(zi-Z) ² ＝Di ² i＝1,2,3,..,n

其中，n为定位测量数据的组数，n≥3，(xi，yi，zi)为目标定位测量数据中的第一位置坐标，Di为目标定位测量数据中的第一空间距离，目标定位测量数据为至少三组定位测量数据中的任意一组定位测量数据，(X，Y，Z)为待求解的目标基站的位置坐标。在构建得到n个方程式后，可基于最小二乘法求解得到目标基站的位置坐标。Among them, n is the group number of positioning measurement data, n≥3, (xi, yi, zi) is the first position coordinate in the target positioning measurement data, Di is the first spatial distance in the target positioning measurement data, and the target positioning measurement The data is any set of positioning measurement data in at least three sets of positioning measurement data, and (X, Y, Z) are the position coordinates of the target base station to be solved. After the n equations are constructed, the location coordinates of the target base station can be obtained by solving based on the least square method.

S303，根据至少三组定位测量数据中的第一位置坐标和第一测量角，以及目标基站的位置坐标，确定目标基站的朝向，以对目标基站进行方向标定。S303. Determine the orientation of the target base station according to the first position coordinates and the first measurement angle in at least three sets of positioning measurement data, and the position coordinates of the target base station, so as to calibrate the direction of the target base station.

这里，步骤S303的具体实现方式，可参考前述步骤S203的有关描述，此处不再赘述。Here, for the specific implementation manner of step S303, reference may be made to the relevant description of the aforementioned step S203, which will not be repeated here.

在图6对应的技术方案中，通过获取安装有定位标签的移动设备在基站的覆盖范围内移动的过程中测得的位置坐标、目标基站测到的移动设备相对于目标基站的角度以及移动设备与基站之间的距离，然后基于三点定位原则和角度求解，完成对基站的位置和朝向标定，标定的方法简单便捷，通过对基站进行标定，有助于对移动设备的准确定位。In the technical solution corresponding to Figure 6, by obtaining the position coordinates measured by the mobile device installed with the positioning tag during the movement within the coverage of the base station, the angle of the mobile device relative to the target base station measured by the target base station, and the mobile device The distance to the base station is then solved based on the three-point positioning principle and angle, and the position and orientation of the base station are calibrated. The calibration method is simple and convenient, and the calibration of the base station is helpful for accurate positioning of mobile devices.

上述介绍了本申请的方法，为了更好地实施本申请的方法，接下来介绍本申请的装置。The method of the present application has been introduced above, and in order to better implement the method of the present application, the device of the present application will be introduced next.

参见图7，图7是本申请实施例提供的一种基站标定装置的结构示意图，基站标定装置可以为上述AOA定位基站101，或者，移动设备102，或者，与上述AOA定位基站101或移动设备102连接的上位机设备，或者，上述这些设备的一部分，如图7所示，该基站标定装置40包括：Referring to FIG. 7, FIG. 7 is a schematic structural diagram of a base station calibration device provided in an embodiment of the present application. The base station calibration device can locate the base station 101 for the above-mentioned AOA, or the mobile device 102, or, coordinate with the above-mentioned AOA to locate the base station 101 or the mobile device. 102 connected host computer equipment, or a part of the above-mentioned equipment, as shown in Figure 7, the base station calibration device 40 includes:

输入单元401，用于获取目标过程中测得的至少两组定位测量数据，所述目标过程是指安装有定位标签的移动设备在目标基站的覆盖范围内移动的过程，其中，每组定位测量数据包括第一位置坐标和第一位置坐标对应的第一测量角，所述第一位置坐标为所述移动设备的位置坐标，所述第一测量角为所述移动设备在所述第一位置坐标处时所述目标基站测得的所述移动设备相对于所述目标基站的角度；The input unit 401 is configured to acquire at least two sets of positioning measurement data measured in the target process, the target process refers to the process in which the mobile device installed with the positioning tag moves within the coverage of the target base station, wherein each set of positioning measurement The data includes a first position coordinate and a first measurement angle corresponding to the first position coordinate, the first position coordinate is the position coordinate of the mobile device, and the first measurement angle is the position of the mobile device at the first position An angle of the mobile device relative to the target base station measured by the target base station at the coordinates;

处理单元402，用于根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，以对所述目标基站进行位置标定；The processing unit 402 is configured to determine the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data, so as to calibrate the position of the target base station;

所述处理单元402，还用于根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，以对所述目标基站进行方向标定。The processing unit 402 is further configured to determine the orientation of the target base station according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station, so as to determine the orientation of the target base station. The target base station performs direction calibration.

在一种可能的设计中，所述每组定位测量数据还包括所述第一位置坐标对应的第二测量角，所述第二测量角为所述移动设备在所述第一位置坐标处时所述移动设备测得的所述目标基站相对于所述移动设备的角度；上述处理单元402具体用于：In a possible design, each set of positioning measurement data further includes a second measurement angle corresponding to the first position coordinate, and the second measurement angle is when the mobile device is at the first position coordinate. The angle of the target base station measured by the mobile device relative to the mobile device; the processing unit 402 is specifically used for:

根据目标定位测量数据中的第一位置坐标和第二测量角，确定所述目标定位测量数据对应的水平直线，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；确定所述至少两组定位测量数据各自对应的水平直线两两之间的交点，以得到至少一个水平交点坐标；根据所述至少一个水平交点坐标，确定所述目标基站的水平坐标。According to the first position coordinates and the second measurement angle in the target positioning measurement data, determine the horizontal straight line corresponding to the target positioning measurement data, and the target positioning measurement data is any one of the at least two groups of positioning measurement data. Measurement data, where the horizontal straight line is a straight line connecting the mobile device and the target base station on the same horizontal plane when the mobile device and the target base station are mapped to the same horizontal plane; determine the at least two groups Positioning intersections between two horizontal straight lines corresponding to the measurement data to obtain at least one horizontal intersection coordinate; determining the horizontal coordinate of the target base station according to the at least one horizontal intersection coordinate.

在一种可能的设计中，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；上述处理单元402，还用于：根据所述目标定位测量数据中的第一位置坐标，和所述目标基站的水平坐标，计算所述目标定位测量数据对应的水平距离，所述水平距离为所述水平直线上所述移动设备与所述目标基站之间的线段的长度；根据所述水平距离和所述目标定位测量数据中的第一空间距离，计算所述目标定位测量数据对应的第一高度数据，所述第一高度数据用于指示所述目标基站相对于所述移动设备的高度；根据所述至少两组定位测量数据各自对应的第一高度数据，和所述定位标签的高度，确定所述目标基站的高度坐标。In a possible design, each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinate, and the first spatial distance is the distance between the mobile device at the first position coordinate and The spatial distance between the target base stations; the processing unit 402 is further configured to: calculate the corresponding position of the target positioning measurement data according to the first position coordinates in the target positioning measurement data and the horizontal coordinates of the target base stations. The horizontal distance is the length of the line segment between the mobile device and the target base station on the horizontal straight line; according to the horizontal distance and the first spatial distance in the target positioning measurement data, calculate The first height data corresponding to the target positioning measurement data, the first height data is used to indicate the height of the target base station relative to the mobile device; according to the first height corresponding to each of the at least two sets of positioning measurement data data, and the height of the positioning tag to determine the height coordinates of the target base station.

在一种可能的设计中，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；上述处理单元402具体用于：根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标。In a possible design, each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinate, and the first spatial distance is the distance between the mobile device at the first position coordinate and The spatial distance between the target base stations; the above-mentioned processing unit 402 is specifically configured to: determine the target location based on the three-point positioning principle in the line intersection principle according to the first position coordinates and the first spatial distance in at least three sets of positioning measurement data. The location coordinates of the target base station.

在一种可能的设计中，上述处理单元402具体用于：根据所述至少三组定位测量数据中的第一位置坐标和第一空间距离，构建距离表达方程组，所述距离表达方程组包括多个以位置坐标表达距离的方程式，其中，一个方程式以一组定位测量数据中的第一位置坐标和第一空间距离为已知量，并以所述目标基站的位置坐标为未知量；求解所述距离表达方程组中的未知量，以得到所述目标基站的位置坐标。In a possible design, the above processing unit 402 is specifically configured to: construct a distance expression equation set according to the first position coordinates and the first spatial distance in the at least three sets of positioning measurement data, the distance expression equation set includes A plurality of equations expressing distance with position coordinates, wherein one equation takes the first position coordinates and the first spatial distance in a set of positioning measurement data as known quantities, and takes the position coordinates of the target base station as unknown quantities; solving The distance expresses an unknown quantity in a system of equations, so as to obtain the position coordinates of the target base station.

在一种可能的设计中，上述处理单元402具体用于：根据目标定位测量数据中的第一位置坐标和所述目标基站的位置坐标，确定所述目标定位测量数据对应的水平直线与预设水平方向之间的夹角，以得到目标夹角，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；计算所述目标定位测量数据中的第一测量角与所述目标夹角之间的角度和或角度差，以得到所述目标定位测量数据对应的朝向备选角；根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向。In a possible design, the above-mentioned processing unit 402 is specifically configured to: determine the horizontal line corresponding to the target positioning measurement data and the preset The angle between the horizontal directions to obtain the target angle, the target positioning measurement data is any set of positioning measurement data in the at least two sets of positioning measurement data, and the horizontal straight line is the distance between the mobile device and the target In the case that the base station is mapped to the same horizontal plane, the straight line formed by the mobile device and the target base station on the same horizontal plane; calculate the distance between the first measurement angle in the target positioning measurement data and the target angle The angle sum or angle difference of the target positioning measurement data is obtained to obtain the orientation candidate angle corresponding to the target positioning measurement data; and the horizontal orientation of the target base station is determined according to the orientation candidate angles corresponding to the at least two sets of positioning measurement data.

在一种可能的设计中，上述处理单元402具体用于：对所述至少两组定位测量数据各自对应的朝向备选角取平均值，以得到目标朝向角，所述目标朝向角用于表征所述目标基站的水平朝向。In a possible design, the above-mentioned processing unit 402 is specifically configured to: average the orientation candidate angles corresponding to each of the at least two sets of positioning measurement data to obtain a target orientation angle, and the target orientation angle is used to characterize The horizontal orientation of the target base station.

需要说明的是，图7对应的实施例中未提及的内容可参见前述方法实施例的描述，这里不再赘述。It should be noted that for the content not mentioned in the embodiment corresponding to FIG. 7 , refer to the description of the foregoing method embodiment, and details are not repeated here.

上述装置，通过获取安装有定位标签的移动设备在基站的覆盖范围内移动的过程中测得的多个位置坐标与目标基站测到的移动设备相对于目标基站的角度的组合，然后根据这多个位置坐标与目标基站测到的移动设备相对于目标基站的角度组合，基于直线相交原则确定目标基站的位置坐标和朝向，完成了对基站的位置和朝向标定，标定的方法简单便捷，通过对基站进行位置和朝向标定，可以保证后续在利用基站进行定位时，可准确定位设备的位置。The above-mentioned device obtains the combination of multiple position coordinates measured by the mobile device installed with the positioning tag during the movement within the coverage of the base station and the angle of the mobile device relative to the target base station measured by the target base station, and then according to these multiple Combining the position coordinates and the angle of the mobile device relative to the target base station measured by the target base station, the position coordinates and orientation of the target base station are determined based on the principle of straight line intersection, and the position and orientation calibration of the base station is completed. The calibration method is simple and convenient. The base station performs position and orientation calibration, which can ensure that the position of the device can be accurately located when the base station is used for positioning.

参见图8，图8是本申请实施例提供的一种计算机设备的结构示意图，该计算机设备50包括处理器501、存储器502和通信接口503。处理器501连接到存储器502和通信接口503，例如处理器501可以通过总线连接到存储器502和通信接口503。Referring to FIG. 8 , FIG. 8 is a schematic structural diagram of a computer device provided by an embodiment of the present application. The computer device 50 includes a processor 501 , a memory 502 and a communication interface 503 . The processor 501 is connected to the memory 502 and the communication interface 503, for example, the processor 501 may be connected to the memory 502 and the communication interface 503 through a bus.

处理器501被配置为支持该计算机设备50执行上述方法实施例中的方法中相应的功能。该处理器501可以是中央处理器(central processing unit，CPU)，网络处理器(network processor，NP)，硬件芯片或者其任意组合。上述硬件芯片可以是专用集成电路(application specific integrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。上述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(generic array logic，GAL)或其任意组合。The processor 501 is configured to support the computer device 50 to execute corresponding functions in the methods in the foregoing method embodiments. The processor 501 may be a central processing unit (central processing unit, CPU), a network processor (network processor, NP), a hardware chip or any combination thereof. The aforementioned hardware chip may be an application specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof. The aforementioned PLD may be a complex programmable logic device (complex programmable logic device, CPLD), a field-programmable gate array (field-programmable gate array, FPGA), a general array logic (generic array logic, GAL) or any combination thereof.

存储器502用于存储程序代码等。存储器502可以包括易失性存储器(volatile memory，VM)，例如随机存取存储器(random access memory，RAM)；存储器502也可以包括非易失性存储器(non-volatile memory，NVM)，例如只读存储器(read-only memory，ROM)，快闪存储器(flash memory)，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)；存储器502还可以包括上述种类的存储器的组合。The memory 502 is used to store program codes and the like. The memory 502 can include a volatile memory (volatile memory, VM), such as a random access memory (random access memory, RAM); the memory 502 can also include a non-volatile memory (non-volatile memory, NVM), such as a read-only Memory (read-only memory, ROM), flash memory (flash memory), hard disk (hard disk drive, HDD) or solid-state drive (solid-state drive, SSD); the memory 502 may also include a combination of the above-mentioned types of memory.

通信接口503用于发送或接收各种数据，如上述方法实施例中的定位测量数据。The communication interface 503 is used to send or receive various data, such as the positioning measurement data in the above method embodiments.

处理器501可以调用所述程序代码以执行以下操作：The processor 501 can call the program code to perform the following operations:

本申请实施例还提供一种计算机可读存储介质，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被计算机执行时使所述计算机执行如前述实施例所述的方法。An embodiment of the present application also provides a computer-readable storage medium, the computer-readable storage medium stores a computer program, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the aforementioned The method described in the examples.

本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only memory，ROM)或随机存储记忆体(Random Access memory，RAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented through computer programs to instruct related hardware, and the programs can be stored in computer-readable storage media. During execution, it may include the processes of the embodiments of the above-mentioned methods. Wherein, the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only memory, ROM) or a random access memory (Random Access memory, RAM), etc.

以上所揭露的仅为本申请较佳实施例而已，当然不能以此来限定本申请之权利范围，因此依本申请权利要求所作的等同变化，仍属本申请所涵盖的范围。The above disclosures are only preferred embodiments of the present application, which certainly cannot limit the scope of the present application. Therefore, equivalent changes made according to the claims of the present application still fall within the scope of the present application.

Claims

一种基站标定方法，其特征在于，包括：A base station calibration method, characterized in that, comprising:

获取目标过程中测得的至少两组定位测量数据，所述目标过程是指安装有定位标签的移动设备在目标基站的覆盖范围内移动的过程，其中，每组定位测量数据包括第一位置坐标和第一位置坐标对应的第一测量角，所述第一位置坐标为所述移动设备的位置坐标，所述第一测量角为所述移动设备在所述第一位置坐标处时所述目标基站测得的所述移动设备相对于所述目标基站的角度；Acquiring at least two sets of positioning measurement data measured during the target process, the target process refers to the process in which the mobile device installed with the positioning tag moves within the coverage area of the target base station, wherein each set of positioning measurement data includes the first position coordinates A first measurement angle corresponding to the first position coordinate, the first position coordinate is the position coordinate of the mobile device, and the first measurement angle is the target when the mobile device is at the first position coordinate an angle of the mobile device relative to the target base station measured by the base station;

根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，以对所述目标基站进行位置标定；determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data, so as to calibrate the position of the target base station;

根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，以对所述目标基站进行方向标定。Determine the orientation of the target base station according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station, so as to perform direction calibration on the target base station.
根据权利要求1所述的方法，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第二测量角，所述第二测量角为所述移动设备在所述第一位置坐标处时所述移动设备测得的所述目标基站相对于所述移动设备的角度；The method according to claim 1, wherein each set of positioning measurement data further includes a second measurement angle corresponding to the first position coordinates, and the second measurement angle is when the mobile device is at the second position. An angle of the target base station measured by the mobile device relative to the mobile device at a position coordinate;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data includes:

根据目标定位测量数据中的第一位置坐标和第二测量角，确定所述目标定位测量数据对应的水平直线，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；According to the first position coordinates and the second measurement angle in the target positioning measurement data, determine the horizontal straight line corresponding to the target positioning measurement data, and the target positioning measurement data is any one of the at least two groups of positioning measurement data. For measurement data, the horizontal straight line is a straight line connecting the mobile device and the target base station on the same horizontal plane when the mobile device and the target base station are mapped to the same horizontal plane;

确定所述至少两组定位测量数据各自对应的水平直线两两之间的交点，以得到至少一个水平交点坐标；Determining intersection points between two horizontal straight lines corresponding to each of the at least two sets of positioning measurement data, so as to obtain at least one horizontal intersection point coordinates;

根据所述至少一个水平交点坐标，确定所述目标基站的水平坐标。Determine the horizontal coordinates of the target base station according to the coordinates of the at least one horizontal intersection point.
根据权利要求2所述的方法，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；The method according to claim 2, wherein each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinates, and the first spatial distance is the mobile device at the second location. A spatial distance between a location coordinate and the target base station;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，还包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data further includes:

根据所述目标定位测量数据中的第一位置坐标，和所述目标基站的水平坐标，计算所述目标定位测量数据对应的水平距离，所述水平距离为所述水平直线上所述移动设备与所述目标基站之间的线段的长度；According to the first position coordinates in the target positioning measurement data and the horizontal coordinates of the target base station, calculate the horizontal distance corresponding to the target positioning measurement data, where the horizontal distance is the distance between the mobile device and the target base station on the horizontal straight line. the length of the line segment between the target base stations;

根据所述水平距离和所述目标定位测量数据中的第一空间距离，计算所述目标定位测量数据对应的第一高度数据，所述第一高度数据用于指示所述目标基站相对于所述移动设备的高度；According to the horizontal distance and the first spatial distance in the target positioning measurement data, calculate the first height data corresponding to the target positioning measurement data, and the first height data is used to indicate that the target base station is relative to the the height of the mobile device;

根据所述至少两组定位测量数据各自对应的第一高度数据，和所述定位标签的高度，确定所述目标基站的高度坐标。The height coordinates of the target base station are determined according to the first height data corresponding to each of the at least two sets of positioning measurement data and the height of the positioning tag.
根据权利要求1所述的方法，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；The method according to claim 1, wherein each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinates, and the first spatial distance is the mobile device at the second location. A spatial distance between a location coordinate and the target base station;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data includes:

根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标。According to the first position coordinates and the first spatial distance in at least three sets of positioning measurement data, the position coordinates of the target base station are determined based on the three-point positioning principle in the line intersection principle.
根据权利要求4所述的方法，其特征在于，所述根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标，包括：The method according to claim 4, wherein the target base station is determined based on the first position coordinates and the first spatial distance in at least three sets of positioning measurement data, based on the three-point positioning principle in the line intersection principle The location coordinates of , including:

根据所述至少三组定位测量数据中的第一位置坐标和第一空间距离，构建距离表达方程组，所述距离表达方程组包括多个以位置坐标表达距离的方程式，其中，一个方程式以一组定位测量数据中的第一位置坐标和第一空间距离为已知量，并以所述目标基站的位置坐标为未知量；According to the first position coordinates and the first spatial distance in the at least three sets of positioning measurement data, a distance expression equation group is constructed, and the distance expression equation group includes a plurality of equations expressing distance in position coordinates, wherein one equation is represented by a The first position coordinates and the first spatial distance in the group positioning measurement data are known quantities, and the position coordinates of the target base station are taken as unknown quantities;

求解所述距离表达方程组中的未知量，以得到所述目标基站的位置坐标。solving the unknown quantities in the distance expression equation group to obtain the position coordinates of the target base station.
根据权利要求1所述的方法，其特征在于，所述根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，包括：The method according to claim 1, wherein the target base station is determined according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station orientation, including:

根据目标定位测量数据中的第一位置坐标和所述目标基站的位置坐标，确定所述目标定位测量数据对应的水平直线与预设水平方向之间的夹角，以得到目标夹角，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；According to the first position coordinates in the target positioning measurement data and the position coordinates of the target base station, determine an angle between a horizontal line corresponding to the target positioning measurement data and a preset horizontal direction to obtain a target angle, the The target positioning measurement data is any set of positioning measurement data in the at least two sets of positioning measurement data, and the horizontal straight line is the case where the mobile device and the target base station are mapped to the same horizontal plane, the mobile device and the A straight line connecting target base stations on the same horizontal plane;

计算所述目标定位测量数据中的第一测量角与所述目标夹角之间的角度和或角度差，以得到所述目标定位测量数据对应的朝向备选角；Calculating the angle sum or angle difference between the first measurement angle in the target positioning measurement data and the target angle, to obtain the corresponding orientation candidate angle of the target positioning measurement data;

根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向。The horizontal orientation of the target base station is determined according to the orientation candidate angles corresponding to each of the at least two sets of positioning measurement data.
根据权利要求6所述的方法，其特征在于，所述根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向，包括：The method according to claim 6, wherein the determining the horizontal orientation of the target base station according to the orientation candidate angles corresponding to each of the at least two sets of positioning measurement data includes:

对所述至少两组定位测量数据各自对应的朝向备选角取平均值，以得到目标朝向角，所述目标朝向角用于表征所述目标基站的水平朝向。Taking an average of orientation candidate angles corresponding to each of the at least two sets of positioning measurement data to obtain a target orientation angle, where the target orientation angle is used to characterize the horizontal orientation of the target base station.
一种计算机设备，其特征在于，包括存储器以及一个或多个处理器，所述一个或多个处理器用于执行存储在所述存储器中的一个或多个计算机程序，所述一个或多个处理器在执行所述一个或多个计算机程序时，使得所述计算机设备实现如下步骤：A computer device, characterized in that it includes a memory and one or more processors, the one or more processors are used to execute one or more computer programs stored in the memory, and the one or more processing When the device executes the one or more computer programs, it enables the computer device to implement the following steps:

获取目标过程中测得的至少两组定位测量数据，所述目标过程是指安装有定位标签的移动设备在目标基站的覆盖范围内移动的过程，其中，每组定位测量数据包括第一位置坐标和第一位置坐标对应的第一测量角，所述第一位置坐标为所述移动设备的位置坐标，所述第一测量角为所述移动设备在所述第一位置坐标处时所述目标基站测得的所述移动设备相对于所述目标基站的角度；Acquiring at least two sets of positioning measurement data measured during the target process, the target process refers to the process in which the mobile device installed with the positioning tag moves within the coverage area of the target base station, wherein each set of positioning measurement data includes the first position coordinates A first measurement angle corresponding to the first position coordinate, the first position coordinate is the position coordinate of the mobile device, and the first measurement angle is the target when the mobile device is at the first position coordinate an angle of the mobile device relative to the target base station measured by the base station;

根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，以对所述目标基站进行位置标定；determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data, so as to calibrate the position of the target base station;

根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，以对所述目标基站进行方向标定。Determine the orientation of the target base station according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station, so as to perform direction calibration on the target base station.
根据权利要求8所述的计算机设备，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第二测量角，所述第二测量角为所述移动设备在所述第一位置坐标处时所述移动设备测得的所述目标基站相对于所述移动设备的角度；The computer device according to claim 8, wherein each set of positioning measurement data further includes a second measurement angle corresponding to the first position coordinate, and the second measurement angle is the mobile device at the An angle of the target base station measured by the mobile device relative to the mobile device at the first position coordinates;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data includes:

根据目标定位测量数据中的第一位置坐标和第二测量角，确定所述目标定位测量数据对应的水平直线，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；According to the first position coordinates and the second measurement angle in the target positioning measurement data, determine the horizontal straight line corresponding to the target positioning measurement data, and the target positioning measurement data is any one of the at least two groups of positioning measurement data. For measurement data, the horizontal straight line is a straight line connecting the mobile device and the target base station on the same horizontal plane when the mobile device and the target base station are mapped to the same horizontal plane;

确定所述至少两组定位测量数据各自对应的水平直线两两之间的交点，以得到至少一个水平交点坐标；Determining intersection points between two horizontal straight lines corresponding to each of the at least two sets of positioning measurement data, so as to obtain at least one horizontal intersection point coordinates;

根据所述至少一个水平交点坐标，确定所述目标基站的水平坐标。Determine the horizontal coordinates of the target base station according to the coordinates of the at least one horizontal intersection point.
根据权利要求9所述的计算机设备，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；The computer device according to claim 9, wherein each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinates, and the first spatial distance is the mobile device in the The spatial distance between the first position coordinates and the target base station;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，还包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data further includes:

根据所述目标定位测量数据中的第一位置坐标，和所述目标基站的水平坐标，计算所述目标定位测量数据对应的水平距离，所述水平距离为所述水平直线上所述移动设备与所述目标基站之间的线段的长度；According to the first position coordinates in the target positioning measurement data and the horizontal coordinates of the target base station, calculate the horizontal distance corresponding to the target positioning measurement data, where the horizontal distance is the distance between the mobile device and the target base station on the horizontal straight line. the length of the line segment between the target base stations;

根据所述水平距离和所述目标定位测量数据中的第一空间距离，计算所述目标定位测量数据对应的第一高度数据，所述第一高度数据用于指示所述目标基站相对于所述移动设备的高度；According to the horizontal distance and the first spatial distance in the target positioning measurement data, calculate the first height data corresponding to the target positioning measurement data, and the first height data is used to indicate that the target base station is relative to the the height of the mobile device;

根据所述至少两组定位测量数据各自对应的第一高度数据，和所述定位标签的高度，确定所述目标基站的高度坐标。The height coordinates of the target base station are determined according to the first height data corresponding to each of the at least two sets of positioning measurement data and the height of the positioning tag.
根据权利要求8所述的计算机设备，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；The computer device according to claim 8, wherein each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinates, and the first spatial distance is the mobile device in the The spatial distance between the first position coordinates and the target base station;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data includes:

根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标。According to the first position coordinates and the first spatial distance in at least three sets of positioning measurement data, the position coordinates of the target base station are determined based on the three-point positioning principle in the line intersection principle.
根据权利要求11所述的计算机设备，其特征在于，所述根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标，包括：The computer device according to claim 11, wherein the target is determined based on the three-point positioning principle in the straight line intersection principle according to the first position coordinates and the first spatial distance in at least three sets of positioning measurement data The location coordinates of the base station, including:

根据所述至少三组定位测量数据中的第一位置坐标和第一空间距离，构建距离表达方程组，所述距离表达方程组包括多个以位置坐标表达距离的方程式，其中，一个方程式以一组定位测量数据中的第一位置坐标和第一空间距离为已知量，并以所述目标基站的位置坐标为未知量；According to the first position coordinates and the first spatial distance in the at least three sets of positioning measurement data, a distance expression equation group is constructed, and the distance expression equation group includes a plurality of equations expressing distance in position coordinates, wherein one equation is represented by a The first position coordinates and the first spatial distance in the group positioning measurement data are known quantities, and the position coordinates of the target base station are taken as unknown quantities;

求解所述距离表达方程组中的未知量，以得到所述目标基站的位置坐标。solving the unknown quantities in the distance expression equation group to obtain the position coordinates of the target base station.
根据权利要求8所述的计算机设备，其特征在于，所述根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，包括：The computer device according to claim 8, wherein the target is determined according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station The orientation of the base station, including:

根据目标定位测量数据中的第一位置坐标和所述目标基站的位置坐标，确定所述目标定位测量数据对应的水平直线与预设水平方向之间的夹角，以得到目标夹角，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；According to the first position coordinates in the target positioning measurement data and the position coordinates of the target base station, determine an angle between a horizontal line corresponding to the target positioning measurement data and a preset horizontal direction to obtain a target angle, the The target positioning measurement data is any set of positioning measurement data in the at least two sets of positioning measurement data, and the horizontal straight line is the case where the mobile device and the target base station are mapped to the same horizontal plane, the mobile device and the A straight line connecting target base stations on the same horizontal plane;

计算所述目标定位测量数据中的第一测量角与所述目标夹角之间的角度和或角度差，以得到所述目标定位测量数据对应的朝向备选角；calculating the angle sum or angle difference between the first measurement angle in the target positioning measurement data and the target angle, to obtain the orientation candidate angle corresponding to the target positioning measurement data;

根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向。The horizontal orientation of the target base station is determined according to the orientation candidate angles corresponding to each of the at least two sets of positioning measurement data.
根据权利要求13所述的计算机设备，其特征在于，所述根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向，包括：The computer device according to claim 13, wherein the determining the horizontal orientation of the target base station according to the orientation candidate angles corresponding to each of the at least two sets of positioning measurement data includes:

对所述至少两组定位测量数据各自对应的朝向备选角取平均值，以得到目标朝向角，所述目标朝向角用于表征所述目标基站的水平朝向。Taking an average of orientation candidate angles corresponding to each of the at least two sets of positioning measurement data to obtain a target orientation angle, where the target orientation angle is used to characterize the horizontal orientation of the target base station.
一种计算机可读存储介质，其特征在于，所述计算机可读存储介质存储有计算机程序，所述计算机程序包括程序指令，所述程序指令当被处理器执行时使所述处理器执行如下步骤：A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, the computer program includes program instructions, and the program instructions cause the processor to perform the following steps when executed by a processor :

获取目标过程中测得的至少两组定位测量数据，所述目标过程是指安装有定位标签的移动设备在目标基站的覆盖范围内移动的过程，其中，每组定位测量数据包括第一位置坐标和第一位置坐标对应的第一测量角，所述第一位置坐标为所述移动设备的位置坐标，所述第一测量角为所述移动设备在所述第一位置坐标处时所述目标基站测得的所述移动设备相对于所述目标基站的角度；Acquiring at least two sets of positioning measurement data measured during the target process, the target process refers to the process in which the mobile device installed with the positioning tag moves within the coverage area of the target base station, wherein each set of positioning measurement data includes the first position coordinates A first measurement angle corresponding to the first position coordinate, the first position coordinate is the position coordinate of the mobile device, and the first measurement angle is the target when the mobile device is at the first position coordinate an angle of the mobile device relative to the target base station measured by the base station;

根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，以对所述目标基站进行位置标定；determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data, so as to calibrate the position of the target base station;

根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，以对所述目标基站进行方向标定。Determine the orientation of the target base station according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station, so as to perform direction calibration on the target base station.
根据权利要求15所述的计算机可读存储介质，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第二测量角，所述第二测量角为所述移动设备在所述第一位置坐标处时所述移动设备测得的所述目标基站相对于所述移动设备的角度；The computer-readable storage medium according to claim 15, wherein each set of positioning measurement data further includes a second measurement angle corresponding to the first position coordinates, and the second measurement angle is the mobile device an angle of the target base station relative to the mobile device as measured by the mobile device at the first location coordinate;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data includes:

根据目标定位测量数据中的第一位置坐标和第二测量角，确定所述目标定位测量数据对应的水平直线，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；According to the first position coordinates and the second measurement angle in the target positioning measurement data, determine the horizontal straight line corresponding to the target positioning measurement data, and the target positioning measurement data is any one of the at least two groups of positioning measurement data. For measurement data, the horizontal straight line is a straight line connecting the mobile device and the target base station on the same horizontal plane when the mobile device and the target base station are mapped to the same horizontal plane;

确定所述至少两组定位测量数据各自对应的水平直线两两之间的交点，以得到至少一个水平交点坐标；Determining intersection points between two horizontal straight lines corresponding to each of the at least two sets of positioning measurement data, so as to obtain at least one horizontal intersection point coordinates;

根据所述至少一个水平交点坐标，确定所述目标基站的水平坐标。Determine the horizontal coordinates of the target base station according to the coordinates of the at least one horizontal intersection point.
根据权利要求16所述的计算机可读存储介质，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；The computer-readable storage medium according to claim 16, wherein each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinates, and the first spatial distance is the mobile device a spatial distance between the target base station and the first location coordinate;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，还包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two sets of positioning measurement data further includes:

根据所述目标定位测量数据中的第一位置坐标，和所述目标基站的水平坐标，计算所述目标定位测量数据对应的水平距离，所述水平距离为所述水平直线上所述移动设备与所述目标基站之间的线段的长度；According to the first position coordinates in the target positioning measurement data and the horizontal coordinates of the target base station, calculate the horizontal distance corresponding to the target positioning measurement data, where the horizontal distance is the distance between the mobile device and the target base station on the horizontal straight line. the length of the line segment between the target base stations;

根据所述水平距离和所述目标定位测量数据中的第一空间距离，计算所述目标定位测量数据对应的第一高度数据，所述第一高度数据用于指示所述目标基站相对于所述移动设备的高度；According to the horizontal distance and the first spatial distance in the target positioning measurement data, calculate the first height data corresponding to the target positioning measurement data, and the first height data is used to indicate that the target base station is relative to the the height of the mobile device;

根据所述至少两组定位测量数据各自对应的第一高度数据，和所述定位标签的高度，确定所述目标基站的高度坐标。The height coordinates of the target base station are determined according to the first height data corresponding to each of the at least two sets of positioning measurement data and the height of the positioning tag.
根据权利要求15所述的计算机可读存储介质，其特征在于，所述每组定位测量数据还包括所述第一位置坐标对应的第一空间距离，所述第一空间距离为所述移动设备在所述第一位置坐标处与所述目标基站之间的空间距离；The computer-readable storage medium according to claim 15, wherein each set of positioning measurement data further includes a first spatial distance corresponding to the first position coordinates, and the first spatial distance is the mobile device a spatial distance between the target base station and the first location coordinate;

所述根据所述至少两组定位测量数据中的第一位置坐标，基于直线相交原则确定所述目标基站的位置坐标，包括：The determining the position coordinates of the target base station based on the principle of straight line intersection according to the first position coordinates in the at least two groups of positioning measurement data includes:

根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标。According to the first position coordinates and the first spatial distance in at least three sets of positioning measurement data, the position coordinates of the target base station are determined based on the three-point positioning principle in the line intersection principle.
根据权利要求18所述的计算机可读存储介质，其特征在于，所述根据至少三组定位测量数据中的第一位置坐标和第一空间距离，基于直线相交原则中的三点定位原理，确定所述目标基站的位置坐标，包括：The computer-readable storage medium according to claim 18, wherein, according to the first position coordinates and the first spatial distance in at least three sets of positioning measurement data, based on the principle of three-point positioning in the principle of straight line intersection, determine The location coordinates of the target base station include:

根据所述至少三组定位测量数据中的第一位置坐标和第一空间距离，构建距离表达方程组，所述距离表达方程组包括多个以位置坐标表达距离的方程式，其中，一个方程式以一组定位测量数据中的第一位置坐标和第一空间距离为已知量，并以所述目标基站的位置坐标为未知量；According to the first position coordinates and the first spatial distance in the at least three sets of positioning measurement data, a distance expression equation group is constructed, and the distance expression equation group includes a plurality of equations expressing distance in position coordinates, wherein one equation is represented by a The first position coordinates and the first spatial distance in the group positioning measurement data are known quantities, and the position coordinates of the target base station are taken as unknown quantities;

求解所述距离表达方程组中的未知量，以得到所述目标基站的位置坐标。solving the unknown quantities in the distance expression equation group to obtain the position coordinates of the target base station.
根据权利要求15所述的计算机可读存储介质，其特征在于，所述根据所述至少两组定位测量数据中的第一位置坐标和第一测量角，以及所述目标基站的位置坐标，确定所述目标基站的朝向，包括：The computer-readable storage medium according to claim 15, wherein, according to the first position coordinates and the first measurement angle in the at least two sets of positioning measurement data, and the position coordinates of the target base station, determine The orientation of the target base station includes:

根据目标定位测量数据中的第一位置坐标和所述目标基站的位置坐标，确定所述目标定位测量数据对应的水平直线与预设水平方向之间的夹角，以得到目标夹角，所述目标定位测量数据为所述至少两组定位测量数据中的任意一组定位测量数据，所述水平直线为将所述移动设备与目标基站映射至同一水平面的情况下，所述移动设备与所述目标基站在所述同一水平面上连成的直线；According to the first position coordinates in the target positioning measurement data and the position coordinates of the target base station, determine an angle between a horizontal line corresponding to the target positioning measurement data and a preset horizontal direction to obtain a target angle, the The target positioning measurement data is any set of positioning measurement data in the at least two sets of positioning measurement data, and the horizontal straight line is the case where the mobile device and the target base station are mapped to the same horizontal plane, the mobile device and the A straight line connecting target base stations on the same horizontal plane;

计算所述目标定位测量数据中的第一测量角与所述目标夹角之间的角度和或角度差，以得到所述目标定位测量数据对应的朝向备选角；calculating the angle sum or angle difference between the first measurement angle in the target positioning measurement data and the target included angle, to obtain the orientation candidate angle corresponding to the target positioning measurement data;

根据所述至少两组定位测量数据各自对应的朝向备选角，确定所述目标基站的水平朝向。The horizontal orientation of the target base station is determined according to the orientation candidate angles corresponding to each of the at least two sets of positioning measurement data.