US 12,276,727 B2
Target following method, device, apparatus and system
Nianchun Chen, Guangzhou (CN)
Assigned to GUANGZHOU PROMINENT INDUSTRIAL CO., LTD, Guangdong (CN)
Filed by GuangZhou Prominent Industrial Co., LTD, Guangdong (CN)
Filed on Sep. 23, 2022, as Appl. No. 17/934,789.
Claims priority of application No. 202111176622.6 (CN), filed on Oct. 9, 2021.
Prior Publication US 2023/0111347 A1, Apr. 13, 2023
Int. Cl. G01S 13/93 (2020.01); G01S 13/02 (2006.01); G01S 13/931 (2020.01)
CPC G01S 13/931 (2013.01) [G01S 13/0209 (2013.01); G01S 2013/9318 (2020.01); G01S 2013/93185 (2020.01); G01S 2013/9319 (2020.01); G01S 2013/9321 (2013.01); G01S 2013/93271 (2020.01); G01S 2013/9329 (2020.01)] 10 Claims
OG exemplary drawing
 
1. A target tracking method comprising:
acquiring first orientation data sent by an UWB base station and a following mode sent by an UWB beacon, the UWB base station being arranged on a target following apparatus, the UWB beacon being arranged on a target to be followed, the first orientation data comprising a current distance between the UWB beacon and the UWB base station, a first azimuth angle of a straight line in which the UWB beacon and the UWB base station are located with respect to a current orientation of an antenna of the UWB base station, and a first angle between the current orientation of the antenna of the UWB base station and a current direction of a movement of the target following apparatus;
processing, based on the following mode, the first orientation data to obtain second orientation data, the second orientation data comprising a current distance between a target position and the UWB base station, and a second azimuth angle of a straight line in which the target position and the UWB base station are located with respect to the current direction of the movement of the target following apparatus; and
comparing the second orientation data with preset orientation data to obtain a comparison result, and controlling the target following apparatus to perform target following according to the comparison result.