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UWB-based indoor positioning method and system

An indoor positioning and positioning node technology, applied in the UWB-based indoor positioning method and system field, can solve the problems of positioning system influence, positioning result deviation, etc., and achieve the effect of improving accuracy and improving fitting effect

Active Publication Date: 2021-09-03
武汉丰隆康盛信息技术有限公司
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  • Summary
  • Abstract
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  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the radiation pattern and reception pattern of the ultra-wideband radio antenna will affect the positioning system based on the ultra-wideband signal, resulting in deviation of the positioning results

Method used

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  • UWB-based indoor positioning method and system

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Effect test

Embodiment 1

[0023] This embodiment provides a UWB-based indoor positioning method, and the implementation process of the method is as follows figure 1 As shown, specifically, the method includes:

[0024] Step S1 , deploying several UWB anchor points, and arranging multiple UWB anchor points at the corner positions in the indoor environment, it should be ensured that the coverage of the deployed anchor points can cover the entire indoor area. The deployed UWB anchors should be kept parallel with respect to the indoor ground plane to reduce errors, and its 3D coordinates indoors, that is, the coordinates of the UWB anchor deployment points, are measured, and then stored in the node to be located; in addition, each UWB anchor All of them correspond to the establishment of a three-dimensional rectangular coordinate system for subsequent calculation of relative poses.

[0025] Step S2, after obtaining the arrival time difference between the information of any two UWB anchor points to the nod...

Embodiment 2

[0050] Based on the same inventive concept as the above method embodiment, this embodiment provides an indoor positioning system based on UWB, specifically, the system includes: a memory, a processor, and a computer stored in the memory and running on the processor A program that implements the steps of the UWB-based indoor positioning method when the computer program is executed by the processor.

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Abstract

The invention provides a UWB-based indoor positioning method and system, and the method comprises the steps: deploying a plurality of UWB anchor points, obtaining the time difference of arrival of the information of any two UWB anchor points to a to-be-positioned node based on a TDOA algorithm, and obtaining the distance difference of arrival between the any two UWB anchor points and the to-be-positioned node; deploying an inertial measurement unit on the node to be positioned; predicting an arrival distance difference deviation value based on the relative pose relationship between any two UWB anchor points and the to-be-positioned node; and correcting the arrival distance difference by using the arrival distance difference deviation value, and obtaining coordinates of the node to be positioned based on a corrected result. According to the method, when the arrival distance difference deviation value is obtained, the historical pose relation sequence and the residual sequence are adopted, so that the network can better learn the change characteristics of the pose, and then the fitting effect is improved; and meanwhile, a consistency coefficient reflecting the change consistency of the historical pose relation sequences of the two anchor points is added into the network, so that the precision of a network output result is improved.

Description

technical field [0001] The invention relates to the field of wireless positioning, in particular to a UWB-based indoor positioning method and system. Background technique [0002] Indoor positioning systems face many difficulties in practical applications. Optical systems may not be available in emergency situations due to fire and smoke; signal strength-based systems are sensitive to fading effects; fingerprint recognition systems require a dedicated training phase; distance measurement-based systems using radio There are advantages such as capabilities in radio devices such as smartphones, the potential for low-power implementation, and modest infrastructure requirements, however, they face challenging performance impairments caused by propagation effects such as strong reflections or diffuse scattering. [0003] Compared with the above positioning methods, positioning based on large signal bandwidth has two main advantages: first, low latency and increased achievable acc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04W64/00H04W4/33G06N3/04G01S5/02G01C21/16
CPCH04W64/00H04W64/006H04W4/33G01S5/02G01C21/16G06N3/045
Inventor 贺震
Owner 武汉丰隆康盛信息技术有限公司
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