Rapid layout method of UWB positioning system based on RTK

Abstract

The invention relates to an RTK-based UWB positioning system rapid laying method, which comprises the following steps: S1, laying a positioning base station in a UWB positioning area, carrying a positioning label supporting RTK positioning and UWB distance measurement, carrying a mobile record in the positioning area, and storing RTK positioning information and UWB distance measurement information; s2, time synchronization of RTK positioning and UWB distance measurement is completed, and coordinates of RTK positioning are converted to realize space synchronization of RTK positioning and UWB distance measurement; s3, according to the UWB distance measurement information and the time interval of the positioning label relative to the same positioning base station at adjacent moments, calculating the movement speed of the positioning label relative to the positioning base station at the current moment to obtain UWB sight distance signal distance measurement information; and S4, constructing a graph optimization algorithm framework, and inputting a positioning label motion track and UWB sight distance signal ranging information to solve local plane coordinates of each positioning base station so as to realize calibration of the UWB positioning base stations, thereby improving precision and reliability.

Description

Technical Field

[0001] The invention belongs to the technical field of wireless positioning, and in particular relates to a method for quickly deploying a UWB positioning system based on RTK. Background Art

[0002] With the acceleration of urbanization and the popularization of mobile devices, the demand for high-precision positioning in urban environments has increased significantly. The widely used global satellite navigation system GNSS can provide users with all-weather, all-time, high-precision location information services around the world. However, due to the characteristics of satellite signals being extremely susceptible to interference and obstruction, it cannot be applied to complex scenes such as urban canyons, shopping malls, tunnels, and underground garages. In order to solve the problem of the "last mile" of location services in modern production and life, high-precision indoor and outdoor integrated positioning technology has become the current research focus in the field of navigation and positioning. UWB (Ultra Wide Band) technology stands out among many indoor positioning technologies due to its low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy.

[0003] However, ultra-wideband positioning usually requires the deployment of positioning base stations in advance, the manual measurement of the base station coordinates, and the manual input of configuration parameters. When the system is large and used simultaneously with RTK, the configuration of the base station will account for most of the labor costs. In addition, since the local plane coordinate values ​​are usually large, manual input configuration is also prone to errors, increasing the workload of system debugging. Through research, it was found that most of the current market products consider base station calibration in small indoor scenes, and the number of base stations is limited to 6-8. For large-scale scenes integrating indoor and outdoor, manual measurement and configuration are still required for base station calibration.

[0004] Chinese patent document CN 115792797 A discloses a method for positioning in a dense forest environment based on a movable airborne UWB base station. The method uses an unmanned aerial vehicle to carry a UWB base station and fly over a dense forest to establish a movable UWB communication network. A single mobile base station is used to simulate multiple base stations. The base station position is calibrated through PPP-RTK, and the UWB tag displacement is determined using an inertial navigation unit. The UWB positioning model is established with the known position of the base station, the tag movement displacement and the UWB distance measurement value as the original observation value, and the UWB tag position is determined to solve the positioning problem in a dense forest environment. The technical solution is to let the drone equipped with UWB base station make circular motion at a given speed in the intersection area of ​​UWB signal and satellite signal, select the positions of four drones at fixed time intervals as four UWB base stations, and use PPP-RTK technology to determine the position of UWB base stations. Since the four ultra-wideband base stations here are generated by single base station movement simulation, the UWB tag position needs to be solved with the help of inertial measurement unit to confirm the displacement of UWB tag during the movement of drone, and finally use the position of UWB base station, the distance between UWB tag and base station and the displacement of UWB tag to solve the absolute position of UWB tag. This method only needs to carry one UWB base station and fix it on the drone to achieve the effect of mobile single base station simulating multiple base stations. However, since the distance measurement of UWB tag and four UWB base stations cannot be carried out at the same time, the UWB tag is required to carry an inertial measurement unit; although this method can avoid setting up multiple base stations, when the positioning area is large, the cumulative error of the inertial measurement unit will reduce the positioning accuracy of UWB tag; in addition, this method requires that the base station must be set up in the intersection area of ​​UWB signal and satellite signal.

[0005] Therefore, it is necessary to provide a method for quickly deploying a UWB positioning system based on RTK, which can solve various problems existing in the existing manual configuration, reduce the dependence on professional knowledge, and quickly deploy the UWB positioning system to reduce installation costs. Summary of the invention

[0006] The present invention provides a method for quickly deploying a UWB positioning system based on RTK, which reduces the deployment cost and complexity of the UWB positioning system and improves the scalability of the system as well as the accuracy and reliability of system positioning.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is a method for quickly deploying a UWB positioning system based on RTK, and the specific steps are as follows:

[0008] S1: deploy a positioning base station in the UWB positioning area and power it on, carry a positioning tag that supports RTK positioning and UWB ranging and move along the positioning base station in the positioning area, record and save RTK positioning information and UWB ranging information;

[0009] S2: Complete the time synchronization of RTK positioning and UWB ranging, and convert the coordinates of RTK positioning to achieve spatial synchronization of RTK positioning and UWB ranging;

[0010] S3: Calculate the movement speed of the positioning tag relative to the positioning base station at the current moment according to the UWB ranging information and time interval of the positioning tag relative to the same positioning base station at adjacent moments, and obtain the UWB line-of-sight signal ranging information;

[0011] S4: Construct a graph optimization algorithm framework, input the motion trajectory of the positioning tag obtained in step S2 in the local plane coordinate system and the UWB line-of-sight signal ranging information obtained in step S3 to solve the local plane coordinates of each positioning base station, and realize the calibration of the UWB positioning base station.

[0012] By adopting the above technical solution, multiple ultra-wideband positioning base stations are deployed in the positioning area, and the positioning tag is carried and moved in the area where RTK positioning and ranging with the positioning base station can be performed, and the position information provided by RTK and the distance measurement value provided by the ultra-wideband base station are saved; the absolute position of the UWB base station can be obtained, and then the position of the UWB tag can be obtained by using the position of the UWB base station and the distance between the UWB tag and the base station. The local plane coordinates of the positioning tag are obtained by projection transformation, and its spatial synchronization with the ultra-wideband positioning base station is realized. After two steps of time coarse synchronization and time fine synchronization, the time synchronization of the positioning tag motion position information and the ranging information is completed; considering that the wireless signal is susceptible to non-line-of-sight interference, a non-line-of-sight identification function is added, and the motion speed change threshold can be set according to the attributes of the tag. If the tag motion speed change obviously exceeds the threshold, the current measurement value is considered to be a non-visual signal and needs to be eliminated; then a graph optimization framework is constructed, and the Gauss-Newton method is used to iteratively optimize and obtain the local plane coordinates of the positioning base station. It avoids the tedious manual measurement and manual setting and calibration process, which not only reduces the installation cost, but also reduces the dependence on professional knowledge, so that non-experts can quickly deploy UWB positioning systems. This technical solution does not require the use of an inertial measurement unit, will not have any cumulative errors, and does not require that the base station must be set up in the intersection area of ​​UWB signals and satellite signals. In addition, the equipment that supports UWB ranging and RTK is only a base station position calibration tool and is only needed in the initial deployment of the UWB positioning system. It is not used for subsequent UWB tag positioning.

[0013] Preferably, the positioning mark in step S1 moves along the positioning base station in the positioning area, and the obtained RTK positioning information is the geodetic coordinates of the positioning tag at each RTK sampling moment, and the UWB ranging information is the ranging value between the positioning tag and each positioning base station at each UWB sampling moment.

[0014] Preferably, the specific steps of step S2 are:

[0015] S21: completing time synchronization between RTK and UWB according to the time sequence of receiving RTK positioning information and UWB ranging information by the positioning tag;

[0016] S22: Use projection transformation to convert the geodetic coordinates provided by the RTK into local plane coordinates, so as to achieve spatial synchronization between RTK positioning and UWB ranging. Here, UTM projection transformation is used.

[0017] Preferably, the time synchronization between the RTK positioning and the UWB positioning in step S21 is divided into coarse synchronization and fine synchronization, and the specific steps are:

[0018] S211 coarse synchronization: Based on the RTK positioning information, record the sampling time t of the two UWBs before and after each RTK sampling time t before ,t after ;

[0019] S212 fine synchronization: According to the sampling frequency of RTK positioning and UWB positioning, the maximum time synchronization interval Δt between the two is determined. According to the two previous UWB sampling moments, RTK sampling moment and the maximum time synchronization interval, the UWB ranging information synchronized with the RTK positioning information is determined.

[0020] The calculation formula is:

[0021]

[0022] Preferably, the maximum interval of time synchronization in step S212 is 50 milliseconds.

[0023] Preferably, in step S3, it is determined whether the current UWB ranging value is a non-line-of-sight signal according to the moving speed of the positioning tag relative to the same positioning base station. If the moving speed is greater than the set speed threshold, the UWB ranging information is considered to be a non-line-of-sight signal and is discarded, thereby obtaining UWB line-of-sight signal ranging information.

[0024] Preferably, the specific steps of determining whether it is a non-line-of-sight signal in step S3 are:

[0025] S31: Calculate the movement speed of the current positioning tag relative to the positioning base station i based on the distance of the positioning tag relative to the same positioning base station i at adjacent times The calculation formula is:

[0026]

[0027] in, are the UWB ranging information of the positioning tag relative to the positioning base station i at adjacent moments, t k-1 ,t kare the adjacent UWB sampling moments, is the movement speed of the positioning tag relative to the positioning base station i at the current moment;

[0028] S32: Based on the movement speed of the positioning tag relative to the positioning base station i The comparison result with the set speed threshold is used to determine whether the current UWB ranging information is a non-line-of-sight signal. The judgment formula is:

[0029]

[0030] in, is the current speed of the positioning tag relative to the positioning base station i, v threshold The speed threshold is set to determine whether the UWB ranging is a non-line-of-sight signal, and is set according to the attributes of the positioning tag.

[0031] Preferably, the specific steps of calculating the local plane coordinates of the positioning base station using the local plane coordinates of the positioning tag movement and the UWB line-of-sight signal ranging information in step S4 are:

[0032] S41: Construct a distance measurement model between the positioning tag and the positioning base station i at time k, expressed as:

[0033]

[0034] in, represents the distance measurement value between the positioning tag and the positioning base station i at time k, which is the measurement value provided by UWB, (x i ,y i ) is the plane coordinate of the positioning base station i, is the estimated value, is the plane coordinate of the positioning tag at time k, which is the measurement value provided by RTK positioning;

[0035] S42: construct a loss function based on a graph optimization algorithm, and optimize it until the number of iterations reaches a preset maximum number or the result of the loss function meets a threshold requirement, and output the optimal estimate of the positioning base station coordinates.

[0036] Preferably, the specific steps of solving the optimal estimation of the positioning base station coordinates based on graph optimization in step S42 are:

[0037] S421: Construct a loss function based on graph optimization, the formula is:

[0038]

[0039] in, represents the measured value of the distance between the positioning tag and the positioning base station i at time k, k represents any time in the interval [1, M], i represents any positioning base station in the interval [1, N], represents the estimated distance between the positioning tag and the positioning base station i at time k, X represents the plane coordinates of the positioning base station, and p ki It represents the weight represented by the distance measurement value corresponding to the positioning base station i at time k, usually taking the inverse of the distance measurement value.

[0040] S422: The Gauss-Newton method is used for iterative optimization to obtain the coordinate estimation value X of the positioning base station corresponding to the minimum loss function f(X).

[0041] Preferably, the specific steps of step S422 are:

[0042] S4221: Given initial value X 0 ;

[0043] S4222: For the jth iteration, find the current loss function f(X) relative to X j The Jacobian matrix J(X j ) and error f(X j );

[0044] S4223: Solving the incremental equation: H j ΔX j =g(X j ), where H j = J(X j ) T J(X j ) is the approximation of the second-order Hessian matrix, g(X j )=-J(X j ) T f(X j );

[0045] S4224: If ΔX j If it is small enough, stop. Otherwise, let X j+1 =X j +ΔX j , return to step S4222.

[0046] Compared with the prior art, the present invention has the following beneficial effects: the RTK-based UWB positioning system rapid deployment method realizes the spatiotemporal synchronization of RTK position information and UWB ranging information, the identification and elimination of non-line-of-sight distance measurement values, and the base station coordinate self-solving system, and realizes the integrated configuration of the base station of the ultra-wideband wireless positioning system. It is simple and easy to operate, reduces the dependence on professional knowledge, avoids the cumbersome manual setting and calibration process, and has no capacity limit on the positioning base station. It only needs to locate the base station and the positioning tag to measure the distance normally, which is convenient for customers to flexibly adjust the system deployment structure, and greatly shortens the time of engineering deployment and calibration in indoor and outdoor integrated projects, and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 It is a flow chart of the rapid deployment method of the UWB positioning system based on RTK of the present invention;

[0048] Figure 2 It is a comparison diagram of the simulation effect of the coordinate solution of the positioning base station in the RTK-based UWB positioning system rapid deployment method of the present invention;

[0049] Figure 3 It is a comparison chart of the measured results of the coordinate solution of the positioning base station in the RTK-based UWB positioning system rapid deployment method of the present invention. DETAILED DESCRIPTION

[0050] The embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the protection scope of the present invention.

[0051] Example: Figure 1 As shown in the figure, the rapid deployment method of the RTK-based UWB positioning system includes the following specific steps:

[0052] S1: deploy a positioning base station in the UWB positioning area and power it on, carry a positioning tag that supports RTK positioning and UWB ranging and move along the positioning base station in the positioning area, record and save RTK positioning information and UWB ranging information;

[0053] The positioning mark in step S1 moves along the positioning base station in the positioning area, and the obtained RTK positioning information is the geodetic coordinates of the positioning tag at each RTK sampling time, and the UWB ranging information is the ranging value between the positioning tag and each positioning base station at each UWB sampling time;

[0054] S2: Complete the time synchronization of RTK positioning and UWB ranging, and convert the coordinates of RTK positioning to achieve spatial synchronization of RTK positioning and UWB ranging;

[0055] The specific steps of step S2 are:

[0056] S21: completing time synchronization between RTK and UWB according to the time sequence of receiving RTK positioning information and UWB ranging information by the positioning tag;

[0057] The time synchronization between RTK positioning and UWB positioning in step S21 is divided into coarse synchronization and fine synchronization, and the specific steps are as follows:

[0058] S211 coarse synchronization: Based on the RTK positioning information, record the sampling time t of the two UWBs before and after each RTK sampling time t before ,t after ;

[0059] S212 fine synchronization: according to the sampling frequencies of RTK positioning and UWB positioning, determine the maximum time synchronization interval Δt between the two, and determine the UWB ranging information synchronized with the RTK positioning information according to the two previous and subsequent UWB sampling moments, the RTK sampling moment and the maximum time synchronization interval; the maximum time synchronization interval in step S212 described in this embodiment is 50 milliseconds;

[0060] The calculation formula is:

[0061]

[0062] S22: using projection transformation to convert the geodetic coordinates provided by the RTK into local plane coordinates, so as to realize spatial synchronization between RTK positioning and UWB ranging; UTM projection transformation is used here;

[0063] S3: Calculate the movement speed of the positioning tag relative to the positioning base station at the current moment according to the UWB ranging information and time interval of the positioning tag relative to the same positioning base station at adjacent moments, and obtain the UWB line-of-sight signal ranging information;

[0064] In step S3, whether the current UWB ranging value is a non-line-of-sight signal is determined according to the moving speed of the positioning tag relative to the same positioning base station. If the moving speed is greater than the set speed threshold, the UWB ranging information is considered to be a non-line-of-sight signal and is discarded, that is, the UWB line-of-sight signal ranging information is obtained;

[0065] The specific steps of determining whether it is a non-line-of-sight signal in step S3 are:

[0066] S31: Calculate the movement speed of the current positioning tag relative to the positioning base station i based on the distance of the positioning tag relative to the same positioning base station i at adjacent times The calculation formula is:

[0067]

[0068] in, are the UWB ranging information of the positioning tag relative to the positioning base station i at adjacent moments, t k-1 ,t k are the adjacent UWB sampling moments, is the movement speed of the positioning tag relative to the positioning base station i at the current moment;

[0069] S32: Based on the movement speed of the positioning tag relative to the positioning base station i The comparison result with the set speed threshold is used to determine whether the current UWB ranging information is a non-line-of-sight signal. The judgment formula is:

[0070]

[0071] in, is the current speed of the positioning tag relative to the positioning base station i, v threshold The speed threshold for determining whether the UWB ranging is a non-line-of-sight signal is set according to the properties of the positioning tag;

[0072] S4: construct a graph optimization algorithm framework, input the motion trajectory of the positioning tag obtained in step S2 in the local plane coordinate system and the UWB line-of-sight signal ranging information obtained in step S3 to solve the local plane coordinates of each positioning base station, and realize the calibration of the UWB positioning base station;

[0073] The specific steps of calculating the local plane coordinates of the positioning base station using the local plane coordinates of the positioning tag movement and the UWB line-of-sight signal ranging information in step S4 are:

[0074] S41: Construct a distance measurement model between the positioning tag and the positioning base station i at time k, expressed as:

[0075]

[0076] in, represents the distance measurement value between the positioning tag and the positioning base station i at time k, which is the measurement value provided by UWB, (x i ,y i ) is the plane coordinate of the positioning base station i, is the estimated value, is the plane coordinate of the positioning tag at time k, which is the measurement value provided by RTK positioning;

[0077] S42: constructing a loss function based on a graph optimization algorithm, and optimizing it until the number of iterations reaches a preset maximum number or the result of the loss function meets a threshold requirement, and outputting an optimal estimate of the positioning base station coordinates;

[0078] The specific steps of solving the optimal estimation of the positioning base station coordinates based on graph optimization in step S42 are:

[0079] S421: Construct a loss function based on graph optimization, the formula is:

[0080]

[0081] in, represents the measured value of the distance between the positioning tag and the positioning base station i at time k, k represents any time in the interval [1, M], i represents any positioning base station in the interval [1, N], represents the estimated distance between the positioning tag and the positioning base station i at time k, X represents the plane coordinates of the positioning base station, and p ki The weight represented by the distance measurement value corresponding to the positioning base station i at time k is usually the inverse of the distance measurement value;

[0082] S422: Gauss-Newton method is used for iterative optimization to obtain the coordinate estimation value X of the positioning base station corresponding to the minimum loss function f(X);

[0083] The specific steps of step S422 are:

[0084] S4221: Given initial value X 0 ;

[0085] S4222: For the jth iteration, find the current loss function f(X) relative to X j The Jacobian matrix J(X j ) and error f(X j );

[0086] S4223: Solving the incremental equation: H j ΔX j =g(X j ), where H j = J(X j ) T J(X j ) is the approximation of the second-order Hessian matrix, g(X j )=-J(X j ) T f(X j );

[0087] S4224: If ΔX j If it is small enough, stop. Otherwise, let X j+1 =X j +ΔX j , return to step S4222.

[0088] Through the projection change of RTK positioning information and the synchronization of positioning information and ranging information, the spatiotemporal synchronization of RTK positioning results and UWB distance measurement values ​​is achieved, reducing the synchronization error of the two systems, and introducing a non-line-of-sight error identification and elimination algorithm to increase the robustness of the system and effectively avoid the impact of non-line-of-sight measurement values ​​on the entire positioning base station coordinate self-solution system. This RTK-based UWB positioning system rapid deployment method can be widely used in scenarios where UWB positioning base stations are frequently moved and large-scale scenarios in indoor and outdoor integrated projects, making it easier for system customers to configure and adjust the system structure, reducing dependence on professional knowledge, and reducing the workload of manual measurement, configuration, and calibration, allowing engineers to build positioning systems more quickly and accurately. The simulation effect and measured effect of the technical solution of the invention are as follows: Figure 2 and Figure 3 shown.

[0089] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above are only specific embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for rapid deployment of a UWB positioning system based on RTK, characterized in that: The specific steps are: S1: Deploy positioning base stations in the UWB positioning area, carry positioning tags that support RTK positioning and UWB ranging and move in the positioning area to record and save RTK positioning information and UWB ranging information; S2: Complete the time synchronization of RTK positioning and UWB ranging, and convert the coordinates of RTK positioning to achieve spatial synchronization of RTK positioning and UWB ranging; S3: Calculate the movement speed of the positioning tag relative to the positioning base station at the current moment according to the UWB ranging information and time interval of the positioning tag relative to the same positioning base station at adjacent moments, and obtain the UWB line-of-sight signal ranging information; S4: construct a graph optimization algorithm framework, input the positioning tag motion trajectory obtained in step S2 and the UWB line-of-sight signal ranging information obtained in step S3 to solve the local plane coordinates of each positioning base station, and realize the calibration of the UWB positioning base station.

2. The method for rapid deployment of a UWB positioning system based on RTK according to claim 1, characterized in that: The positioning mark in step S1 moves along the positioning base station in the positioning area, and the obtained RTK positioning information is the geodetic coordinates of the positioning tag at each RTK sampling moment, and the UWB ranging information is the ranging value between the positioning tag and each positioning base station at each UWB sampling moment.

3. The method for rapid deployment of a UWB positioning system based on RTK according to claim 1, characterized in that: The specific steps of step S2 are: S21: completing time synchronization between RTK and UWB according to the time sequence of receiving RTK positioning information and UWB ranging information by the positioning tag; S22: Using projection transformation, the geodetic coordinates provided by the RTK are converted into local plane coordinates, so as to achieve spatial synchronization between RTK positioning and UWB ranging.

4. The method for rapid deployment of a UWB positioning system based on RTK according to claim 3, characterized in that: The time synchronization between RTK positioning and UWB positioning in step S21 is divided into coarse synchronization and fine synchronization, and the specific steps are as follows: S211 coarse synchronization: Based on the RTK positioning information, record the sampling time t of the two UWBs before and after each RTK sampling time t before ,t after ; S212 fine synchronization: According to the sampling frequency of RTK positioning and UWB positioning, the maximum time synchronization interval Δt between the two is determined. According to the two previous UWB sampling moments, RTK sampling moment and the maximum time synchronization interval, the UWB ranging information synchronized with the RTK positioning information is determined. The calculation formula is:

5. The method for rapid deployment of a UWB positioning system based on RTK according to claim 4, characterized in that: The maximum interval of time synchronization in step S212 is 50 milliseconds.

6. The method for rapid deployment of a UWB positioning system based on RTK according to claim 4, characterized in that: In step S3, whether the current UWB ranging value is a non-line-of-sight signal is determined according to the moving speed of the positioning tag relative to the same positioning base station. If the moving speed is greater than the set speed threshold, the UWB ranging information is considered to be a non-line-of-sight signal and is discarded, thereby obtaining the UWB line-of-sight signal ranging information.

7. The method for rapid deployment of a UWB positioning system based on RTK according to claim 6, characterized in that: The specific steps of determining whether it is a non-line-of-sight signal in step S3 are: S31: Calculate the movement speed of the current positioning tag relative to the positioning base station i based on the distance of the positioning tag relative to the same positioning base station i at adjacent times The calculation formula is: in, are respectively the UWB ranging information of the positioning tag relative to the positioning base station i at adjacent moments, namely is the UWB ranging information of the positioning tag relative to the positioning base station i at time k-1; is the UWB ranging information of the positioning tag relative to the positioning base station i at time k; t k-1 ,t k are the adjacent UWB sampling moments, i.e., t k-1 is the UWB sampling time at time k-1, t k is the UWB sampling time at time k; is the movement speed of the positioning tag relative to the positioning base station i at the current moment; S32: Based on the movement speed of the positioning tag relative to the positioning base station i The comparison result with the set speed threshold is used to determine whether the current UWB ranging information is a non-line-of-sight signal. The judgment formula is: in, is the current speed of the positioning tag relative to the positioning base station i, v threshold The speed threshold is used to determine whether the UWB ranging signal is a non-line-of-sight signal.

8. The method for rapid deployment of a UWB positioning system based on RTK according to claim 7, characterized in that: The specific steps of calculating the local plane coordinates of the positioning base station using the local plane coordinates of the positioning tag movement and the UWB line-of-sight signal ranging information in step S4 are: S41: Construct a distance measurement model between the positioning tag and the positioning base station i at time k, expressed as: in, represents the distance measurement value between the positioning tag and the positioning base station i at time k, which is the measurement value provided by UWB, (x i ,y i ) is the plane coordinate of the positioning base station i, is the plane coordinate of the positioning tag at time k, which is the measurement value provided by RTK positioning; S42: construct a loss function based on a graph optimization algorithm, and optimize it until the number of iterations reaches a preset maximum number or the result of the loss function meets a threshold requirement, and output the optimal estimate of the positioning base station coordinates.

9. The method for rapid deployment of a UWB positioning system based on RTK according to claim 8, characterized in that: The specific steps of solving the optimal estimation of the positioning base station coordinates based on graph optimization in step S42 are: S421: constructing a loss function based on graph optimization, the formula is: in, represents the measured value of the distance between the positioning tag and the positioning base station i at time k, k represents any time in the interval [1, M], i represents any positioning base station in the interval [1, N], represents the estimated distance between the positioning tag and the positioning base station i at time k, X represents the plane coordinates of the positioning base station, and pk i represents the weight represented by the distance measurement value corresponding to the positioning base station i at time k; S422: The Gauss-Newton method is used for iterative optimization to obtain the coordinate estimation value X of the positioning base station corresponding to the minimum loss function f(X).

10. The method for rapid deployment of a UWB positioning system based on RTK according to claim 9, characterized in that: The specific steps of step S422 are: S4221: Give initial value X0; S4222: For the jth iteration, find the Jacobian matrix J(X) of the current loss function f(X) relative to Xj j ) and error f(X j ); S4223: Solving the incremental equation: H j ΔX j =g(X j ), where H j = J(X j ) T J(X j ) is the approximation of the second-order Hessian matrix, g(X j )=-J(X j ) T f(X j ); S4224: If ΔX j If it is small enough, stop. Otherwise, let X j+1 =X j +ΔX j , return to step S4222.

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