Ultra-wideband positioning method and device, electronic equipment and storage medium

Abstract

The invention relates to the technical field of positioning, in particular to an ultra-wideband positioning method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining the ultra-wideband distance data of a to-be-positioned tag in a target area and the coordinate data of an anchor node; calculating an initial positioning result of the to-be-positioned label based on the ultra-wideband distance data; constructing a virtual base station system of the target area based on the coordinate data of the anchor nodes, selecting a target virtual base station of a to-be-positioned label in the virtual base station system, and obtaining a virtual observation value of the target virtual base station; and correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data. Therefore, the problems of low positioning precision and the like in related technologies are solved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to an ultra-wideband positioning method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, with the rise of 5G and the Internet of Things (IoT), location-based services (LBS) have become increasingly common, gradually becoming a new economic growth driver and a strategic emerging industry. Since most of our daily activities take place indoors, the demand for positioning services in these scenarios continues to increase. Acquiring indoor location information is crucial. Furthermore, the development of smart industry and smart cities has led to a demand for high-precision indoor positioning technology in application scenarios such as airports, train stations, hotels, hospitals, office buildings, shopping malls, industrial parks, and mines. Therefore, providing accurate and timely location information in indoor environments has significant scientific and commercial value.

[0003] Among the currently mature indoor positioning technologies, ultra-wideband technology has become the first choice for industrial-grade high-precision positioning due to its advantages such as strong penetration, strong anti-multipath capability, and centimeter-level ranging accuracy. However, due to the complex indoor environment, during positioning and tracking, signal measurement values ​​are easily affected by various factors, such as non-line-of-sight environment, signal transmission, signal reflection, etc., resulting in a decrease in positioning accuracy. Summary of the Invention

[0004] The present invention provides an ultra-wideband positioning method, device, electronic equipment and storage medium to solve the problems of low positioning accuracy in related technologies.

[0005] A first aspect of the present invention provides an ultra-wideband positioning method, comprising the following steps: obtaining ultra-wideband distance data of a tag to be located in a target area and coordinate data of an anchor node; calculating an initial positioning result of the tag to be located based on the ultra-wideband distance data; constructing a virtual base station system of the target area based on the coordinate data of the anchor node, selecting a target virtual base station of the tag to be located in the virtual base station system, and obtaining a virtual observation value of the target virtual base station; and correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data.

[0006] Optionally, the initial positioning result is corrected based on the virtual observation value and the ultra-wideband distance data, including: constructing a double-difference function model based on the virtual observation value and the ultra-wideband distance data; inputting the initial positioning result into the double-difference function model, and correcting the initial positioning result using the least squares method through cyclic iteration.

[0007] Optionally, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate the error at the anchor node end, and the second function model is used to eliminate the error between the tag and the virtual base station end, and the first function model is: ; in, is the ultra-wideband virtual observation value, For label For anchor nodes The measured distance value, For ultra-wideband virtual base stations, is the anchor node, For label With virtual base station Go to the anchor node respectively The difference from the true value of The delay of electronic components at the virtual base station, Delay for electronic components on the tag side, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the tag end, Anchor node The difference in antenna phase center deviation is For label With virtual base station At the anchor node The difference in multipath error in the direction, For label With virtual base station At the anchor node The difference in observation noise in the direction; The second function model is: ; in, is the double difference factor, Virtual base station and tags The double difference observation value of the first anchor node and the second anchor node, Virtual base station With label The single difference observation value of the first anchor node, Virtual base station With label The single difference observation value of the second anchor node, Virtual base station and tags The difference between the true value of the distance to the first anchor node, Virtual base station and tags The difference between the true value of the distance to the second anchor node, Virtual base station and tags The double difference of antenna phase deviation in the direction of the first anchor node and the second anchor node, is the antenna phase deviation double difference between the first anchor node and the second anchor node, Virtual base station and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node, Virtual base station and tags Double difference of observation noise error in the direction of the first anchor node and the second anchor node.

[0008] Optionally, before correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data, it also includes: calculating the first distance between the virtual base station and the anchor node; calculating the second distance between the virtual base station and the tag to be located; using the first distance, the second distance and the ultra-wideband distance data as the three sides of a triangle; and eliminating abnormal data in the ultra-wideband distance data based on the length relationship of the three sides of the triangle.

[0009] Optionally, a virtual base station system of the target area is constructed based on the coordinate data of the anchor node, including: determining the coverage area range of the anchor node based on the coordinate data of the anchor node; determining the grid density of the virtual base station system based on the coverage area range; dividing the target area into grids based on the grid density, and generating virtual base stations and corresponding parameters at each grid point to complete the construction of the virtual base station system of the target area.

[0010] Optionally, calculating the initial positioning result of the tag to be positioned based on the ultra-wideband distance data includes: obtaining an observation equation of the ultra-wideband distance data of the tag to be positioned; and performing distance difference on the observation equation to obtain the initial positioning result of the tag to be positioned.

[0011] Optionally, the observation equation for the virtual observation is: ; in, is the virtual observation value, is the true geometric distance from the anchor node to the virtual base station, The delay of electronic components at the virtual base station, is the delay of electronic components at the anchor node, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the anchor node, is the multipath error in the UWB propagation process, is the observation noise, For ultra-wideband virtual base stations, Anchor node.

[0012] A second aspect of the present invention provides an ultra-wideband positioning device, including: an acquisition module for acquiring ultra-wideband distance data of a tag to be located in a target area and coordinate data of an anchor node; a calculation module for calculating an initial positioning result of the tag to be located based on the ultra-wideband distance data; a construction module for constructing a virtual base station system of the target area based on the coordinate data of the anchor node, selecting a target virtual base station for the tag to be located in the virtual base station system, and obtaining a virtual observation value of the target virtual base station; and a correction module for correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data.

[0013] Optionally, the correction module is further used to: construct a double-difference function model based on virtual observation values ​​and ultra-wideband distance data; input the initial positioning result into the double-difference function model, and use the least squares method to iteratively correct the initial positioning result.

[0014] Optionally, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate the error at the anchor node end, and the second function model is used to eliminate the error between the tag and the virtual base station end, and the first function model is: ; in, is the ultra-wideband virtual observation value, For label For anchor nodes The measured distance value, For ultra-wideband virtual base stations, is the anchor node, For label With virtual base station Go to the anchor node respectively The difference from the true value of The delay of electronic components at the virtual base station, Delay for electronic components on the tag side, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the tag end, Anchor node The difference in antenna phase center deviation is For label With virtual base station At the anchor node The difference in multipath error in the direction, For label With virtual base station At the anchor node The difference in observation noise in the direction; The second function model is: ; in, is the double difference factor, Virtual base station and tags The double difference observation value of the first anchor node and the second anchor node, Virtual base station With label The single difference observation value of the first anchor node, Virtual base station With label The single difference observation value of the second anchor node, Virtual base station and tags The difference between the true value of the distance to the first anchor node, Virtual base station and tags The difference between the true value of the distance to the second anchor node, Virtual base station and tags The double difference of antenna phase deviation in the direction of the first anchor node and the second anchor node, is the antenna phase deviation double difference between the first anchor node and the second anchor node, Virtual base station and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node, Virtual base station and tags Double difference of observation noise error in the direction of the first anchor node and the second anchor node.

[0015] Optionally, it also includes: a elimination module, which is used to calculate the first distance between the virtual base station and the anchor node before correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data; calculate the second distance between the virtual base station and the tag to be located; use the first distance, the second distance and the ultra-wideband distance data as the three sides of a triangle; and eliminate abnormal data in the ultra-wideband distance data based on the length relationship of the three sides of the triangle.

[0016] Optionally, the construction module is further used to: determine the coverage area of ​​the anchor node based on the coordinate data of the anchor node; determine the grid density of the virtual base station system based on the coverage area; divide the target area into grids based on the grid density, and generate virtual base stations and corresponding parameters at each grid point to complete the construction of the virtual base station system in the target area.

[0017] Optionally, the calculation module is further used to: obtain an observation equation of ultra-wideband distance data of the tag to be located; and perform distance difference on the observation equation to obtain an initial positioning result of the tag to be located.

[0018] Optionally, the observation equation for the virtual observation is: ; in, is the virtual observation value, is the true geometric distance from the anchor node to the virtual base station, The delay of electronic components at the virtual base station, is the delay of electronic components at the anchor node, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the anchor node, is the multipath error in the UWB propagation process, is the observation noise, For ultra-wideband virtual base stations, Anchor node.

[0019] A third aspect of the present invention provides an electronic device, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the ultra-wideband positioning method according to the above embodiment.

[0020] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program or instruction stored thereon, and the computer program or instruction is executed by a processor to perform the ultra-wideband positioning method as described in the above embodiment.

[0021] Therefore, the present invention has at least the following beneficial effects: The embodiment of the present invention can obtain the ultra-wideband distance data and anchor node coordinates of the tag to be located, calculate the initial positioning result of the tag to be located based on the ultra-wideband distance data, and build a virtual base station system based on the anchor node coordinates, and select the target virtual base station to obtain virtual observation values. By introducing the virtual base station system, the signal blind spot can be filled, and then the initial positioning result can be corrected based on the virtual observation value and ultra-wideband distance data, eliminating the error in positioning achieved by ultra-wideband distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning, which is particularly suitable for positioning scenarios in complex environments. As a result, technical problems such as low positioning accuracy in related technologies are solved.

[0022] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1Flowchart of an ultra-wideband positioning method according to an embodiment of the present invention; Figure 2 A schematic diagram of an ultra-wideband ranging method provided according to an embodiment of the present invention; Figure 3 A schematic diagram of a virtual base station grid system according to an embodiment of the present invention; Figure 4 A flowchart of an ultra-wideband positioning method according to a specific embodiment of the present invention; Figure 5 A plan layout diagram of a virtual base station for a cross-room verification experiment provided according to an embodiment of the present invention; Figure 6 This is a diagram showing the effect of eliminating gross errors in ultra-wideband ranging data according to an embodiment of the present invention; Figure 7 This is a positioning effect diagram before data gross error elimination and differential positioning solution provided by an embodiment of the present invention; Figure 8 This is a positioning effect diagram after data gross error elimination and differential positioning solution provided by an embodiment of the present invention; Figure 9 This is an example diagram of an ultra-wideband positioning device according to an embodiment of the present invention; Figure 10 A schematic structural diagram of an electronic device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0025] Before describing the solution of the present invention, the ultra-wideband technology involved in the present invention is first introduced to assist in understanding the solution of the present invention.

[0026] Ultra-wideband (UWB) technology stands out among numerous indoor positioning technologies for its advantages, including strong penetration, robust multipath resistance, high resolution, low power consumption, and minimal system complexity. This technology uses nanosecond-level pulses for data transmission, boasting an ultra-wideband frequency band in the gigahertz range, operating between 3.1 and 10.6 GHz. In industrial positioning scenarios, where positioning accuracy is paramount, UWB technology, with its centimeter-level ranging advantage, demonstrates potential that surpasses other traditional indoor positioning technologies and has become the preferred solution for high-precision indoor positioning systems. UWB indoor positioning has significant application potential in areas such as autonomous high-precision positioning for indoor robotics, indoor positioning and intelligent navigation for unmanned vehicles and drones, high-precision underground engineering projects (such as tunnels and mines), construction layout for large indoor venues, and installation and monitoring of precision industrial equipment.

[0027] Ultra-wideband (UWB) ranging accuracy can reach centimeters. However, due to the complex indoor environment, signal measurements are susceptible to various factors during positioning and tracking, such as non-line-of-sight (NLOS) conditions, signal transmission, and signal reflection, resulting in reduced positioning accuracy. Currently, most commercial UWB positioning systems only achieve a positioning accuracy of 10-30cm. While this is sufficient for everyday human and vehicle positioning, it falls short of industrial-grade (high-precision) accuracy requirements. Therefore, it is crucial to develop an UWB indoor positioning method that improves ranging accuracy and indoor positioning reliability in complex indoor environments.

[0028] To this end, the present invention provides an ultra-wideband positioning method, in which the ultra-wideband distance data and anchor node coordinates of the tag to be located can be obtained, the initial positioning result of the tag to be located is calculated based on the ultra-wideband distance data, and a virtual base station system is constructed based on the anchor node coordinates, and the target virtual base station is selected to obtain virtual observation values. By introducing the virtual base station system, the signal blind spot can be filled, and then the initial positioning result can be corrected based on the virtual observation value and ultra-wideband distance data, eliminating the error of positioning achieved by ultra-wideband distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning, which is particularly suitable for positioning scenarios in complex environments.

[0029] Specifically, Figure 1 A flowchart of an ultra-wideband positioning method provided by an embodiment of the present invention.

[0030] like Figure 1 As shown, the ultra-wideband positioning method includes the following steps: In step S101 , ultra-wideband distance data of the tags to be located in the target area and coordinate data of the anchor nodes are obtained.

[0031] Among them, the target area can be an area where ultra-wideband positioning can be achieved, such as an ultra-wideband test site; the anchor node is a fixed reference point with a known position in the target area, which is used to assist tag positioning; the tag to be located is the node whose position needs to be determined, and is usually attached to the object that needs to be located.

[0032] The ultra-wideband distance data of the embodiment of the present invention can be collected in real time by sending and receiving ultra-wideband signals within the positioning area through the ultra-wideband positioning device. The TW-ToF (Two-Way Time of Flight) measurement mode is used to record the time when the anchor node transmits the signal, the tag receives the signal, and the time when the tag transmits the signal and the anchor node receives the signal. The distance value is obtained by taking the difference between the two-way time. The schematic diagram of the TW-ToF measurement method is shown in the figure below. Figure 2 As shown, T1 represents the time when the anchor node sends the data packet signal; T2 represents the time when the tag receives the signal; T3 represents the time when the tag sends the signal; T4 represents the time when the anchor node receives the data packet signal.

[0033] Specifically, the anchor node transmits an impulse response signal to the tag at a certain moment. The tag receives the signal, processes it, and feeds it back to the anchor node. The anchor node records the time it receives the feedback signal and calculates the flight time from it, thereby calculating the distance between the anchor node and the tag: ; in, is the speed of light, is the time when the anchor node transmits the signal, is the time when the tag receives the signal, is the time when the tag transmits the signal, The time it takes for the anchor node to receive the signal.

[0034] In step S102, an initial positioning result of the tag to be positioned is calculated based on the ultra-wideband distance data.

[0035] In an embodiment of the present invention, calculating the initial positioning result of the tag to be positioned based on the ultra-wideband distance data includes: obtaining an observation equation of the ultra-wideband distance data of the tag to be positioned; performing distance difference on the observation equation to obtain the initial positioning result of the tag to be positioned.

[0036] It can be understood that the embodiment of the present invention can calculate the initial positioning result of the tag to be located based on the ultra-wideband distance data, and obtain the observation equation of the ultra-wideband distance data of the tag to be located, perform distance difference on the observation equation, and obtain the initial positioning result of the tag to be located.

[0037] In the embodiment of the present invention, the observation equation of the virtual observation value is: ; in, is the virtual observation value, is the true geometric distance from the anchor node to the virtual base station, The delay of electronic components at the virtual base station, is the delay of electronic components at the anchor node, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the anchor node, is the multipath error in the UWB propagation process, is the observation noise, For ultra-wideband virtual base stations, Anchor node.

[0038] Specifically, the embodiments of the present invention can directly linearize the equation by using the Chan algorithm based on TDoA (Time Difference of Arrival) through distance difference, and quickly obtain high-precision initial positioning results without the need for initial values. The Chan algorithm is an ultra-wideband indoor positioning algorithm based on least squares that does not require iteration. It linearizes the observation equation through distance difference and has the advantages of low computational complexity and high precision. Specifically, the following are the advantages: The distance observation equation is listed based on the back intersection; the distance difference is performed on the equation to linearize the equation; the parameter estimation is performed based on the least squares method to quickly obtain the initial positioning value of the tag.

[0039] Since the unknowns to be solved are the three-dimensional coordinates of the labels, and the number of unknowns is 3, at least 4 observation equations are required. The following formula can be obtained from the principle of spatial distance intersection: ; in, is the unknown coordinate of the label, For the The known three-dimensional coordinates of the physical anchor nodes, To measure the The distance from the physical anchor node to the label.

[0040] Perform distance difference on the above formula, take the first equation as the benchmark, and subtract the other equations from it respectively, and we can get: ; ; ; The initial coordinates of the label can be obtained as follows: .

[0041] In step S103, a virtual base station system of the target area is constructed based on the coordinate data of the anchor node, a target virtual base station of the tag to be located is selected in the virtual base station system, and a virtual observation value of the target virtual base station is obtained.

[0042] Among them, the target virtual base station can be selected as the virtual base station closest to the tag to be located at the current moment. When the distance between the two is close, the spatial electromagnetic environment and atmospheric environment are more similar, and the influence of common errors is also similar. In this way, the virtual observation value of the virtual base station constructed by various error terms is also more accurate. When performing subsequent differential decomposition, some errors in the environment and some system errors in the hardware can also be approximately eliminated, thereby improving the positioning accuracy; the virtual observation value is the theoretical distance observation value between the target virtual base station and the anchor node.

[0043] It can be understood that the present invention can construct a virtual base station system of the target area based on the coordinate data of the anchor node to enhance the subsequent positioning accuracy, and select the target virtual base station of the tag to be located in the virtual base station system to obtain the virtual observation value of the target virtual base station for subsequent correction of the initial positioning result.

[0044] In an embodiment of the present invention, a virtual base station system of a target area is constructed based on the coordinate data of the anchor node, including: determining the coverage area range of the anchor node based on the coordinate data of the anchor node; determining the grid density of the virtual base station system based on the coverage area range; dividing the target area into a grid based on the grid density, and generating a virtual base station and corresponding parameters at each grid point to complete the construction of the virtual base station system of the target area.

[0045] It can be understood that the embodiments of the present invention can construct a virtual base station system of the target area based on the coordinate data of the anchor node, divide the target area into a grid based on the coordinates with reference to the grid virtual reference station technology, select the minimum circumscribed rectangle in the plane direction of the physical anchor node as the range of the grid, determine the ultra-wideband virtual grid spacing, generate a virtual base station and its related parameters at each grid point, including key information such as location coordinates, and construct a virtual base station grid system covering the entire target area. By constructing a virtual base station system with a reasonable density, it can not only meet the positioning accuracy requirements, but also control the computational complexity and improve the positioning efficiency.

[0046] Specifically, embodiments of the present invention can first obtain relevant information (such as coordinate parameters) of ultra-wideband physical anchor nodes, and then determine the scope of the grid based on the coverage range of the physical anchor nodes. The present invention selects the minimum circumscribed rectangle of the physical anchor node in the plane direction as the scope of the grid. Then, the grid spacing of ultra-wideband virtual base stations is determined. After the grid is divided, a virtual base station and its related parameters, including key information such as location coordinates, are generated at each grid point. Finally, a virtual base station grid system covering the entire target area is constructed. The specific steps are as follows: Get the relevant parameters of the physical anchor node; Determine the coverage area of ​​the physical anchor node; Select the grid density; Divide the grid and establish virtual base stations; Generate virtual base station related parameters; Build a virtual base station grid system covering the entire target area.

[0047] Among them, VRS (Virtual Reference Station) technology, also known as virtual base station technology, is a network RTK (Real-time Kinematic) technology. This technology achieves high-precision positioning of user stations by constructing a grid-distributed network of GPS base stations and combining it with an algorithm for generating virtual stations around mobile terminals. Traditional VRS technology can lead to communication channel congestion and a significant increase in computational complexity when the number of users increases dramatically. Gridded VRS technology, based on this, constructs a gridded array of base stations, generating virtual observations containing error models at each grid point, enabling parallel real-time positioning for multiple users over a wide area.

[0048] The present invention imitates the grid VRS technology to divide the experimental site into a grid based on coordinates, and generates virtual base stations on the grid points to solve the problem of low resource utilization efficiency and rising hardware costs in ultra-wideband indoor positioning by simply relying on adding physical anchor nodes to improve positioning accuracy. Figure 3 As shown, Figure 3 It is a virtual base station grid system.

[0049] The three-dimensional position coordinate parameters of the virtual base station are calculated as follows: ; ; ; in, is the location coordinate of the virtual base station, It is the plane coordinate of the starting grid point, which needs to be obtained by interpolating the plane coordinates of the surrounding physical anchor nodes. are the row index and column index of the grid point, is the grid spacing. is the average elevation of the physical anchor nodes, The value depends on the specific situation.

[0050] In the process of building a virtual base station, the determination of the virtual base station elevation is a key link, and the geometric layout of the physical anchor nodes needs to be fully considered. In order to ensure that the positioning solution process has good stability and accuracy, and to prevent the occurrence of singularity or pathological problems in the solution, the elevation of the virtual base station should not adopt a single fixed value, but should be set in a staggered manner. Considering that the height of the room in the indoor environment is about 3m, and the height of the physical anchor node is 1m~2.5m, the present invention can set the elevation of the virtual base station to a random number that obeys the normal distribution, and the mean is the mean of the elevation of the physical anchor node. , with a standard deviation of 0.5m. In this way, the height differences of anchor nodes in the actual environment are simulated to a certain extent, making the elevation distribution of virtual base stations closer to the actual situation, thereby improving the reliability and adaptability of the positioning system.

[0051] It should be noted that the denser the grid density, the more grid parameters are generated. While ensuring ultra-wideband indoor positioning accuracy, it is necessary to minimize the number of generated grid points to reduce the overall computational effort. Considering the sub-meter indoor positioning accuracy and the computational effort of the algorithm, the present invention can select a grid spacing of 2m.

[0052] In step S104, the initial positioning result is corrected based on the virtual observation value and the ultra-wideband distance data.

[0053] It can be understood that the embodiments of the present invention can correct the initial positioning results based on virtual observation values ​​and ultra-wideband distance data. By introducing a virtual base station system, the signal blind spots can be filled, and then the initial positioning results can be corrected based on virtual observation values ​​and ultra-wideband distance data, thereby improving the accuracy and reliability of tag positioning, and are particularly suitable for positioning scenarios in complex environments.

[0054] In an embodiment of the present invention, the initial positioning result is corrected based on the virtual observation value and the ultra-wideband distance data, including: constructing a double-difference function model based on the virtual observation value and the ultra-wideband distance data; inputting the initial positioning result into the double-difference function model, and using the least squares method to iteratively correct the initial positioning result.

[0055] It can be understood that the embodiment of the present invention can construct a double-difference function model based on virtual observation values ​​and ultra-wideband distance data, input the initial positioning result into the double-difference function model, and use the least squares method to iteratively correct the initial positioning result to reduce the error generated in the positioning process and significantly improve the positioning accuracy.

[0056] In an embodiment of the present invention, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate the error at the anchor node end, and the second function model is used to eliminate the error between the positioning tag and the virtual base station end. The first function model is: ; in, is the ultra-wideband virtual observation value, For label For anchor nodes The measured distance value, For ultra-wideband virtual base stations, is the anchor node, For label With virtual base station Go to the anchor node respectively The difference from the true value of The delay of electronic components at the virtual base station, Delay for electronic components on the tag side, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the tag end, Anchor node The difference in antenna phase center deviation is For label With virtual base station At the anchor node The difference in multipath error in the direction, For label With virtual base station At the anchor node The difference in observation noise in the direction; The second function model is: ; in, is the double difference factor, Virtual base station and tags The double difference observation value of the first anchor node and the second anchor node, Virtual base station With label The single difference observation value of the first anchor node, Virtual base station With label The single difference observation value of the second anchor node, Virtual base station and tags The difference between the true value of the distance to the first anchor node, Virtual base station and tags The difference between the true value of the distance to the second anchor node, Virtual base station and tags The double difference of antenna phase deviation in the direction of the first anchor node and the second anchor node, is the antenna phase deviation double difference between the first anchor node and the second anchor node, Virtual base station and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node, Virtual base station and tags Double difference of observation noise error in the direction of the first anchor node and the second anchor node.

[0057] The first functional model in this embodiment of the present invention is the "inter-tag" single-difference observation equation for the virtual base station and the tag with respect to the common view anchor node. This "inter-tag" single-difference can eliminate electronic component delays at the anchor node while simultaneously reducing antenna phase center deviations and multipath effects between the tag and the virtual base station.

[0058] The second function model is a double-difference observation equation between the virtual base station and the tag at the anchor node, which can eliminate the delay error of electronic components at the tag and virtual base station ends.

[0059] Specifically, the present invention selects a suitable virtual base station (i.e., the target virtual base station) as the differential object for the tag, constructs virtual observation values ​​for the virtual base station, and builds a double-difference positioning function model. Double-difference positioning requires high-precision a priori initial values. The Chan algorithm is used to obtain high-precision positioning tag initial values. Subsequent positioning calculations are then performed based on these a priori initial values. The specific steps include: Select the virtual base station closest to the label at the current moment as the differential object and construct the virtual observation value; Get the initial double difference value of the high-precision positioning tag (i.e. the initial positioning result); First, differentials are performed between the virtual base station and the positioning tag, and then differentials are performed between the anchor nodes to form a double-difference observation equation, which effectively eliminates or significantly reduces various errors in the ranging values, performs parameter estimation, and obtains the corrected positioning results.

[0060] In an embodiment of the present invention, before correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data, it also includes: calculating the first distance between the virtual base station and the anchor node; calculating the second distance between the virtual base station and the tag to be located; using the first distance, the second distance and the ultra-wideband distance data as the three sides of a triangle; and eliminating abnormal data in the ultra-wideband distance data based on the length relationship of the three sides of the triangle.

[0061] The first distance is the baseline distance, which serves as the first side of the triangle.

[0062] It can be understood that the positions of the virtual base station and the physical anchor node in the embodiment of the present invention are fixed, and the baseline distance between the virtual base station and the physical anchor node is calculated. This is used as a constraint. The virtual base station, the physical anchor node, and the tag form a triangle, and the baseline distance is used as the first side of the triangle. The coordinate inverse distance between the virtual base station and the positioning tag is calculated through the initial positioning result as the second side of the triangle, and the original ultra-wideband distance data is used as the third side of the triangle. The abnormal data is identified and eliminated in combination with the side length relationship between the other two sides of the triangle and the first side to improve the quality of the positioning data and avoid the influence of abnormal values ​​on the positioning results.

[0063] Specifically, take the virtual base station (assuming the node number is ), physical anchor node (assuming the node number is ) and labels (assuming the nodes are numbered ) as an example, first calculate the short baseline distance between the virtual base station and the physical anchor node , which is a side of the triangle, and use this as a constraint, and then get the current moment number The original distance observation value corresponding to the physical anchor node (i.e., ultra-wideband distance data) And the distance between the virtual base station and the tag calculated by coordinate inversion , as the other two sides of the triangle, should satisfy the basic triangle theorem. Considering the nominal ranging accuracy of ultra-wideband, the judgment condition should be: ; in, Indicates the nominal ranging accuracy of the ultra-wideband device (can be determined according to actual needs). Represents weight.

[0064] Theoretically, the absolute difference between the distances from the physical anchor node and the virtual base station to the tag should be less than the short baseline distance, and the sum of the distances from the physical anchor node and the virtual base station to the tag should be greater than the short baseline distance. Therefore, raw ranging values ​​that meet these conditions are considered free of gross errors and are usable, with a corresponding weight of 1. Raw ranging values ​​that do not meet these conditions are considered to contain gross errors and are assigned a weight of 0, meaning they are discarded.

[0065] In addition, it should be noted that after achieving precise positioning, the embodiments of the present invention can evaluate the accuracy of the positioning results. By comparing and analyzing cross-room indoor positioning experiments with external high-precision reference results, it can be determined whether it has more advantages than traditional algorithms, thereby highlighting the effectiveness of the ultra-wideband positioning solution strategy of the present invention.

[0066] The ultra-wideband positioning method of the present invention is described below through a specific embodiment. The specific process is as follows: Figure 4 Shown, including: 1. Collect ultra-wideband ranging data (i.e., ultra-wideband distance data).

[0067] The TW-ToF ranging method is specifically manifested as the anchor node transmits an impulse response signal to the tag at a certain moment. The tag receives the signal, processes the signal, and feeds back the signal to the anchor node. The anchor node records the time of receiving the feedback signal, thereby calculating the flight time and thus the distance between the anchor node and the tag. The schematic diagram of the TW-ToF measurement method is shown in the figure below. Figure 2 shown.

[0068] Specifically, the anchor node transmits an impulse response signal to the tag at a certain moment. The tag receives the signal, processes it, and feeds it back to the anchor node. The anchor node records the time it receives the feedback signal and calculates the flight time, thereby calculating the distance between the anchor node and the tag: ; (1) in, is the speed of light, is the time when the anchor node transmits the signal, is the time when the tag receives the signal, is the time when the tag transmits the signal, The time it takes for the anchor node to receive the signal.

[0069] 2. Establishment of ultra-wideband virtual base station.

[0070] The present invention imitates the grid VRS technology to divide the experimental site into a grid based on coordinates, and generates virtual base stations on the grid points. The virtual base stations are as follows: Figure 3 As shown, it is used to solve the problem that relying solely on increasing physical anchor nodes to improve positioning accuracy in ultra-wideband indoor positioning results in low resource utilization efficiency and rising hardware costs.

[0071] The three-dimensional position coordinate parameters of the virtual base station are calculated as follows: ; ; ; (2) in, is the location coordinate of the virtual base station, is the plane coordinate of the starting grid point, which needs to be obtained by interpolating the plane coordinates of the surrounding physical anchor nodes. are the row index and column index of the grid point, is the grid spacing, is the average elevation of the physical anchor nodes, The value depends on the specific situation.

[0072] 3. Rapid acquisition of initial values ​​of ultra-wideband double-difference positioning.

[0073] The Chan algorithm is one of the classic algorithms for ultra-wideband indoor positioning solutions. When in a good LOS (Line of Sight) environment and the ranging error follows a zero-mean Gaussian distribution, the Chan algorithm can achieve good positioning results. The Chan algorithm estimates the position by using redundant ranging information and the known coordinates of the anchor node. Since the Chan algorithm obtains a linearized equation by subtracting the observation equations, it can solve the three-dimensional coordinates of the tag. Since the unknown number to be solved is the three-dimensional coordinate of the tag, at least four observation equations are required. Formula (3) can be obtained from the principle of spatial distance intersection: ; (3) in, is the unknown coordinate of the label, For the The known three-dimensional coordinates of the physical anchor nodes, To measure the The distance from the physical anchor node to the label.

[0074] Perform distance difference on formula (3), take the first equation as the benchmark, and subtract the other equations from it respectively, and we can get: ; ; ; (4) The initial coordinates of the label can be obtained as follows: ; (5) 4. Detection and elimination of gross errors in ultra-wideband ranging data.

[0075] Take the virtual base station (assuming the node number is ), physical anchor node (assuming the node number is ) and labels (assuming the nodes are numbered ) as an example, first calculate the short baseline distance between the virtual base station and the physical anchor node , which is a side of the triangle, and use this as a constraint, and then get the current moment number The original distance observation value corresponding to the physical anchor node And the distance between the virtual base station and the tag calculated by coordinate inversion , as the other two sides of the triangle, should satisfy the basic triangle theorem. Considering the nominal ranging accuracy of ultra-wideband, the judgment condition should be: ; (6) in, Indicates the nominal ranging accuracy of the ultra-wideband device (can be determined according to actual needs). Represents weight.

[0076] Theoretically, the absolute difference between the distances from the physical anchor node and the virtual base station to the tag should be less than the short baseline distance, and the sum of the distances from the physical anchor node and the virtual base station to the tag should be greater than the short baseline distance. Therefore, raw ranging values ​​that meet these conditions are considered free of gross errors and are usable, with a corresponding weight of 1. Raw ranging values ​​that do not meet these conditions are considered to contain gross errors and are assigned a weight of 0, meaning they are discarded.

[0077] 5. Generate virtual observation values ​​of virtual base stations and construct a double difference function model.

[0078] Similarly, take the virtual base station (assuming the node number is ), physical anchor node (assuming the node number is ) and labels (assuming the nodes are numbered ) as an example, the virtual base station closest to the current tag position is selected as the tag differential object. This is because when the virtual base station and the tag are closer, the spatial electromagnetic and atmospheric environments they are in are more similar, and the common error effects they are subject to are also similar. This makes the virtual observation value of the virtual base station constructed from various error terms more accurate. In the subsequent differential calculation, some environmental errors and some hardware system errors can be approximately eliminated, thereby improving positioning accuracy.

[0079] The observation equation of the virtual base station is: ; (7) in, represents an ultra-wideband virtual base station, represents the ultra-wideband virtual observation value, represents the true geometric distance from the physical anchor node to the virtual base station, Indicates the delay of electronic components at the virtual base station end, Indicates the delay of electronic components at the physical anchor node. Indicates the antenna phase center deviation at the virtual base station end, Indicates the antenna phase center deviation at the physical anchor node end, represents the multipath error in the ultra-wideband propagation process, represents the observation noise.

[0080] The general form of the single difference equation is: ; (8) Virtual Base Station With label For the common view anchor node The "between-label" single-difference observation equation is: ; (9) Therefore, the virtual observation value of the virtual base station is: ; (10) According to formula (10), the virtual observation value of the virtual base station is constructed by adding various error correction factors to the ranging observation value of the tag. Since the virtual base station is close to the tag, the multipath effect is assumed to be consistent with the tag during the actual construction process. Formula (10) can be rewritten as: ; (11) in, represents the ranging observation value of the tag, represents the single difference operator, and its other meanings are consistent with those in formula (7).

[0081] The specific calculation steps of the virtual observation value of the virtual base station are: (1) Calculate the distance correction.

[0082] The calculation formula for distance correction is: ; (12) in: ; ; (13) in, The meaning of is consistent with formula (7), Represents the true geometric distance from the label to the physical anchor node. is the three-dimensional coordinate of the selected virtual base station, is the three-dimensional coordinate of the physical anchor node, is the three-dimensional coordinate of the label, obtained by Chan algorithm.

[0083] (2) Correction number for delay items of electronic components.

[0084] Indicates the difference in electronic component delay between the virtual base station and the tag, electronic component delay Theoretically, it is a constant value, and its size is related to the device itself. Therefore, when constructing the virtual observation value of the virtual base station, The value of is also a constant and can be estimated using any fixed value.

[0085] ; (14) (3) Corrections to other items.

[0086] The virtual observation value of the virtual base station also includes the correction number of the antenna phase center deviation term and the correction number of the observation noise term. Indicates the difference between the antenna phase center deviations of the virtual base station and the tag. Represents the difference in antenna phase center deviation at the anchor node. This value is related to both the signal itself and the antenna orientation, making it difficult to estimate using a single fixed value or a single model. However, after single-difference between the virtual base station and the tag, this error is significantly reduced. Therefore, to simplify the function model of the virtual observation value and ensure that double-difference positioning accuracy is not affected, this invention combines the remaining correction factors in the virtual observation value into one term and represents it with Gaussian noise.

[0087] Gaussian noise is an ideal random noise whose probability density function conforms to the normal distribution and has the characteristics of zero mean and fixed variance. The mathematical expression of Gaussian noise is: ; (15) in, Indicates the standard deviation of the noise, reflecting the intensity of the noise. In the process of generating virtual observations, The nominal ranging accuracy of the ultra-wideband device is 2 cm, so that the virtual observation value is more consistent with the real ranging value.

[0088] After the virtual base station generates the virtual observation value of the tag synchronization observation, the observation equation is constructed. Formula (9) is the virtual base station With label For the common view anchor node The "inter-tag" single-difference observation equation is obtained. Through the "inter-tag" single difference, the delay of the electronic components on the anchor node side can be eliminated, while the antenna phase center deviation and multipath effect on the tag side and the virtual base station side can be weakened. Assuming that the common view anchor nodes are numbered 1 and 2, then formula (9) can be rewritten as: ; (16) ; (17) By further differencing Formula (16) and Formula (17), that is, performing “inter-anchor node” difference, we can obtain the double difference observation equation between the virtual base station and the tag: ; (18) in, is the double difference operator, It represents the difference between the true distances of the virtual base station and the tag relative to the anchor node numbered 1. The calculation formula refers to formula (12). The meanings of other parameters are consistent with formula (7).

[0089] From formula (18), we can see that the error of electronic component delay has been eliminated after double difference, which can prove that when constructing the virtual observation value of the virtual base station, The method of setting the value of to a fixed constant is reasonable. The double-difference observation equation also includes double-difference parameters such as antenna phase center deviation and multipath error, but they have been greatly weakened and can be approximately classified as noise. The above formula can be simplified to: ; (19) in, represents the truncation error and all random errors.

[0090] ; (20) ;(twenty one) So formula (19) can be written as: ;(twenty two) According to the Taylor series expansion formula, formula (22) can be linearized as: ;(twenty three) in, is the label's coordinate correction number, is the double difference initial value of the label, and Represent the coordinates of the physical anchor nodes numbered 1 and 2 respectively. and They are the approximate distances between the label and the physical anchor nodes numbered 1 and 2, respectively, which can be obtained by inverse calculation of the coordinates.

[0091] In order to solve the three-dimensional coordinate correction of the tag, the number of common-view physical anchor nodes must be no less than 4. The double-difference equation requires defining one of the physical anchor nodes as the reference anchor node, based on the principle of maximizing the signal-to-noise ratio and having no ranging error markers. Here, the physical anchor node numbered 1 is used as the reference anchor node. In actual positioning, the selection needs to be based on the specific situation of the ultra-wideband device. Formula (23) can be written in matrix form: ;(twenty four) ; (25) in, ; ; (26) At this time, the three-dimensional coordinate correction of the label can be solved based on the least squares algorithm.

[0092] ; (27) During the positioning solution, the Chan algorithm is used to obtain the tag's initial double-difference value, which is then substituted into the double-difference equation to obtain the optimal estimate of the coordinate correction. The solution process can be iteratively updated to continuously update the initial coordinate value, maximizing the approximation of the coordinate value to the true value. Typically, two to three iterations are sufficient.

[0093] 5. Verify the effectiveness of the ultra-wideband positioning solution strategy.

[0094] In order to solve the problem that simply relying on increasing physical anchor nodes to improve positioning accuracy results in low resource utilization efficiency and rising hardware costs, the present invention proposes a method for establishing ultra-wideband virtual base stations. Referring to the principle of grid VRS, virtual base stations are evenly distributed in the experimental area. On this basis, a method for detecting gross errors in ultra-wideband ranging based on short baseline constraints is proposed. This method can identify and eliminate gross errors in ultra-wideband ranging from the original data level to obtain high-quality observation data. After that, a suitable virtual base station is selected as the differential object of the label, a positioning function model is constructed, and the initial value of ultra-wideband double-difference positioning is quickly obtained through the Chan algorithm. Double-difference positioning solution is performed to achieve precise indoor positioning. The following are the results of the verification experiment: from Figure 5 It can be seen that Figure 5 This is the floor plan layout of the virtual base stations for the cross-room verification experiment. The virtual base stations basically cover the entire experimental area, can provide reliable positioning assistance, and there are no positioning blind spots. The layout of the virtual base stations is reasonable.

[0095] Analyze the results based on the gross error detection algorithm: Figure 6 The figure shows the actual variation of the ranging value between anchor node 1 and the tag over time. It can be clearly seen that there are many discrete points in the original ranging data, that is, gross error data. By using the short baseline constraint method, most of the abnormal ranging values ​​can be effectively identified and eliminated, thereby obtaining "clean" ranging data and improving data reliability.

[0096] The positioning results of the traditional positioning algorithm (least square positioning method) and the ultra-wideband indoor positioning solution strategy provided by the present invention are compared and analyzed. Figure 7 The positioning results of the traditional algorithm are given. Figure 8 The results of the ultra-wideband positioning solution strategy of the present invention are given. The positioning solution strategy integrates the gross error detection algorithm and the differential positioning function model of the present invention. By comparing the two figures, it can be clearly seen that the positioning results of the traditional method based on raw data have many outliers and obvious systematic errors. The positioning solution strategy of the present invention uses "clean" ranging values ​​for double-difference positioning solution, and both gross errors and systematic errors are significantly improved. The positioning result is close to the true value, and the positioning trajectory is basically consistent with the reference trajectory, which can achieve precise indoor positioning.

[0097] The ultra-wideband positioning method proposed in an embodiment of the present invention can obtain ultra-wideband distance data and anchor node coordinates of the tag to be located, calculate the initial positioning result of the tag to be located based on the ultra-wideband distance data, build a virtual base station system based on the anchor node coordinates, and select a target virtual base station to obtain a virtual observation value. By introducing the virtual base station system, the signal blind spot can be filled, and then the initial positioning result can be corrected based on the virtual observation value and ultra-wideband distance data, eliminating the error of positioning achieved by ultra-wideband distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning. It is particularly suitable for positioning scenarios in complex environments.

[0098] Next, an ultra-wideband positioning device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0099] Figure 9 4 is a block diagram of an ultra-wideband positioning device according to an embodiment of the present invention.

[0100] like Figure 9 As shown, the ultra-wideband positioning device 10 includes: an acquisition module 100 , a calculation module 200 , a construction module 300 and a correction module 400 .

[0101] Among them, the acquisition module 100 is used to obtain the ultra-wideband distance data of the tag to be located in the target area and the coordinate data of the anchor node; the calculation module 200 is used to calculate the initial positioning result of the tag to be located based on the ultra-wideband distance data; the construction module 300 is used to construct a virtual base station system of the target area based on the coordinate data of the anchor node, select the target virtual base station of the tag to be located in the virtual base station system, and obtain the virtual observation value of the target virtual base station; the correction module 400 is used to correct the initial positioning result based on the virtual observation value and the ultra-wideband distance data.

[0102] In an embodiment of the present invention, the correction module 400 is further used to: construct a double-difference function model based on virtual observation values ​​and ultra-wideband distance data; input the initial positioning result into the double-difference function model, and use the least squares method to iteratively correct the initial positioning result.

[0103] In an embodiment of the present invention, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate the error at the anchor node end, and the second function model is used to eliminate the error between the tag and the virtual base station end. The first function model is: ; in, is the ultra-wideband virtual observation value, For label For anchor nodes The measured distance value, For ultra-wideband virtual base stations, is the anchor node, For label With virtual base station Go to the anchor node respectively The difference from the true value of The delay of electronic components at the virtual base station, Delay for electronic components on the tag side, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the tag end, Anchor node The difference in antenna phase center deviation is For label With virtual base station At the anchor node The difference in multipath error in the direction, For label With virtual base station At the anchor node The difference in observation noise in the direction; The second function model is: ; in, is the double difference factor, Virtual base station and tags The double difference observation value of the first anchor node and the second anchor node, Virtual base station With label The single difference observation value of the first anchor node, Virtual base station With label The single difference observation value of the second anchor node, Virtual base station and tags The difference between the true value of the distance to the first anchor node, Virtual base station and tags The difference between the true value of the distance to the second anchor node, Virtual base station and tags The double difference of antenna phase deviation in the direction of the first anchor node and the second anchor node, is the antenna phase deviation double difference between the first anchor node and the second anchor node, Virtual base station and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node, Virtual base station and tags Double difference of observation noise error in the direction of the first anchor node and the second anchor node.

[0104] In the embodiment of the present invention, the ultra-wideband positioning device 10 of the embodiment of the present invention further includes: a rejection module.

[0105] Among them, the elimination module is used to calculate the first distance between the virtual base station and the anchor node before correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data; calculate the second distance between the virtual base station and the tag to be located; use the first distance, the second distance and the ultra-wideband distance data as the three sides of a triangle; and eliminate abnormal data in the ultra-wideband distance data based on the length relationship of the three sides of the triangle.

[0106] In an embodiment of the present invention, the construction module 300 is further used to: determine the coverage area of ​​the anchor node based on the coordinate data of the anchor node; determine the grid density of the virtual base station system based on the coverage area; divide the target area into a grid based on the grid density, and generate a virtual base station and corresponding parameters at each grid point to complete the construction of the virtual base station system in the target area.

[0107] In the embodiment of the present invention, the calculation module 200 is further configured to: obtain an observation equation of ultra-wideband distance data of the tag to be located; and perform distance difference on the observation equation to obtain an initial positioning result of the tag to be located.

[0108] In the embodiment of the present invention, the observation equation of the virtual observation value is: ; in, is the virtual observation value, is the true geometric distance from the anchor node to the virtual base station, The delay of electronic components at the virtual base station, is the delay of electronic components at the anchor node, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the anchor node, is the multipath error in the UWB propagation process, is the observation noise, For ultra-wideband virtual base stations, Anchor node.

[0109] It should be noted that the aforementioned explanation of the ultra-wideband positioning method embodiment is also applicable to the ultra-wideband positioning device of this embodiment, and will not be repeated here.

[0110] The ultra-wideband positioning device proposed in an embodiment of the present invention can obtain the ultra-wideband distance data and anchor node coordinates of the tag to be located, calculate the initial positioning result of the tag to be located based on the ultra-wideband distance data, and build a virtual base station system based on the anchor node coordinates, and select the target virtual base station to obtain virtual observation values. By introducing the virtual base station system, the signal blind spot can be filled, and then the initial positioning result can be corrected based on the virtual observation value and ultra-wideband distance data, eliminating the error of positioning achieved by ultra-wideband distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning. It is particularly suitable for positioning scenarios in complex environments.

[0111] Figure 10 This is a schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. The electronic device may include: A memory 1001 , a processor 1002 , and a computer program stored in the memory 1001 and executable on the processor 1002 .

[0112] When the processor 1002 executes the program, the ultra-wideband positioning method provided in the above embodiment is implemented.

[0113] Furthermore, the electronic device further includes: The communication interface 1003 is used for communication between the memory 1001 and the processor 1002 .

[0114] The memory 1001 is used to store computer programs that can be run on the processor 1002 .

[0115] The memory 1001 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0116] If the memory 1001, processor 1002, and communication interface 1003 are implemented independently, the communication interface 1003, memory 1001, and processor 1002 can be connected to each other via a bus and communicate with each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be divided into address buses, data buses, control buses, etc. For ease of representation, Figure 10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or one type of bus.

[0117] Optionally, in a specific implementation, if the memory 1001, the processor 1002 and the communication interface 1003 are integrated on a chip, the memory 1001, the processor 1002 and the communication interface 1003 can communicate with each other through an internal interface.

[0118] The processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0119] An embodiment of the present invention further provides a computer-readable storage medium having a computer program or instruction stored thereon. When the computer program or instruction is executed by a processor, the ultra-wideband positioning method as described above is implemented.

[0120] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0121] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "N" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0122] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or N executable instructions for implementing a custom logical function or step of a process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0123] It should be understood that various parts of the present invention can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiment, the N steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, it can be implemented using any one or a combination of the following technologies known in the art: a discrete logic circuit having logic gate circuits for implementing logical functions on data signals, an application-specific integrated circuit having suitable combinational logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0124] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

Claims

1. An ultra-wideband positioning method, characterized in that: The following steps are involved: Obtain the ultra-wideband distance data of the tag to be located in the target area and the coordinate data of the anchor node; Calculating an initial positioning result of the tag to be positioned based on the ultra-wideband distance data; Building a virtual base station system of the target area based on the coordinate data of the anchor node, selecting a target virtual base station of the tag to be located in the virtual base station system, and obtaining a virtual observation value of the target virtual base station; The initial positioning result is corrected based on the virtual observation value and the ultra-wideband distance data.

2. The ultra-wideband positioning method according to claim 1, wherein: The correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data includes: Constructing a double difference function model based on the virtual observation value and the ultra-wideband distance data; The initial positioning result is input into the double difference function model, and the initial positioning result is corrected by cyclic iteration using the least square method.

3. The ultra-wideband positioning method according to claim 2, wherein: The double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate the error at the anchor node end, and the second function model is used to eliminate the error between the tag and the virtual base station end, and the first function model is: ； in, is the ultra-wideband virtual observation value, For label For anchor nodes The measured distance value, For ultra-wideband virtual base stations, is the anchor node, For label With virtual base station Go to the anchor node respectively The difference from the true value of The delay of electronic components at the virtual base station, Delay for electronic components on the tag side, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the tag end, Anchor node The difference in antenna phase center deviation is For label With virtual base station At the anchor node The difference in multipath error in the direction, For label With virtual base station At the anchor node The difference in observation noise in the direction; The second function model is: ； in, is the double difference factor, Virtual base station and tags The double difference observation value of the first anchor node and the second anchor node, Virtual base station With label The single difference observation value of the first anchor node, Virtual base station With label The single difference observation value of the second anchor node, Virtual base station and tags The difference between the true value of the distance to the first anchor node, Virtual base station and tags The difference between the true value of the distance to the second anchor node, Virtual base station and tags The double difference of antenna phase deviation in the direction of the first anchor node and the second anchor node, is the antenna phase deviation double difference between the first anchor node and the second anchor node, Virtual base station and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node, Virtual base station and tags Double difference of observation noise error in the direction of the first anchor node and the second anchor node.

4. The ultra-wideband positioning method according to claim 1, wherein: Before correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data, the method further includes: Calculating a first distance between the virtual base station and the anchor node; Calculating a second distance between the virtual base station and the tag to be located; Taking the first distance, the second distance and the ultra-wideband distance data as three sides of a triangle; Abnormal data in the ultra-wideband distance data is eliminated based on the relationship between the lengths of the three sides of the triangle.

5. The ultra-wideband positioning method according to claim 1, wherein: The constructing of the virtual base station system of the target area based on the coordinate data of the anchor node includes: Determining a coverage area of ​​the anchor node based on the coordinate data of the anchor node; Determining a grid density of the virtual base station system based on the coverage area; The target area is divided into a grid based on the grid density, and a virtual base station and corresponding parameters are generated at each grid point to complete the construction of a virtual base station system in the target area.

6. The ultra-wideband positioning method according to claim 1, wherein: The calculating the initial positioning result of the tag to be positioned based on the ultra-wideband distance data includes: Obtaining an observation equation for ultra-wideband distance data of the tag to be located; Perform distance difference on the observation equation to obtain an initial positioning result of the tag to be positioned.

7. The ultra-wideband positioning method according to claim 1, wherein: The observation equation of the virtual observation value is: ； in, is the virtual observation value, is the true geometric distance from the anchor node to the virtual base station, The delay of electronic components at the virtual base station, is the delay of electronic components at the anchor node, is the antenna phase center deviation at the virtual base station end, is the antenna phase center deviation at the anchor node, is the multipath error in the UWB propagation process, is the observation noise, For ultra-wideband virtual base stations, Anchor node.

8. An ultra-wideband positioning device, characterized in that: include: An acquisition module is used to obtain the ultra-wideband distance data of the tag to be located in the target area and the coordinate data of the anchor node; A calculation module, configured to calculate an initial positioning result of the tag to be positioned based on the ultra-wideband distance data; A construction module is configured to construct a virtual base station system of the target area based on the coordinate data of the anchor node, select a target virtual base station of the tag to be located in the virtual base station system, and obtain a virtual observation value of the target virtual base station; A correction module is used to correct the initial positioning result based on the virtual observation value and the ultra-wideband distance data.

9. An electronic device, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the ultra-wideband positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: The computer program or instruction is executed by a processor to implement the ultra-wideband positioning method according to any one of claims 1 to 7.

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