UWB TDOA Positioning-Based Charging Gun Reset Detection System and Method

Abstract

A charging gun reset detection system and method based on UWB TDOA positioning, comprising a server, N micro positioning base stations and M charging piles, and at least one charging gun is electrically connected to each charging pile; a beacon unit is arranged on each of the charging guns, and by designing UWB communication modules on each charging gun and each micro positioning base station, and through UWB signal transmission, calculating the time taken for sending signals, the distance from the charging gun to the base station is calculated, and by comparing the gap between the initial designed position and the detected position distance, it is calculated whether the charging gun has been reset. It has strong applicability, safety isolation, easy layout and strong anti-electromagnetic interference ability.

Description

Technical Field

[0001] The present invention belongs to the technical field of local wireless positioning, and particularly relates to a charging gun reset detection system and method based on UWB TDOA positioning. Background Art

[0002] At present, after charging at a charging station is completed, it is common that the charging gun is discarded on the ground and not reset to the gun holder. Such a situation brings great inconvenience and potential safety hazards. If the charging pile is on the ground, when the next vehicle needs to park and charge, since the charging pile is in the parking space, the driver needs to get out of the vehicle in advance to remove the charging gun before parking the vehicle, which wastes time and easily causes parking queues. Seriously, if the driver does not see the charging pile in the parking space, they may directly reverse into the parking space, which may cause damage to the charging gun or even the entire charging pile. In order to supervise the reset detection of the charging gun, technical personnel have adopted a series of positioning detection means. However, due to the non-uniform models of charging guns from different manufacturers and the presence of a strong electrical circuit inside the charging pile, and due to requirements in terms of environment, protection, and electrical insulation, it is difficult to directly lead the internal circuit of the charging pile to the charging gun for detecting the reset situation. Some technical personnel have also designed positioning applications in the Internet of Things field through Bluetooth and WIFI, but the error is generally more than several meters, which cannot meet the positioning requirements for charging gun reset detection. Summary of the Invention

[0003] The present invention aims to provide a charging gun reset detection system and method based on UWB TDOA positioning to solve the problems of large positioning error and difficulty in accurate positioning.

[0004] To achieve the above object, the solution of the present invention is: a charging gun reset detection system and method based on UWB TDOA positioning, the key technology of which lies in: including a server, N micro positioning base stations, and M charging piles, and at least one charging gun is electrically connected to each charging pile; each of the above micro positioning base stations is provided with a positioning controller, and a first UWB communication module, a positioning timing module, and a first 4G communication module are connected to the positioning controller; each of the above charging piles is provided with a charging pile main controller, and a first Bluetooth communication module, a second 4G communication module, a charging state detection module, and an audible and visual alarm module are connected to the charging pile main controller; each of the above charging guns is provided with a beacon unit, and the beacon unit includes a microcontroller, and a second Bluetooth communication module and a second UWB communication module are connected to the microcontroller; the charging pile main controller is in Bluetooth communication connection with the microcontroller of the corresponding beacon unit; the microcontroller of the beacon unit is in UWB communication connection with the positioning controller of the micro positioning base station; the positioning controller of the micro positioning base station is in 4G communication connection with the above server; the server is in 4G communication connection with the charging pile main controller. Among them, M is a positive integer, and N is an integer greater than or equal to 4.

[0005] Among them, Ultra Wideband (UWB) is a wireless communication method that uses non-sinusoidal narrow pulses in the nanosecond to microsecond range to transmit data. This technology does not require a carrier, has a bandwidth in the GHz range, and has advantages such as strong penetration, high communication accuracy, strong multipath resolution, and high security. The Time Difference of Arrival (TDOA) method calculates the time difference by calculating the transmission time of the signal from the node to be measured to each reference node, and finally determines the distance between the node to be measured and each reference node pairwise, which can effectively reduce the power consumption of the node to be measured, reduce the positioning error and system complexity, and improve the positioning capacity.

[0006] Through the above design, multiple micro-positioning base stations are designed in the charging station. By designing UWB communication modules on each charging gun and each micro-positioning base station, and through UWB signal transmission, the time used to send the signal is calculated to calculate the distance from the charging gun to the base station. And by comparing the gap between the initial designed position and the detected position distance, it is calculated whether the charging gun has been reset. In the present invention, after multi-dimensional and multi-directional calculation and positioning by multiple base stations, the positioning accuracy is improved. Through the above design, the accuracy can reach within 30 cm, fully meeting the needs of charging gun reset detection.

[0007] The UWB communication modules between the micro-positioning base stations need to send and receive UWB signals to achieve mutual positioning, but only receive the UWB signals of the beacon module, and the positioning controller initializes its timing information and sends the time of receiving the UWB signal to the positioning controller. The positioning controller can communicate with the UWB communication module, the positioning timing module, and the 4G communication module through interfaces such as serial port, RS232, and SPI, solve the 1PPS second pulse and UTC time information output by the positioning timing module, and can complete the timing initialization of the UWB communication module, record the time information transmitted by the UWB communication module, and transmit it to the server through the 4G module. Among them, the positioning timing module can be one or more positioning timing modules of satellite navigation systems such as Beidou, Galileo, GPS, and GLONASS, and can output 1PPS second pulse and UTC time information. The first 4G communication module can communicate with the positioning controller through interfaces such as serial port, RS232, and SPI, and complete the information intertransmission between the background server and the positioning controller. A power supply is also connected to the positioning controller to ensure the reliable and stable operation of the system.

[0008] The UWB communication module of the beacon unit only sends UWB signals outward according to the instructions of the microcontroller without receiving external UWB signals; the microcontroller can communicate with the UWB communication module and the Bluetooth communication module through interfaces such as serial ports, RS232, and SPI, receive instructions from the charging pile main control board through the Bluetooth module, and send positioning instructions to the UWB communication module. The second Bluetooth communication module communicates with the microcontroller through the interface and completes the information transmission between the charging pile beacon module and the charging pile main controller.

[0009] Optionally, the distance between any two of the above-mentioned micro positioning base stations is greater than or equal to 2m and less than or equal to 300m.

[0010] Optionally, the above-mentioned positioning and timing module is used to calculate the time used for sending the UWB signal sent by the above-mentioned beacon unit. The positioning and timing module realizes strict time synchronization, and the time synchronization accuracy can reach the ns level.

[0011] A method for detecting the reset of a charging gun based on UWB TDOA positioning, characterized in that: it includes the charging gun reset detection system based on UWB TDOA positioning as described in claim 1 above, wherein the charging gun reset detection step includes:

[0012] Steps for all micro positioning base stations to perform self-positioning;

[0013] Steps for initial positioning of the charging gun;

[0014] Steps for detecting the reset of the charging gun.

[0015] Optionally, the above-mentioned steps for all micro positioning base stations to perform self-positioning are:

[0016] S11: Number N micro positioning base stations, which are G1, G2, G3... GN respectively; and set the initial value of i to 1;

[0017] S12: Select the i-th micro positioning base station as the master base station, and all the remaining micro positioning base stations as the slave base stations;

[0018] S13: The master base station obtains the UWB signals sent by all slave base stations and the time used for sending, packs them into base station positioning data, and transmits them to the server through 4G communication;

[0019] S14: If i is equal to N, the server calculates the relative positions of N micro positioning base stations according to all the base station positioning data; otherwise, set i = i + 1 and return to step S12.

[0020] First, N micro positioning base stations achieve mutual positioning through TDOA, respond to and record the arrival time of UWB signals from each beacon module, and transmit this information to the background server via 4G. The background server calculates the relative positions of each beacon module through the TDOA method.

[0021] Optionally, the steps for initially positioning the charging gun are specifically as follows:

[0022] S21: Fix all charging guns on the gun holders of the charging piles, and the server initiates the initial positioning program for the beacon units to all charging piles;

[0023] S22: The main controller of the charging pile sends an initial positioning signal to the microcontroller of the corresponding electrically connected charging gun through the first Bluetooth communication module;

[0024] S23: The corresponding microcontroller sends UWB signals to all micro positioning base stations;

[0025] S24: All micro positioning base stations pack the received UWB signals and the transmission time, and transmit them to the server via 4G communication after packaging them into the initial positioning data of the beacon unit;

[0026] S25: The server calculates the initial positions of all charging guns based on all the initial positioning data of the beacon units to obtain the initial positions of the charging guns;

[0027] S26: The server sends the calculated initial positions of the charging guns to the main controller of the corresponding charging pile and saves them.

[0028] Optionally, the steps for reset detection of the charging gun are specifically as follows:

[0029] S31: The main controller of the charging pile obtains the charging status of the charging gun detected by the charging status detection module. If it is in the charging status, return to step S31; if it is in the charging end status, enter step S32;

[0030] S32: The main controller of the charging pile sends a positioning instruction to the beacon unit of the corresponding electrically connected charging gun via Bluetooth communication;

[0031] S33: The microcontroller of the above-mentioned beacon unit emits UWB signals;

[0032] S34: All micro positioning base stations pack the received UWB signals and the transmission time, and transmit them to the server via 4G communication after packaging them into the real-time positioning data of the beacon unit;

[0033] S35: The server calculates the real-time positions of all charging guns based on all the real-time positioning data of the beacon units to obtain the real-time positions of the charging guns;

[0034] S36: The server feeds back the real-time position of the charging gun calculated to the main controller of the corresponding charging pile.

[0035] S37: The main controller of the charging pile compares the initial position of the charging gun with the real-time position of the charging gun. If the position is within the preset position threshold, it is determined that the corresponding charging gun has been reset and fixed to the charging pile; otherwise, it is determined that the charging gun has not been reset, and the audible and visual alarm module is controlled to give an audible and visual alarm. At the same time, the countdown for the next round of positioning instruction signals starts. After the countdown reaches the end, it returns to step S32.

[0036] Through periodic positioning detection until reset. At the same time, the server can combine the background user data to notify the previous charging user and design a reward and punishment mechanism to increase the probability of the user resetting the charging gun.

[0037] Optionally, the above server calculation method is either the least squares estimation method, or the Fang algorithm, or the Chan algorithm, or the Taloy series expansion method.

[0038] Optionally, the above UWB signal includes at least the signal emission time. When the micro-positioning base station receives the UWB signal, the time used for transmitting the UWB signal is calculated based on the signal emission time and the time when the UWB signal is received.

[0039] The working principle and beneficial effects of this solution are as follows:

[0040] Strong applicability. Only a small number of micro-positioning base stations need to be arranged above the pile, and a beacon module is installed on the charging gun to realize the real-time detection of the position of the charging gun, without involving the change of the pile structure or adding additional circuits inside the pile. This system can be used for both indoor and outdoor piles, DC piles and AC piles. It can not only be installed in new stations but also be convenient for the transformation of old stations. Moreover, the system has a high capacity, and the UWB coding capacity allows the system to detect and calculate the positions of at least 80 charging guns, basically meeting the usage requirements of the vast majority of charging stations.

[0041] Safety isolation. The position detection of the charging gun adopts a wireless positioning method, which is completely isolated from the high-voltage circuit inside the pile, without any potential safety hazards.

[0042] Easy to deploy. The TDOA method is used for positioning between micro-positioning base stations and between the micro-positioning base station and the beacon module. As long as the distance between micro-positioning base stations is greater than the ranging distance, there are no fixed requirements for the installation positions, and their positions are calculated by the background. The flexibility of the layout of micro-positioning base stations is relatively high.

[0043] Strong anti-electromagnetic interference ability. The ultra-wideband (UWB) used for charging gun positioning detection is a wireless communication method that transmits data using non-sinusoidal narrow pulses in the nanosecond to microsecond range. This technology does not require a carrier, has a bandwidth in the GHz range, and has the characteristics of strong penetration, high communication accuracy, and strong multipath resolution ability. It is particularly suitable for use in environments with strong electromagnetic interference such as charging stations. Description of the Drawings

[0044] Figure 1 It is the layout diagram of the charging gun reset detection system in the first embodiment of the present invention;

[0045] Figure 2 It is the framework block diagram of the charging gun reset detection system in the first embodiment of the present invention;

[0046] Figure 3 It is the self-positioning flowchart of the micro positioning base station in the first embodiment of the present invention;

[0047] Figure 4 It is the initial positioning flowchart of the charging gun in the first embodiment of the present invention;

[0048] Figure 5 It is the reset detection flowchart of the charging gun in the first embodiment of the present invention. Detailed Description of the Invention

[0049] The following is a more detailed description through specific embodiments:

[0050] The labels in the accompanying drawings of the specification include:

[0051] 1 Server;

[0052] 2 Micro positioning base station; 2a Positioning controller; 2b First UWB communication module; 2c Positioning timing module; 2d First 4G communication module;

[0053] 3 Charging pile; 3a Charging pile main controller; 3b First Bluetooth communication module; 3c Second 4G communication module; 3d Charging state detection module; 3e Sound and light alarm module;

[0054] 4 Charging gun; 4a Microcontroller; 4b Second Bluetooth communication module; Second UWB communication module 4c.

[0055] Embodiment

[0056] This embodiment is basically as Figure 1 、 Figure 2 shown: A charging gun reset detection system and method based on UWB TDOA positioning, including

[0057] A charging gun reset detection system and method based on UWB TDOA positioning, combined withFigure 1 and Figure 2 including a server 1, N micro positioning base stations 2 and M charging piles 3, and each charging pile 3 is electrically connected to a charging gun 4;

[0058] In this embodiment, N = 4; M = 80;

[0059] See Figure 2 , in this embodiment, each of the above-mentioned micro positioning base stations 2 is provided with a positioning controller 2a, and a first UWB communication module 2b, a positioning timing module 2c and a first 4G communication module 2d are connected to the positioning controller 2a;

[0060] See Figure 2 , in this embodiment, each of the above-mentioned charging piles 3 is provided with a charging pile main controller 3a, and a first Bluetooth communication module 3b, a second 4G communication module 3c, a charging state detection module 3d and an acoustic-optic alarm module 3e are connected to the charging pile main controller 3a.

[0061] See Figure 2 , in this embodiment, the charging pile main controller 3a is in Bluetooth communication connection with the microcontroller 4a of the corresponding beacon unit.

[0062] See Figure 2 , in this embodiment, the microcontroller 4a of the above-mentioned beacon unit is in UWB communication connection with the positioning controller 2a of the micro positioning base station 2. In this embodiment, the beacon unit is provided with a power supply, and the power supply is preferably powered by a 18650 lithium battery.

[0063] The positioning controller 2a of the above-mentioned micro positioning base station 2 is in 4G communication connection with the above-mentioned server.

[0064] The above-mentioned server is in 4G communication connection with the charging pile main controller 3a.

[0065] In this embodiment, the distance between any two of the above-mentioned micro positioning base stations 2 is between 100m and 300m. The above-mentioned positioning timing module 2c is used to calculate the time used for sending the UWB signal sent by the above-mentioned beacon unit.

[0066] A method for detecting the reset of a charging gun based on UWB TDOA positioning, including the system for detecting the reset of a charging gun based on UWB TDOA positioning as described in claim 1 above, wherein, see Figures 3 - 5 , the charging gun reset detection step includes:

[0067] Steps for all micro positioning base stations 2 to perform self-positioning;

[0068] Steps for initial positioning of the charging gun 4;

[0069] Steps for reset detection of the charging gun 4.

[0070] Specifically, in combination with Figure 3 It can be seen that the above steps for self-positioning of all micro positioning base stations 2 are as follows:

[0071] S11: Number the 4 micro positioning base stations 2 as G1, G2, G3... G4 respectively; and set the initial value of i to 1;

[0072] S12: Select the i-th micro positioning base station 2 as the master base station, and all the remaining micro positioning base stations 2 as the slave base stations;

[0073] S13: The master base station acquires the UWB signals sent by all slave base stations and the time used for sending, and after packaging them into base station positioning data, transmits them to the server via 4G communication;

[0074] S14: If i is equal to 4, the server calculates the relative positions of the 4 micro positioning base stations 2 based on all the base station positioning data; otherwise, set i = i + 1 and return to step S12.

[0075] Specifically, in combination with Figure 4 It can be seen that the above steps for initial positioning of the charging gun 4 are specifically as follows:

[0076] S21: Fix the charging gun 4 on the gun holder of the charging pile 3, and the server 1 initiates the beacon unit initial positioning program to all charging piles 3;

[0077] S22: The main controller 3a of the charging pile sends an initial positioning signal to the microcontroller 4a of the corresponding electrically connected charging gun 4 via the first Bluetooth communication module 3b;

[0078] S23: The corresponding microcontroller 4a sends UWB signals to all micro positioning base stations 2;

[0079] S24: All micro positioning base stations 2 package the received UWB signals and the time used for sending into beacon unit initial positioning data and transmit them to the server via 4G communication;

[0080] S25: The server calculates the initial positions of all charging guns 4 based on all the beacon unit initial positioning data to obtain the initial positions of the charging guns;

[0081] S26: The server sends the calculated initial positions of the charging guns to the main controller 3a of the corresponding charging pile 3 and saves them.

[0082] Specifically, in combination with Figure 5 It can be seen that the above steps for reset detection of the charging gun 4 are specifically as follows:

[0083] S31: The main controller 3a of the charging pile obtains the charging status of the charging gun detected by the charging status detection module 3d. If it is in the charging status, return to step S31; if it is in the charging end status, enter step S32;

[0084] S32: The main controller 3a of the charging pile periodically sends a positioning instruction to the beacon unit of the corresponding electrically connected charging gun 4 via Bluetooth communication;

[0085] S33: The microcontroller 4a of the above beacon unit emits a UWB signal;

[0086] S34: All micro positioning base stations 2 package the received UWB signals and the transmission time used into real-time positioning data of the beacon unit and transmit it to the server via 4G communication;

[0087] S35: The server performs real-time position calculation on all charging guns 4 based on all the real-time positioning data of the beacon units to obtain the real-time position of the charging gun;

[0088] S36: The server feeds back the calculated real-time position of the charging gun to the main controller 3a of the corresponding charging pile 3;

[0089] S37: The main controller 3a of the charging pile compares the initial position of the charging gun with the real-time position of the charging gun. If the position is within the preset position threshold, it is determined that the corresponding charging gun 4 has been reset and fixed on the charging pile 3; otherwise, it is determined that the charging gun 4 has not been reset, and the sound and light alarm module 3e is controlled to give a sound and light alarm. At the same time, start the countdown of the next round of positioning instruction signal. After the countdown reaches, return to step S32.

[0090] In this embodiment, the preset position threshold is within 20 cm around the initial position of the charging gun.

[0091] The above server calculation method is either the least squares estimation method, or the Fang algorithm, or the Chan algorithm, or the Taloy series expansion method.

[0092] The above UWB signal at least includes the signal emission time. When the micro positioning base station 2 receives the UWB signal, the transmission time used for transmitting the UWB signal is calculated based on the signal emission time and the time when the UWB signal is received.

[0093] Other embodiments:

[0094] The difference between other embodiments and the first embodiment lies in the different numbers of micro positioning base stations 2 and the numbers of charging piles 3 arranged;

[0095] The above are only embodiments of the present invention, and common general knowledge such as specific structures and characteristics known in the art are not described in detail herein. It should be noted that for those skilled in the art, without departing from the structure of the present invention, several modifications and improvements can be made, and these should also be regarded as the protection scope of the present invention, and these will not affect the implementation effect of the present invention and the practicability of the present invention. The specific implementation manners and the like described in the specification can be used to explain the content of the claims.

Claims

1. A charging gun reset detection system based on UWB TDOA positioning, characterized in that: It includes a server (1), N micro positioning base stations (2) and M charging piles (3), and at least one charging gun (4) is electrically connected to each charging pile (3); Each of the micro positioning base stations (2) is provided with a positioning controller (2a), and a first UWB communication module (2b), a positioning timing module (2c) and a first 4G communication module (2d) are connected to the positioning controller (2a); Each of the charging piles (3) is provided with a main charging pile controller (3a), and a first Bluetooth communication module (3b), a second 4G communication module (3c), a charging state detection module (3d), and an acoustic-optic alarm module (3e) are connected to the main charging pile controller (3a); Each of the charging guns (4) is provided with a beacon unit, and the beacon unit includes a microcontroller (4a), and a second Bluetooth communication module (4b) and a second UWB communication module (4c) are connected to the microcontroller (4a); The main charging pile controller (3a) is in Bluetooth communication connection with the microcontroller (4a) of the corresponding beacon unit; The microcontroller (4a) of the beacon unit is in UWB communication connection with the positioning controller (2a) of the micro positioning base station (2); The positioning controller (2a) of the micro positioning base station (2) is in 4G communication connection with the server; The server is in 4G communication connection with the main charging pile controller (3a); The server is further configured to number the N micro positioning base stations (2) as G1, G2, G3... GN respectively; and set the initial value of i to 1; select the i-th micro positioning base station (2) as the main base station, and the remaining all micro positioning base stations (2) as auxiliary base stations; The main base station is configured to obtain the UWB signals and the transmission time sent by all the auxiliary base stations, and after packaging them into base station positioning data, transmit them to the server via 4G communication; The server is configured to, when i is equal to N, calculate the relative positions of the N micro positioning base stations (2) according to all the base station positioning data; and when i is not equal to N, set i = i + 1, and continue to select the i-th micro positioning base station (2) as the main base station, and the remaining all micro positioning base stations (2) as auxiliary base stations.

2. The charging gun reset detection system based on UWB TDOA positioning according to claim 1, wherein: The distance between any two of the micro positioning base stations (2) is greater than or equal to 2m and less than or equal to 300m.

3. The charging gun reset detection system based on UWB TDOA positioning according to claim 1, characterized in that: The positioning timing module (2c) is configured to calculate the transmission time of the UWB signal sent by the beacon unit.

4. A method for detecting the reset of a charging gun based on UWB TDOA positioning, characterized in that: It includes the charging gun reset detection system based on UWB TDOA positioning as described in claim 1, wherein, the charging gun reset detection step includes: A step for all the micro positioning base stations (2) to perform self-positioning; A step for initial positioning of the charging gun (4); A step for reset detection of the charging gun (4); Among them, the step for all the micro positioning base stations (2) to perform self-positioning is: S11: Number the N micro positioning base stations (2) as G1, G2, G3... GN respectively; and set the initial value of i to 1; S12: Select the i-th micro positioning base station (2) as the main base station, and the remaining all micro positioning base stations (2) as auxiliary base stations; S13: The main base station acquires the UWB signals sent by all auxiliary base stations and the time taken for transmission, packs them into base station positioning data, and transmits the data to the server via 4G communication; S14: If i is equal to N, the server calculates the relative positions of the N micro positioning base stations (2) based on all the base station positioning data; otherwise, let i = i + 1, and return to step S12; The steps for initial positioning of the charging gun (4) are specifically as follows: S21: Fix the charging guns (4) on the gun seats of the charging piles (3), and the server (1) initiates a beacon unit initial positioning program to all the charging piles (3); S22: The main controller (3a) of the charging pile sends an initial positioning signal to the microcontroller (4a) of the corresponding charging gun (4) electrically connected via the first Bluetooth communication module (3b); S23: The corresponding microcontroller (4a) sends UWB signals to all the micro positioning base stations (2); S24: All the micro positioning base stations (2) pack the received UWB signals and the time taken for transmission into beacon unit initial positioning data and transmit the data to the server via 4G communication; S25: The server calculates the initial positions of all the charging guns (4) based on all the beacon unit initial positioning data to obtain the initial positions of the charging guns; S26: The server sends the calculated initial positions of the charging guns to the main controller (3a) of the corresponding charging piles (3) and saves them.

5. The method for detecting the reset of a charging gun based on UWB TDOA positioning according to claim 4, characterized in that: The steps for reset detection of the charging gun (4) are specifically as follows: S31: The main controller (3a) of the charging pile acquires the charging status of the charging gun detected by the charging status detection module (3d). If it is in the charging status, return to step S31; if it is in the charging end status, proceed to step S32; S32: The main controller (3a) of the charging pile sends a positioning instruction to the beacon unit of the corresponding charging gun (4) via Bluetooth communication; S33: The microcontroller (4a) of the beacon unit emits UWB signals; S34: All the micro positioning base stations (2) pack the received UWB signals and the time taken for transmission into beacon unit real-time positioning data and transmit the data to the server via 4G communication; S35: The server calculates the real-time positions of all the charging guns (4) based on all the beacon unit real-time positioning data to obtain the real-time positions of the charging guns; S36: The server feeds back the calculated real-time positions of the charging guns to the main controller (3a) of the corresponding charging piles (3); S37: The main controller (3a) of the charging pile compares the initial position of the charging gun with the real-time position of the charging gun. If the position is within the preset position threshold, it is determined that the corresponding charging gun (4) has been reset and is fixed on the charging pile (3); otherwise, it is determined that the charging gun (4) has not been reset, and the sound and light alarm module (3e) is controlled to give a sound and light alarm. At the same time, a countdown for the next round of positioning instruction signals starts, and after the timing reaches, return to step S32.

6. The method for reset detection of a charging gun based on UWB TDOA positioning according to claim 4 or 5, characterized in that: The server solution method is either the least squares estimation method, or the Fang algorithm, or the Chan algorithm, or the Taloy series expansion method.

7. The charging gun reset detection method based on UWB TDOA positioning according to claim 4 or 5, characterized in that: The UWB signal at least includes the signal emission time. After the micro positioning base station (2) receives the UWB signal, the time taken for transmitting the UWB signal is calculated based on the signal emission time and the time when the UWB signal is received.

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