Indoor positioning method, system, computer equipment, and storage medium

Abstract

The present invention relates to an indoor positioning method, system, computer equipment, and storage medium. The key points of the technical solution are: the method comprises: establishing a UWB coordinate system according to the positions of all positioning base stations in advance; receiving positioning information sent by a number of positioning base stations; calculating the distance between a smart shopping cart and each positioning base station according to each positioning information, and obtaining a number of positioning distances; calculating the position coordinates of the smart shopping cart according to the number of positioning distances; the application has the advantage of being able to realize the precise positioning of the smart shopping cart in a supermarket.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and more specifically, to an indoor positioning method, system, computer equipment, and storage medium. Background Art

[0002] In order to improve customers' shopping comfort, many supermarkets are equipped with smart shopping carts to guide customers to quickly find the products they need. However, since indoor positioning requires high positioning accuracy and strong anti-interference ability, the positioning system equipped on the smart shopping cart needs to be optimized by technical personnel in this field.

[0003] At present, wireless-based indoor positioning systems include: Bluetooth (Beacon), Wi-Fi, RFID, ZigBee, UWB, Bluetooth (AOA), among which Wi-Fi, Bluetooth (Beacon), RFID, and ZigBee have poor anti-interference capabilities and positioning accuracy is generally greater than 3 meters. The accuracy of UWB and Bluetooth (AOA) can reach the sub-meter level (within 1 meter), but the coverage of Bluetooth (AOA) has requirements for installation height, which is not conducive to deployment in supermarkets; the indoor positioning system based on computer vision technology has the disadvantages of low positioning accuracy, poor anti-interference ability, high hardware deployment cost, extremely high requirements for collection work, system computing and network bandwidth; the indoor positioning system based on LED visible light technology can rely on the LED lights that have been deployed indoors and is not affected by radio wave interference. However, its disadvantage is that it requires the LED lights to have a flashing coding function, and the positioning accuracy will drop sharply due to the non-line-of-sight communication problem, and the anti-interference ability is poor and the positioning accuracy is not high. The disadvantage of indoor positioning technology based on geomagnetic matching is that not all geomagnetic fingerprint features of indoor locations have strong specificity, so there will be problems with similar features, which requires extremely high feature extraction capabilities and robustness of the algorithm.

[0004] UWB (Ultra-Wide-Band) is a wireless communication method that uses nanosecond non-sinusoidal narrow pulses to transmit data. This technology uses high-bandwidth, fast pulses and has excellent penetration.

[0005] In summary, UWB has strong anti-interference capabilities and is cost-effective, making it the most ideal solution for indoor positioning in supermarket application scenarios. Summary of the invention

[0006] In view of the deficiencies in the prior art, the object of the present invention is to provide an indoor positioning method, system, computer device, and storage medium, which have the advantage of being able to achieve accurate positioning of a smart shopping cart in a supermarket.

[0007] The above technical objectives of the present invention are achieved through the following technical solutions: an indoor positioning method, comprising:

[0008] Establish the UWB coordinate system in advance based on the positions of all positioning base stations;

[0009] Receiving positioning information sent by several positioning base stations;

[0010] According to each positioning information, the distance between the smart shopping cart and each positioning base station is calculated respectively to obtain a number of positioning distances;

[0011] The location coordinates of the smart shopping cart are calculated based on several positioning distances.

[0012] Optionally, the step of establishing a UWB coordinate system in advance according to the positions of all positioning base stations includes:

[0013] Preset any position as the origin coordinate;

[0014] The positioning coordinates of each positioning base station are set according to the distances of all positioning base stations from the origin coordinates;

[0015] The UWB coordinate system is established based on the origin coordinates and all positioning coordinates.

[0016] Optionally, the calculating the distance between the smart shopping cart and each positioning base station respectively according to each positioning information includes:

[0017] Send positioning request information to each positioning base station and record the current timestamp T1;

[0018] Receive the positioning return information sent by each positioning base station and record the corresponding time to obtain several return times T2;

[0019] The distance between the smart shopping cart and each positioning base station is calculated according to T1, T2, and the speed of light C.

[0020] Optionally, the calculating the location coordinates of the smart shopping cart according to a number of positioning distances includes:

[0021] Identify the number of corresponding positioning base stations according to a number of positioning distances;

[0022] The judgment is made based on the number of corresponding positioning base stations; if the number of positioning base stations is less than 3, an alarm that positioning is impossible is issued; if the number of positioning base stations is greater than or equal to 3, the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart are selected for calculation to obtain the location coordinates of the smart shopping cart.

[0023] Optionally, the selecting and calculating the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart to obtain the position coordinates of the smart shopping cart includes:

[0024] In the UWB coordinate system, three positioning circles are drawn with the coordinate points of the three positioning base stations as the center and the positioning distances corresponding to the three positioning base stations as the radius, thereby obtaining three positioning circles;

[0025] The common intersection of the three positioning circles is the positioning point of the smart shopping cart;

[0026] The location coordinates of the smart shopping cart are obtained by identifying the positioning point of the smart shopping cart according to the UWB coordinate system.

[0027] Optionally, after calculating the location coordinates of the smart shopping cart according to the plurality of positioning distances, the method further includes:

[0028] Obtain the real-time plane acceleration information of the smart shopping cart;

[0029] Calculating the real-time plane speed of the smart shopping cart according to the real-time plane acceleration information of the smart shopping cart;

[0030] Calculate the real-time coordinate system speed of the smart shopping cart in the UWB coordinate system according to the position coordinates of the smart shopping cart in the UWB coordinate system;

[0031] According to the real-time plane speed and real-time coordinate system speed of the smart shopping cart, an inertial navigation distance is obtained;

[0032] The position coordinates of the smart shopping cart are corrected according to the inertial navigation distance to obtain the inertial navigation coordinates.

[0033] Optionally, the identifying according to the real-time plane speed and the real-time coordinate system speed of the smart shopping cart to obtain the inertial navigation distance includes:

[0034] The difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is compared with twice the real-time plane speed of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is greater than twice the real-time plane speed of the smart shopping cart, the real-time plane speed of the smart shopping cart is used to calculate the inertial navigation distance of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is less than twice the real-time plane speed of the smart shopping cart; the inertial navigation distance of the smart shopping cart is calculated based on the average speed of the real-time plane speed and the real-time coordinate system speed of the smart shopping cart.

[0035] An indoor positioning system, comprising: a coordinate establishment module, used to establish a UWB coordinate system in advance according to the positions of all positioning base stations;

[0036] A positioning receiving module, used to receive positioning information sent by several positioning base stations;

[0037] The distance calculation module is used to calculate the distance between the smart shopping cart and each positioning base station according to each positioning information to obtain a number of positioning distances;

[0038] The coordinate calculation module is used to calculate the location coordinates of the smart shopping cart based on a number of positioning distances.

[0039] A computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method when executing the computer program.

[0040] A computer-readable storage medium stores a computer program, which implements the steps of the above method when executed by a processor.

[0041] In summary, the present invention has the following beneficial effects: positioning base stations are set up at the geometric edge of the supermarket area, the supermarket area is covered by the positioning base stations, and a UWB plane coordinate system is established according to all the positioning base stations, so that the entire supermarket area is in the first quadrant, and corresponding positioning coordinates are set for each positioning base station; after the smart shopping cart enters the supermarket area, the UWB positioning module in the smart shopping cart sends and receives messages with all the positioning base stations, and each positioning base station carries the number of the corresponding positioning base station when sending positioning information, so the distance between the smart shopping cart and each positioning base station can be calculated according to each positioning information, and a number of positioning distances can be obtained, and the coordinates of the UWB positioning module can be determined in the UWB plane coordinate system in combination with the positioning points of the corresponding positioning base stations, that is, the position coordinates. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the process of the present invention;

[0043] Figure 2 It is a structural block diagram of the present invention when assembled;

[0044] Figure 3 1 is a diagram showing the internal structure of a computer device in an embodiment of the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings. Several embodiments of the present invention are shown in the accompanying drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features.

[0047] In the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Moreover, the first feature being "above", "above" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature includes the first feature being directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature. The terms "vertical", "horizontal", "left", "right", "above", "below" and similar expressions are for illustrative purposes only, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0048] The present invention is described in detail below in conjunction with the accompanying drawings and embodiments.

[0049] The present invention provides an indoor positioning method, such as Figure 1 As shown, including:

[0050] Step 100: Establish a UWB coordinate system in advance according to the positions of all positioning base stations;

[0051] Step 200: receiving positioning information sent by a plurality of positioning base stations;

[0052] Step 300: Calculate the distance between the smart shopping cart and each positioning base station according to each positioning information to obtain a number of positioning distances;

[0053] Step 400: Calculate the location coordinates of the smart shopping cart according to a number of positioning distances.

[0054] In actual applications, positioning base stations are set up at the geometric edges of the supermarket area, and the supermarket area is covered by the positioning base stations. A UWB plane coordinate system is established based on all the positioning base stations, so that the entire supermarket area is in the first quadrant, and corresponding positioning coordinates are set for each positioning base station; after the smart shopping cart enters the supermarket area, the UWB positioning module in the smart shopping cart sends and receives messages with all the positioning base stations. When sending positioning information, each positioning base station will carry the number of the corresponding positioning base station. Therefore, the distance between the smart shopping cart and each positioning base station can be calculated based on each positioning information, and several positioning distances can be obtained. The coordinates of the UWB positioning module, that is, the position coordinates, can be determined in the UWB plane coordinate system in combination with the positioning points of the corresponding positioning base stations.

[0055] Further, the UWB coordinate system is established in advance according to the positions of all positioning base stations, including:

[0056] Preset any position as the origin coordinate;

[0057] The positioning coordinates of each positioning base station are set according to the distances of all positioning base stations from the origin coordinates;

[0058] The UWB coordinate system is established based on the origin coordinates and all positioning coordinates.

[0059] In practical applications, taking the supermarket area as a rectangle and setting 6 positioning base stations as an example, the 6 positioning base stations are respectively set at the four vertices and the midpoints of the two long sides of the supermarket area. A vertex of the supermarket area is selected as the origin coordinate, and the two side lines corresponding to the vertex are the x-axis and y-axis respectively. The distance of each positioning base station from the vertex is used as the positioning coordinate of each positioning base station, and the UWB coordinate system can be established.

[0060] Optionally, the calculating the distance between the smart shopping cart and each positioning base station respectively according to each positioning information includes:

[0061] Send positioning request information to each positioning base station and record the current time T1;

[0062] Receive the positioning return information sent by each positioning base station and record the corresponding time to obtain several return times T2;

[0063] The distance between the smart shopping cart and each positioning base station is calculated according to T1, T2, and the speed of light C.

[0064] In practical applications, the TOF distance algorithm is used to calculate the distance between the smart shopping cart and each positioning base station. TOF (time-of-flight) is the principle of time flight. The principle of time flight refers to various methods of measuring flight time, more precisely, it refers to the time taken for an object or particle or other wave types such as sound waves or radio waves to travel a distance in a certain medium. The TOF ranging method was proposed by D.McCrady, but this technology only focuses on the direct sequence spread spectrum (DSSS) communication system. TOF ranging technology can be understood as the time difference of flight ranging (Time of Flight Measurement) method. Traditional ranging technology is divided into two-way ranging technology (Two Way Ranging) and one-way ranging technology (One Way Ranging). The TOF ranging method belongs to two-way ranging technology, which mainly uses the flight time of the signal between two asynchronous transceivers (Transceiver) to measure the distance between nodes.

[0065] Optionally, calculating the location coordinates of the smart shopping cart according to a number of positioning distances includes:

[0066] Identify the number of corresponding positioning base stations according to a number of positioning distances;

[0067] The judgment is made based on the number of corresponding positioning base stations; if the number of positioning base stations is less than 3, an alarm that positioning is impossible is issued; if the number of positioning base stations is greater than or equal to 3, the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart are selected for calculation to obtain the location coordinates of the smart shopping cart.

[0068] In practical applications, in a coordinate system, at least three positioning base stations are required to draw a circle with their positioning distances to obtain a unique common intersection. Therefore, when there are less than three positioning base stations, positioning cannot be performed, so an alarm that positioning cannot be issued needs to be issued.

[0069] Furthermore, the selecting and calculating the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart to obtain the position coordinates of the smart shopping cart includes:

[0070] In the UWB coordinate system, three positioning circles are drawn with the coordinate points of the three positioning base stations as the center and the positioning distances corresponding to the three positioning base stations as the radius, thereby obtaining three positioning circles;

[0071] The common intersection of the three positioning circles is the positioning point of the smart shopping cart;

[0072] The location coordinates of the smart shopping cart are obtained by identifying the positioning point of the smart shopping cart according to the UWB coordinate system.

[0073] In actual applications, after the three positioning base stations draw a positioning circle with their positioning distances, the positioning point of the smart shopping cart is obtained. At this time, the three positioning base stations and the smart shopping cart form two triangles, and the side lengths of the two triangles are their positioning distances and the distances between their positioning coordinates and the origin coordinates; therefore, the side lengths of each triangle are known quantities, so the corresponding coordinate points of the smart shopping cart can be calculated according to the relevant formulas of the triangle, which are the position coordinates of the smart shopping cart.

[0074] Further, after calculating the location coordinates of the smart shopping cart according to the plurality of positioning distances, the method further includes:

[0075] Obtain the real-time plane acceleration information of the smart shopping cart;

[0076] Calculating the real-time plane speed of the smart shopping cart according to the real-time plane acceleration information of the smart shopping cart;

[0077] Calculate the real-time coordinate system speed of the smart shopping cart in the UWB coordinate system according to the position coordinates of the smart shopping cart in the UWB coordinate system;

[0078] According to the real-time plane speed and real-time coordinate system speed of the smart shopping cart, an inertial navigation distance is obtained;

[0079] The position coordinates of the smart shopping cart are corrected according to the inertial navigation distance to obtain the inertial navigation coordinates.

[0080] In practical applications, since the UWB positioning system requires more than three positioning base stations to send positioning information before positioning can be performed, when the UWB signal is not good, the position of the smart shopping cart needs to be corrected. Therefore, a six-axis sensor is set in the smart shopping cart to obtain the real-time plane acceleration information of the smart shopping cart, and the real-time plane velocity is calculated based on the real-time plane acceleration information. Then, the real-time coordinate system velocity of the smart shopping cart in the UWB coordinate system can be calculated based on the change of the position coordinates of the shopping cart in the UWB coordinate system; then, the real-time plane velocity and the real-time coordinate system velocity are identified, and the corresponding inertial navigation distance is calculated, and then the corresponding lateral coordinate offset and longitudinal coordinate offset are calculated based on the inertial navigation distance, and the position coordinates of the smart shopping cart are corrected to obtain the inertial navigation coordinates.

[0081] In actual applications, after the inertial navigation coordinates are obtained, the location of the smart shopping cart in the supermarket area will also be displayed on the display screen of the smart shopping cart.

[0082] Further, the identifying according to the real-time plane speed and the real-time coordinate system speed of the smart shopping cart to obtain the inertial navigation distance includes:

[0083] The difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is compared with twice the real-time plane speed of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is greater than twice the real-time plane speed of the smart shopping cart, the real-time plane speed of the smart shopping cart is used to calculate the inertial navigation distance of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is less than twice the real-time plane speed of the smart shopping cart; the inertial navigation distance of the smart shopping cart is calculated based on the average speed of the real-time plane speed and the real-time coordinate system speed of the smart shopping cart.

[0084] In practical applications, the lateral acceleration and longitudinal acceleration of the smart shopping cart can be obtained through the six-axis sensor, which are recorded as ax and ay. Then, the lateral speed vx and longitudinal speed vy of the smart shopping cart can be calculated through ax and ay. The real-time plane speed V of the smart shopping cart can be obtained by taking the square root of the sum of the lateral speed and the longitudinal speed. According to the updated UWB two sampling times t1 and t2, the corresponding positions (x1, y1) and (x2, y2), Vuwb= Therefore, it is determined whether |Vuwb-V| is greater than 2V; if |Vuwb-V|>2V, only the real-time plane speed is used for calculation, and the inertial navigation distance is V*(t2-t1); if |Vuwb-V|≤2V, (V+Vuwb) / 2 is used as the moving speed of the smart shopping cart, and the inertial navigation distance is ((V+Vuwb) / 2)*(t2-t1); finally, the x-axis and y-axis of the inertial navigation distance are decomposed to obtain the corresponding x-axis increment and y-axis increment, so as to update the position coordinates of the smart shopping cart and obtain the inertial navigation coordinates.

[0085] like Figure 2 As shown, the present invention also provides an indoor positioning system, including: a coordinate establishment module 10, used to establish a UWB coordinate system according to the positions of all positioning base stations in advance;

[0086] The positioning receiving module 20 is used to receive positioning information sent by several positioning base stations;

[0087] The distance calculation module 30 is used to calculate the distance between the smart shopping cart and each positioning base station according to each positioning information to obtain a number of positioning distances;

[0088] The coordinate calculation module 40 is used to calculate the location coordinates of the smart shopping cart according to a number of positioning distances.

[0089] Furthermore, the coordinate establishing module 10 comprises:

[0090] An origin setting unit, used to pre-set any position as the origin coordinate;

[0091] A base station setting unit, used to set the positioning coordinates of each positioning base station according to the distances of all positioning base stations from the origin coordinates;

[0092] The coordinate system establishing unit is used to establish the UWB coordinate system according to the origin coordinates and all positioning coordinates.

[0093] Furthermore, the distance calculation module 30 includes:

[0094] A sending time recording unit is used to send positioning request information to each positioning base station and record the current time T1;

[0095] A receiving time recording unit is used to receive the positioning return information sent by each positioning base station and record the corresponding time to obtain a number of return times T2;

[0096] The distance calculation unit is used to calculate the distance between the smart shopping cart and each positioning base station according to T1, T2, and the speed of light C.

[0097] Furthermore, the coordinate calculation module 40 includes:

[0098] A quantity determination unit, used to identify the number of corresponding positioning base stations according to a number of positioning distances;

[0099] The coordinate calculation unit is used to make a judgment based on the number of corresponding positioning base stations; if the number of positioning base stations is less than 3, an alarm that positioning is impossible is issued; if the number of positioning base stations is greater than or equal to 3, the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart are selected for calculation to obtain the location coordinates of the smart shopping cart.

[0100] Furthermore, the coordinate calculation unit includes:

[0101] A positioning circle drawing unit is used to draw circles in the UWB coordinate system with the coordinate points of the three positioning base stations as the center and the positioning distances corresponding to the three positioning base stations as the radius, so as to obtain three positioning circles;

[0102] A positioning point drawing unit is used to determine the common intersection of three positioning circles as the positioning point of the smart shopping cart;

[0103] The positioning calculation unit is used to identify the positioning point of the smart shopping cart according to the UWB coordinate system to obtain the position coordinates of the smart shopping cart.

[0104] Furthermore, the system further comprises:

[0105] An acceleration acquisition module is used to obtain real-time plane acceleration information of the smart shopping cart;

[0106] An inertial velocity calculation module, used to calculate the real-time plane velocity of the smart shopping cart according to the real-time plane acceleration information of the smart shopping cart;

[0107] A coordinate speed calculation module, used to calculate the real-time coordinate system speed of the smart shopping cart in the UWB coordinate system according to the position coordinates of the smart shopping cart in the UWB coordinate system;

[0108] An inertial distance calculation module is used to identify the real-time plane speed and real-time coordinate system speed of the smart shopping cart to obtain the inertial navigation distance;

[0109] The coordinate correction module is used to correct the position coordinates of the smart shopping cart according to the inertial navigation distance to obtain the inertial navigation coordinates.

[0110] For the specific definition of an indoor positioning system, please refer to the definition of an indoor positioning method above, which will not be repeated here. The various modules of the above-mentioned indoor positioning system can be implemented in whole or in part by software, hardware and a combination thereof. The above-mentioned modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0111] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 3 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. When the computer program is executed by the processor, an indoor positioning method is implemented.

[0112] Those skilled in the art will understand that Figure 3 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0113] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: establishing a UWB coordinate system in advance according to the positions of all positioning base stations;

[0114] Receiving positioning information sent by several positioning base stations;

[0115] According to each positioning information, the distance between the smart shopping cart and each positioning base station is calculated respectively to obtain a number of positioning distances;

[0116] The location coordinates of the smart shopping cart are calculated based on several positioning distances.

[0117] In one embodiment, the step of pre-establishing a UWB coordinate system based on the positions of all positioning base stations includes:

[0118] Preset any position as the origin coordinate;

[0119] The positioning coordinates of each positioning base station are set according to the distances of all positioning base stations from the origin coordinates;

[0120] The UWB coordinate system is established based on the origin coordinates and all positioning coordinates.

[0121] In one embodiment, the step of calculating the distance between the smart shopping cart and each positioning base station according to each positioning information includes:

[0122] Send positioning request information to each positioning base station and record the current time T1;

[0123] Receive the positioning return information sent by each positioning base station and record the corresponding time to obtain several return times T2;

[0124] The distance between the smart shopping cart and each positioning base station is calculated according to T1, T2, and the speed of light C.

[0125] In one embodiment, the calculating the location coordinates of the smart shopping cart according to the plurality of positioning distances includes:

[0126] Identify the number of corresponding positioning base stations according to a number of positioning distances;

[0127] The judgment is made based on the number of corresponding positioning base stations; if the number of positioning base stations is less than 3, an alarm that positioning is impossible is issued; if the number of positioning base stations is greater than or equal to 3, the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart are selected for calculation to obtain the location coordinates of the smart shopping cart.

[0128] In one embodiment, the selecting and calculating the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart to obtain the position coordinates of the smart shopping cart includes:

[0129] In the UWB coordinate system, three positioning circles are drawn with the coordinate points of the three positioning base stations as the center and the positioning distances corresponding to the three positioning base stations as the radius, thereby obtaining three positioning circles;

[0130] The common intersection of the three positioning circles is the positioning point of the smart shopping cart;

[0131] The location coordinates of the smart shopping cart are obtained by identifying the positioning point of the smart shopping cart according to the UWB coordinate system.

[0132] In one embodiment, after calculating the location coordinates of the smart shopping cart according to the plurality of positioning distances, the method further includes:

[0133] Obtain the real-time plane acceleration information of the smart shopping cart;

[0134] Calculating the real-time plane speed of the smart shopping cart according to the real-time plane acceleration information of the smart shopping cart;

[0135] Calculate the real-time coordinate system speed of the smart shopping cart in the UWB coordinate system according to the position coordinates of the smart shopping cart in the UWB coordinate system;

[0136] According to the real-time plane speed and real-time coordinate system speed of the smart shopping cart, an inertial navigation distance is obtained;

[0137] The position coordinates of the smart shopping cart are corrected according to the inertial navigation distance to obtain the inertial navigation coordinates.

[0138] In one embodiment, the identifying according to the real-time plane speed and the real-time coordinate system speed of the smart shopping cart to obtain the inertial navigation distance includes:

[0139] The difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is compared with twice the real-time plane speed of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is greater than twice the real-time plane speed of the smart shopping cart, the real-time plane speed of the smart shopping cart is used to calculate the inertial navigation distance of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is less than twice the real-time plane speed of the smart shopping cart; the inertial navigation distance of the smart shopping cart is calculated based on the average speed of the real-time plane speed and the real-time coordinate system speed of the smart shopping cart.

[0140] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0141] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0142] The above is only a preferred embodiment of the present invention, and the protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.

Claims

1. An indoor positioning method, characterized in that: include: Establish the UWB coordinate system in advance based on the positions of all positioning base stations; The method of establishing a UWB coordinate system in advance according to the positions of all positioning base stations includes: Preset any position as the origin coordinate; The positioning coordinates of each positioning base station are set according to the distances of all positioning base stations from the origin coordinates; Establish a UWB coordinate system based on the origin coordinates and all positioning coordinates; Receiving positioning information sent by several positioning base stations; Calculating the distance between the smart shopping cart and each positioning base station according to each positioning information to obtain a number of positioning distances; calculating the distance between the smart shopping cart and each positioning base station according to each positioning information includes: Send positioning request information to each positioning base station and record the current timestamp T1; Receive the positioning return information sent by each positioning base station and record the corresponding time to obtain several return times T2; Calculate the distance between the smart shopping cart and each positioning base station according to T1, T2, and the speed of light C; Calculating the location coordinates of the smart shopping cart according to a number of positioning distances; the calculating the location coordinates of the smart shopping cart according to a number of positioning distances includes: Identify the number of corresponding positioning base stations according to a number of positioning distances; The judgment is made according to the number of corresponding positioning base stations; if the number of positioning base stations is less than 3, an alarm that positioning is impossible is issued; if the number of positioning base stations is greater than or equal to 3, the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart are selected for calculation to obtain the location coordinates of the smart shopping cart; the selection of the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart for calculation to obtain the location coordinates of the smart shopping cart includes: In the UWB coordinate system, three positioning circles are drawn with the coordinate points of the three positioning base stations as the center and the positioning distances corresponding to the three positioning base stations as the radius, thereby obtaining three positioning circles; The common intersection of the three positioning circles is the positioning point of the smart shopping cart; Identify the positioning point of the smart shopping cart according to the UWB coordinate system to obtain the location coordinates of the smart shopping cart; Obtain the real-time plane acceleration information of the smart shopping cart; Calculating the real-time plane speed of the smart shopping cart according to the real-time plane acceleration information of the smart shopping cart; Calculate the real-time coordinate system speed of the smart shopping cart in the UWB coordinate system according to the position coordinates of the smart shopping cart in the UWB coordinate system; According to the real-time plane speed and real-time coordinate system speed of the smart shopping cart, an inertial navigation distance is obtained; The position coordinates of the smart shopping cart are corrected according to the inertial navigation distance to obtain the inertial navigation coordinates.

2. The method according to claim 1, characterized in that The method of identifying the real-time plane speed and the real-time coordinate system speed of the smart shopping cart to obtain the inertial navigation distance includes: The difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is compared with twice the real-time plane speed of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is greater than twice the real-time plane speed of the smart shopping cart, the real-time plane speed of the smart shopping cart is used to calculate the inertial navigation distance of the smart shopping cart; if the difference between the real-time plane speed and the real-time coordinate system speed of the smart shopping cart is less than twice the real-time plane speed of the smart shopping cart; the inertial navigation distance of the smart shopping cart is calculated based on the average speed of the real-time plane speed and the real-time coordinate system speed of the smart shopping cart.

3. An indoor positioning system, characterized in that: include: A coordinate establishment module is used to establish a UWB coordinate system in advance according to the positions of all positioning base stations; The coordinate establishment module includes: an origin setting unit, used to pre-set any position as the origin coordinate; a base station setting unit, used to set the positioning coordinates of each positioning base station according to the distance of all positioning base stations from the origin coordinate; a coordinate system establishment unit, used to establish a UWB coordinate system according to the origin coordinate and all positioning coordinates; A positioning receiving module, used to receive positioning information sent by several positioning base stations; The distance calculation module is used to calculate the distance between the smart shopping cart and each positioning base station according to each positioning information, and obtain a number of positioning distances; the distance calculation module includes: a sending time recording unit, used to send positioning request information to each positioning base station and record the current time T1; a receiving time recording unit, used to receive the positioning return information sent by each positioning base station and record the corresponding time to obtain a number of return times T2; a distance calculation unit, used to calculate the distance between the smart shopping cart and each positioning base station according to T1, T2, and the speed of light C; A coordinate calculation module is used to calculate the location coordinates of the smart shopping cart according to a number of positioning distances; the coordinate calculation module includes: a quantity determination unit, used to identify the number of corresponding positioning base stations according to a number of positioning distances; a coordinate calculation unit, used to make a judgment according to the number of corresponding positioning base stations; if the number of positioning base stations is less than 3, an alarm that positioning is impossible is issued; if the number of positioning base stations is greater than or equal to 3, the positioning distances corresponding to the three positioning base stations closest to the smart shopping cart are selected for calculation to obtain the location coordinates of the smart shopping cart; the coordinate calculation unit includes: a positioning circle drawing unit, used to draw circles with the coordinate points of the three positioning base stations as the center and the positioning distances corresponding to the three positioning base stations as the radius in the UWB coordinate system to obtain three positioning circles; a positioning point drawing unit, used to use the common intersection of the three positioning circles as the positioning point of the smart shopping cart; a positioning calculation unit, used to identify the positioning point of the smart shopping cart according to the UWB coordinate system to obtain the location coordinates of the smart shopping cart; An acceleration acquisition module is used to obtain real-time plane acceleration information of the smart shopping cart; An inertial velocity calculation module, used to calculate the real-time plane velocity of the smart shopping cart according to the real-time plane acceleration information of the smart shopping cart; A coordinate speed calculation module, used to calculate the real-time coordinate system speed of the smart shopping cart in the UWB coordinate system according to the position coordinates of the smart shopping cart in the UWB coordinate system; An inertial distance calculation module is used to identify the real-time plane speed and real-time coordinate system speed of the smart shopping cart to obtain the inertial navigation distance; The coordinate correction module is used to correct the position coordinates of the smart shopping cart according to the inertial navigation distance to obtain the inertial navigation coordinates.

4. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 are implemented.

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