Positioning method, positioning device, computer-readable storage medium, and positioning system

Abstract

The present application provides a positioning method, a positioning device, a computer-readable storage medium, and a positioning system. The method includes: obtaining the comprehensive signal strength and the first-path signal strength; obtaining the initial distance value between the sending device and the receiving device, as well as the initial position information of the sending device; determining the corrected distance value according to the comprehensive signal strength and the first-path signal strength, and using the corrected distance value to correct the initial distance value to obtain the target distance value; and correcting the initial position information according to the target distance value to obtain the target position information. In this solution, the position information of the sending device is corrected in multiple links under the NLOS environment, so that the position information and the navigation route of the sending device in the NLOS environment can be corrected, the influence degree of the positioning of the sending device in the NLOS environment is reduced, and the positioning accuracy of the sending device in the NLOS environment is improved.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular, to a positioning method, a positioning device, a computer-readable storage medium, and a positioning system. Background Art

[0002] With the continuous development of wireless technology, wireless technology has been used for ranging / locating between devices. However, wireless electromagnetic waves are easily affected by the environment. For example, environmental factors such as temperature and humidity, electromagnetic interference, metal shielding, wall blocking, or human influence will have a great impact on wireless signals. For example, it will cause the wireless signal to be greatly attenuated or reflected, diffracted, etc., thereby changing the propagation speed of the electromagnetic wave signal in the air, increasing the flight time of the electromagnetic wave signal in the air, causing a delay in the radio signal, resulting in a large deviation between the measurement result and the true value, and then the NLOS (Non Line Of Sight) phenomenon occurs. UWB (Ultra Wide Band) is a centimeter-level wireless positioning device, and even measurement errors of more than one meter may occur in a severe NLOS environment. In the actual use process, many factors will cause the NLOS phenomenon, but this kind of influence cannot be directly avoided, and currently, the positioning accuracy of UWB devices in the NLOS environment is poor. Summary of the Invention

[0003] The main object of the present application is to provide a positioning method, a positioning device, a computer-readable storage medium, and a positioning system to solve the problem of poor positioning accuracy of UWB devices in the prior art.

[0004] According to one aspect of an embodiment of the present invention, a positioning method is provided, including: obtaining a comprehensive signal strength and a first-path signal strength, where the comprehensive signal strength is determined according to the strengths of multiple signals sent by a sending device, and the first-path signal strength is the strength of the first signal received by a receiving device; obtaining an initial distance value between the sending device and the receiving device, and initial position information of the sending device; determining a corrected distance value according to the comprehensive signal strength and the first-path signal strength, and correcting the initial distance value with the corrected distance value to obtain a target distance value; and correcting the initial position information according to the target distance value to obtain target position information.

[0005] Optionally, the obtaining the initial distance value between the sending device and the receiving device includes: obtaining a first difference between the comprehensive signal strength and the first-path signal strength; and determining the initial distance value between the sending device and the receiving device according to the first difference.

[0006] Optionally, determining the initial distance value between the sending device and the receiving device according to the first difference includes: when the first difference is less than a first threshold, obtaining a first timestamp, a second timestamp, a clock frequency offset, and an electromagnetic wave propagation speed, where the first timestamp refers to the timestamp when the sending device sends a data packet, and the second timestamp refers to the timestamp when the receiving device receives the data packet; determining an actual elapsed time according to the first timestamp, the second timestamp, and the clock frequency offset, where the actual elapsed time refers to the time actually taken for the data packet to be sent from the sending device to the receiving device; and determining the initial distance value between the sending device and the receiving device according to the actual elapsed time and the electromagnetic wave propagation speed.

[0007] Optionally, the method further includes: when the first difference is greater than or equal to the first threshold, determining that both the signal corresponding to the combined signal strength and the signal corresponding to the first path signal strength are invalid signals.

[0008] Optionally, the combined signal strength includes a first type of combined signal strength and a second type of combined signal strength, the first path signal strength includes a first type of first path signal strength and a second type of first path signal strength, the first type of combined signal strength and the first type of first path signal strength are obtained in a first scenario, the second type of combined signal strength and the second type of first path signal strength are obtained in a second scenario, the first scenario refers to a scenario where there is no obstacle between the sending device and the receiving device, the second scenario refers to a scenario where there is an obstacle between the sending device and the receiving device, and determining a corrected distance value according to the combined signal strength and the first path signal strength includes: obtaining a second difference between the first type of combined signal strength and the second type of combined signal strength; obtaining a third difference between the first type of first path signal strength and the second type of first path signal strength; and determining the corrected distance value according to the second difference and the third difference.

[0009] Optionally, determining the correction distance value according to the second difference and the third difference includes: when the second difference is less than a second threshold and the third difference is less than or equal to a third threshold, determining the correction distance value as a first correction distance value; when the second difference is less than the second threshold, the third difference is greater than the third threshold and the third difference is less than a fourth threshold, determining the correction distance value as a second correction distance value, where the fourth threshold is greater than the third threshold and the second correction distance value is greater than the first correction distance value; when the second difference is greater than or equal to the second threshold and less than a fifth threshold, and the third difference is greater than the third threshold and less than the fourth threshold, determining the correction distance value as a third correction distance value, where the fifth threshold is greater than the second threshold and the third correction distance value is greater than the second correction distance value.

[0010] Optionally, determining the correction distance value according to the second difference and the third difference further includes: when the second difference is greater than or equal to the fifth threshold, the third difference is greater than the third threshold and less than the fourth threshold, determining the correction distance value as a fourth correction distance value, where the fourth correction distance value is greater than the third correction distance value; when the second difference is greater than or equal to the second threshold and less than the fifth threshold, and the third difference is greater than or equal to the fourth threshold, determining the correction distance value as a fifth correction distance value, where the fifth correction distance value is greater than the fourth correction distance value; when the second difference is greater than or equal to the fifth threshold and the third difference is greater than or equal to the fourth threshold, determining the correction distance value as a sixth correction distance value, where the sixth correction distance value is greater than the fifth correction distance value.

[0011] Optionally, correcting the initial position information according to the target distance value to obtain target position information includes: determining the current state of the sending device, where the current state is obtained by using a gyroscope sensor installed in the sending device, and the current state includes a stationary state and a moving state; when the current state is the moving state, correcting the initial position information according to the target distance value to obtain target position information.

[0012] Optionally, when the current state is the motion state, correcting the initial position information according to the target distance value to obtain target position information includes: obtaining first initial position information at a first moment and second initial position information at a second moment; determining whether an actual distance value is equal to the target distance value, where the actual distance value is the distance value of the second initial position information of the sending device relative to the position information of the receiving device; and when the actual distance value is not equal to the target distance value, correcting the second initial position information according to the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information.

[0013] Optionally, when the motion state is a linear motion state and the actual distance value is not equal to the target distance value, correcting the second initial position information according to the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information includes: constructing a first function relationship using the first initial position information at multiple first moments and the second initial position information at the second moment; and correcting the second initial position information according to the first function relationship to obtain the target position information.

[0014] Optionally, when the motion state is a non-linear motion state and the actual distance value is not equal to the target distance value, correcting the second initial position information according to the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information includes: determining whether an actual direction is the same as a target direction, where the actual direction refers to the direction of the second initial position information of the sending device relative to the position information of the receiving device; when the actual direction is not the same as the target direction, obtaining a correction slope parameter and a rotation angle parameter; constructing a second function relationship using the first initial position information at multiple first moments, the second initial position information at the second moment, the correction slope parameter, and the rotation angle parameter; and correcting the second initial position information according to the second function relationship to obtain the target position information.

[0015] Optionally, the method further includes: when the current state is the stationary state, determining not to correct the initial position information; continuously obtaining the initial position information at multiple moments, obtaining the average value of the multiple initial position information, and determining the average value as the target position information.

[0016] Optionally, correcting the initial distance value with the correction distance value to obtain a target distance value includes: obtaining a fourth difference between the initial distance value and the correction distance value; determining the fourth difference as the target distance value.

[0017] Optionally, the sending device includes a first UWB device, and the receiving device includes a second UWB device.

[0018] According to another aspect of the embodiments of the present invention, there is also provided a positioning device, including: a first acquisition unit configured to acquire a combined signal strength and a first-path signal strength, where the combined signal strength is determined according to the strengths of multiple signals sent by a sending device, and the first-path signal strength is the strength of the first signal received by a receiving device; a second acquisition unit configured to acquire an initial distance value between the sending device and the receiving device, and initial position information of the sending device; a first determination unit configured to determine a correction distance value according to the combined signal strength and the first-path signal strength, and correct the initial distance value with the correction distance value to obtain a target distance value; and a correction unit configured to correct the initial position information according to the target distance value to obtain target position information.

[0019] According to still another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium, where the computer-readable storage medium includes a stored program, and the program executes any one of the methods described above.

[0020] According to yet another aspect of the embodiments of the present invention, there is also provided a positioning system, including: a sending device, a receiving device, and a positioning device, where the positioning device communicates with the sending device and the receiving device respectively, and the positioning device is configured to execute any one of the methods described above.

[0021] In the embodiments of the present invention, first, a combined signal strength and a first-path signal strength are acquired, then an initial distance value between the sending device and the receiving device, and initial position information of the sending device are acquired. Then, a correction distance value is determined according to the combined signal strength and the first-path signal strength, and the initial distance value is corrected with the correction distance value to obtain a target distance value. Finally, the initial position information is corrected according to the target distance value to obtain target position information. In this solution, the position information of the sending device is corrected in multiple links in an NLOS environment, so that the position information and navigation route of the sending device in the NLOS environment can be corrected, the influence degree of the positioning of the sending device in the NLOS environment is reduced, and the positioning accuracy of the sending device in the NLOS environment is improved. At the same time, this solution can reduce the deviation of radio communication ranging or positioning positions, making the measurement value in the NLOS environment closer to the actual value. Description of the Drawings

[0022] The accompanying drawings of the specification, which form a part of this application, are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and shall not unduly limit this application. In the drawings:

[0023] Figure 1 A flowchart showing the positioning method according to an embodiment of this application is illustrated;

[0024] Figure 2 A schematic structural diagram of a transmitting device is illustrated;

[0025] Figure 3 A partial schematic structural diagram of a transmitting device is illustrated;

[0026] Figure 4 A schematic diagram showing the measurement of the initial distance value between a transmitting device and a receiving device is illustrated;

[0027] Figure 5 A schematic diagram showing the calibration in a linear motion state is illustrated;

[0028] Figure 6 A schematic diagram showing the calibration in a non-linear motion state is illustrated;

[0029] Figure 7 A schematic structural diagram of a positioning device according to an embodiment of this application is illustrated;

[0030] Figure 8 A flowchart showing another positioning method according to an embodiment of this application is illustrated. Detailed implementation manners

[0031] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments may be combined with each other. The following will refer to the accompanying drawings and combine with the embodiments to detail this application.

[0032] In order to enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of this application.

[0033] It should be noted that in the description and claims of this application and the above-mentioned drawings, terms such as "first" and "second" are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that such data used can be interchanged under appropriate circumstances for the embodiments of this application described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0034] It should be understood that when an element (such as a layer, film, region, or substrate) is described as being "on" another element, the element can be directly on the other element, or there can also be an intermediate element. Moreover, in the description and claims of the specification, when an element is described as "connected" to another element, the element can be "directly connected" to the other element, or "connected" to the other element through a third element.

[0035] As described in the background art, the positioning accuracy of UWB devices in the prior art is poor. To solve the above problems, in an implementation manner of this application, a positioning method, a positioning device, a computer-readable storage medium, and a positioning system are provided.

[0036] According to an embodiment of this application, a positioning method is provided.

[0037] Figure 1 is a flowchart of the positioning method according to an embodiment of this application. As Figure 1 shown, the method includes the following steps:

[0038] Step S101, obtain the comprehensive signal strength and the first-path signal strength. The above-mentioned comprehensive signal strength is determined according to the strengths of multiple signals sent by the sending device, and the above-mentioned first-path signal strength is the strength of the first signal received by the receiving device;

[0039] Step S102, obtain the initial distance value between the above-mentioned sending device and the above-mentioned receiving device, and the initial position information of the above-mentioned sending device;

[0040] Step S103, determine the corrected distance value according to the above-mentioned comprehensive signal strength and the above-mentioned first-path signal strength, and use the above-mentioned corrected distance value to correct the above-mentioned initial distance value to obtain the target distance value;

[0041] Step S104, correct the above-mentioned initial position information according to the above-mentioned target distance value to obtain the target position information.

[0042] Specifically, the above-mentioned transmitting device includes a UWB device. This solution is applicable to the positioning of UWB devices in an NLOS environment. Corrections for the NLOS environment are carried out in multiple steps, which can correct the position information and navigation route of the UWB device in the NLOS environment, reduce the influence degree of UWB device positioning in the NLOS environment, improve the positioning accuracy of the UWB device in the NLOS environment. At the same time, this solution can reduce the deviation of radio communication ranging or positioning, making the measured values in the NLOS environment closer to the actual values.

[0043] In the above method, first, the comprehensive signal strength and the first-path signal strength are obtained. Then, the initial distance value between the transmitting device and the receiving device, as well as the initial position information of the transmitting device, are obtained. After that, the correction distance value is determined according to the comprehensive signal strength and the first-path signal strength, and the initial distance value is corrected using the correction distance value to obtain the target distance value. Finally, the initial position information is corrected based on the target distance value to obtain the target position information. In this solution, the position information of the transmitting device is corrected for the NLOS environment in multiple steps, which can correct the position information and navigation route of the transmitting device in the NLOS environment, reduce the influence degree of transmitting device positioning in the NLOS environment, and improve the positioning accuracy of the transmitting device in the NLOS environment. At the same time, this solution can reduce the deviation of radio communication ranging or positioning, making the measured values in the NLOS environment closer to the actual values.

[0044] It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. And although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here.

[0045] Specifically, in practical applications, the transmitting device of this solution is as Figure 2 shown. The implementation of the solution can be based on hardware. The transmitting device mainly includes a UWB circuit, an MCU processor, a PA (amplification circuit) + LNA (low-noise amplifier) + SW (switch) high-power circuit, and a six-axis acceleration sensor circuit (which can be a gyroscope sensor). The PA + LNA + SW high-power circuit can play an inhibitory role on the transmitted signal and the received signal in the NLOS environment, making the signal less interfered, removing some noise signals, providing a larger signal margin and quality for the receiving device, and at the same time reducing the NLOS environment reflection effect on the signal caused by occlusion, environmental noise, etc., having an inhibitory effect on the radio NLOS environment. Mainly, the PA + LNA + SW high-power circuit can distinguish the signal into the comprehensive signal strength and the first-path signal strength. The PA + LNA + SW high-power circuit is as Figure 3 shown, including a PA, an LNA, two SWs, and an ANT (antenna).Figure 3 The RF therein is electrically connected to the UWB circuit.

[0046] In addition, the UWB circuit further includes a decawave UWB chip. This chip has the function of reading the comprehensive signal strength and the first-path signal strength during signal transmission. The threshold of the effective received signal strength can be set to 13, so as to balance the influence of the NLOS environment and the environmental noise under the UWB device. When the sending device is in a moving state, during the ranging process, it can be corrected according to the comprehensive signal strength and the first-path signal strength in the information interaction process. The comprehensive signal strength mainly reflects the quality of all signals during the entire receiving process. It can be the average value of all received signals, or a predetermined signal strength. The predetermined signal strength can be greater than 80% of the signal strength of all signals. The first-path signal strength mainly reflects the received signal strength of the signal that reaches the receiving end for the first time. Whether the transmitted signal has been reflected and the influence of the NLOS environment can be determined according to the comprehensive signal strength and the first-path signal strength. The greater the difference between the two, the worse the NLOS environment.

[0047] In an embodiment of the present application, obtaining the initial distance value between the sending device and the receiving device includes: obtaining a first difference between the comprehensive signal strength and the first-path signal strength; and determining the initial distance value between the sending device and the receiving device according to the first difference. In this embodiment, the first difference can indicate whether reflection has occurred during the transmission of the signal between the sending device and the receiving device and the influence of the NLOS environment. The initial distance value between the sending device and the receiving device can be determined more accurately according to the first difference.

[0048] In another embodiment of the present application, determining the initial distance value between the sending device and the receiving device according to the first difference includes: when the first difference is less than a first threshold, obtaining a first timestamp, a second timestamp, a clock frequency offset, and the electromagnetic wave propagation speed. The first timestamp refers to the timestamp when the sending device sends a data packet, and the second timestamp refers to the timestamp when the receiving device receives the data packet; determining the actual elapsed time according to the first timestamp, the second timestamp, and the clock frequency offset. The actual elapsed time refers to the actual time taken for the data packet to be sent from the sending device to the receiving device; and determining the initial distance value between the sending device and the receiving device according to the actual elapsed time and the electromagnetic wave propagation speed. In this embodiment, the actual elapsed time can be determined more accurately through the first timestamp, the second timestamp, and the clock frequency offset, and then the initial distance value between the sending device and the receiving device can be determined more accurately according to the actual elapsed time and the electromagnetic wave propagation speed.

[0049] Specifically, as Figure 4 shown, the sending device sends a probe frame signal tx_poll message. Receiving devices within the effective range will all receive this signal. Meanwhile, the receiving device records the received combined signal strength and the first-path signal strength, and records the first timestamp. Only when the combined signal strength is greater than the threshold Riss_k and the first difference between the first-path signal strength and the combined signal strength is less than 6 dB, it is considered that the distance between the sending device and the receiving device is relatively close, and the environment is a LOS (Line Of Sight) environment or an environment with less NLOS influence, and then it can be used as the sending device for ranging. Otherwise, it is considered an NLOS environment. Because in the NLOS environment, the signal flight time is longer, the signal ability attenuation is larger, the environmental interference is larger, and the generated error will also be larger, so it is not suitable as the ranging input value. After receiving the message, the qualified receiving device will return a response frame message resp to the sending device. The sending device records the second timestamp and the clock frequency offset, and calculates the actual elapsed time through the following formula where t represents the actual elapsed time, rtd_init represents the first timestamp, rtd_resp represents the second timestamp, and f clockOffset represents the clock frequency offset. Then, the initial distance value d = t × c is calculated through the following formula, where d represents the initial distance value and c represents the electromagnetic wave propagation speed. Only when the measured initial distance value is less affected by the NLOS environment or is a LOS environment can it be used as the data input for the TOF position algorithm.

[0050] In another embodiment of the present application, the above method further includes: when the above first difference is greater than or equal to the first threshold, determining that both the signal corresponding to the above combined signal strength and the signal corresponding to the above first-path signal strength are invalid signals. In this embodiment, if the first difference between the combined signal strength and the first-path signal strength is greater than or equal to the first threshold, these two signals are considered invalid signals. In this way, data severely affected by the NLOS environment can be filtered out, and data in the LOS environment or data with less NLOS influence can be obtained, reducing the influence of the NLOS environment on positioning. Generally, the sending device can perform ranging with the nearest receiving device to reduce the degree of environmental influence on the signal quality. If a relatively severe NLOS environment occurs at a short distance, a receiving device at a farther distance needs to be replaced to reduce the influence of the NLOS environment. This embodiment can filter the data in the NLOS environment.

[0051] In another embodiment of the present application, the above-mentioned comprehensive signal strength includes a first type of comprehensive signal strength and a second type of comprehensive signal strength, the above-mentioned first-path signal strength includes a first type of first-path signal strength and a second type of first-path signal strength, the above-mentioned first type of comprehensive signal strength and the above-mentioned first type of first-path signal strength are obtained in a first scenario, the above-mentioned second type of comprehensive signal strength and the above-mentioned second type of first-path signal strength are obtained in a second scenario, the above-mentioned first scenario refers to a scenario where there is no obstacle between the above-mentioned transmitting device and the above-mentioned receiving device, the above-mentioned second scenario refers to a scenario where there is an obstacle between the above-mentioned transmitting device and the above-mentioned receiving device, and the above-mentioned determining the calibration distance value according to the above-mentioned comprehensive signal strength and the above-mentioned first-path signal strength includes: obtaining a second difference between the above-mentioned first type of comprehensive signal strength and the above-mentioned second type of comprehensive signal strength; obtaining a third difference between the above-mentioned first type of first-path signal strength and the above-mentioned second type of first-path signal strength; and determining the above-mentioned calibration distance value according to the above-mentioned second difference and the above-mentioned third difference. In this embodiment, although the data with greater influence in the NLOS environment has been filtered out before, there may still be data with less influence in the NLOS environment. As the distance between the transmitting device and the receiving device is different, the interference or the degree of influence in the NLOS environment is also different. Therefore, the parameters of the first scenario (i.e., the LOS environment) and the second scenario (i.e., the NLOS environment) can be used to determine whether a reflection phenomenon has occurred. A function curve can be constructed with the first type of comprehensive signal strength and the first type of first-path signal strength as reference data and compared with the second type of comprehensive signal strength and the second type of first-path signal strength to more accurately determine the calibration distance value.

[0052] To further accurately determine the calibration distance value, in another embodiment of the present application, the above-mentioned determining the above-mentioned calibration distance value according to the above-mentioned second difference and the above-mentioned third difference includes: when the above-mentioned second difference is less than a second threshold and the above-mentioned third difference is less than or equal to a third threshold, determining the above-mentioned calibration distance value as a first calibration distance value; when the above-mentioned second difference is less than the above-mentioned second threshold, the above-mentioned third difference is greater than the above-mentioned third threshold and the above-mentioned third difference is less than a fourth threshold, determining the above-mentioned calibration distance value as a second calibration distance value, where the above-mentioned fourth threshold is greater than the above-mentioned third threshold and the above-mentioned second calibration distance value is greater than the above-mentioned first calibration distance value; when the above-mentioned second difference is greater than or equal to the above-mentioned second threshold and less than a fifth threshold, and the above-mentioned third difference is greater than the above-mentioned third threshold and less than the above-mentioned fourth threshold, determining the above-mentioned calibration distance value as a third calibration distance value, where the above-mentioned fifth threshold is greater than the above-mentioned second threshold and the above-mentioned third calibration distance value is greater than the above-mentioned second calibration distance value.

[0053] In order to further accurately determine the calibration distance value, in another embodiment of the present application, determining the calibration distance value according to the second difference and the third difference further includes: when the second difference is greater than or equal to the fifth threshold, the third difference is greater than the third threshold and the third difference is less than the fourth threshold, determining the calibration distance value as the fourth calibration distance value, where the fourth calibration distance value is greater than the third calibration distance value; when the second difference is greater than or equal to the second threshold and less than the fifth threshold, and the third difference is greater than or equal to the fourth threshold, determining the calibration distance value as the fifth calibration distance value, where the fifth calibration distance value is greater than the fourth calibration distance value; when the second difference is greater than or equal to the fifth threshold and the third difference is greater than or equal to the fourth threshold, determining the calibration distance value as the sixth calibration distance value, where the sixth calibration distance value is greater than the fifth calibration distance value.

[0054] Specifically, in the first scenario, the first type of composite signal strength is expressed as RX_level(x), and the first type of first-path signal strength is expressed as First_level(x), where x is the measured distance (x = 0 to 100 m). Generally, in the NLOS environment, the initial distance value will be larger than the initial distance value in the actual situation (ranging from 10 cm to 2 m), and generally will not be smaller. If the signal strength in the second scenario is smaller than that in the first scenario, there may be an obstruction. The second type of composite signal strength in the second scenario is expressed as A(x), and the second type of first-path signal strength is B(x). There are the following situations for the analysis of whether reflection occurs, the error of the initial distance value L, and the calibration distance value:

[0055] The first situation: A(x) - RX_level(x) < 0.5 db, and B(x) - First_level(x) ≤ 5 db, which is expressed as the LOS environment. The received signal is slightly obstructed or unobstructed, and the received signal is a direct signal. The distance error err = 0, and the calibration distance value L k is 0;

[0056] The second situation: A(x) - RX_level(x) < 0.5 db, and 5 < [B(x) - First_level(x)] < 10 db, which is expressed as the general NLOS environment. The received signal is generally obstructed, and the signal is determined to be a direct signal. The measurement error is mainly caused by the slower propagation speed of electromagnetic waves when encountering the transmission medium. It can be found through multiple measurements that in the second situation, the received signal strength has a greater influence on the distance error. A(x) - RX_level(x) can be used as a correction factor, and the distance error increases by approximately 10 cm - 30 cm. The calibration distance value L k= 50[A(x) - RX_level(x)], L k <30 cm;

[0057] The third case: 0.5 ≤ (A(x) - RX_level(x)) < 6 db, and 5 < [B(x) - First_level(x)] < 10 db, indicating a relatively severe NLOS environment where the received signal is relatively severely blocked, the distance error increases by approximately between 20 cm and 60 cm, but the signal is still a direct signal, and the corrected distance value L k = 20[A(x) - RX_level(x)], L k <60 cm;

[0058] The fourth case: (A(x) - RX_level(x)) ≥ 6 db, and 5 < [B(x) - First_level(x)] < 10 db, indicating an extremely severe NLOS environment where the received signal is extremely severely blocked, the distance error increases by approximately more than 80 cm, but the signal is still likely to be a direct signal, and the corrected distance value L k = 15[A(x) - RX_level(x)], L k <100 cm;

[0059] The fifth case: 0.5 ≤ (A(x) - RX_level(x)) < 6 db, and [B(x) - First_level(x)] ≥ 10 db, indicating a relatively severe NOS environment where the received signal is relatively severely blocked, the distance error increases by approximately 50 cm - 100 cm, and the received signal is likely to be a reflected signal, and the corrected distance value L k = 5[A(x) - RX_level(x)] + 5[B(x) - First_level(x)], L k <150 cm;

[0060] The sixth case: (A(x) - RX_level(x)) ≥ 6 db, and [B(x) - First_level(x)] ≥ 10 db, indicating an extremely severe NLOS environment where the received signal is severely blocked, the distance error increases by approximately more than 100 cm, and the received signal is a reflected signal, and the corrected distance value L k = 10[A(x) - B(x)], L k <200 cm.

[0061] In a specific embodiment of the present application, the above-mentioned correction of the above-mentioned initial position information according to the above-mentioned target distance value to obtain the target position information includes: determining the current state of the above-mentioned transmitting device, the above-mentioned current state is obtained by using a gyroscope sensor, the above-mentioned gyroscope sensor is installed in the above-mentioned transmitting device, and the above-mentioned current state includes a stationary state and a moving state; in the case where the above-mentioned current state is the above-mentioned moving state, the above-mentioned initial position information is corrected according to the above-mentioned target distance value to obtain the target position information. In this embodiment, the initial position information can be further corrected. The gyroscope sensor has a good feedback effect on the position and direction. The gyroscope sensor can be used to correct the initial position information, so that the output target position information is closer to the actual situation and the error fluctuation is reduced.

[0062] In another specific embodiment of the present application, in the case where the above-mentioned current state is the above-mentioned moving state, the above-mentioned correction of the above-mentioned initial position information according to the above-mentioned target distance value to obtain the target position information includes: obtaining the first initial position information at the first moment and the second initial position information at the second moment; determining whether the actual distance value is equal to the above-mentioned target distance value, the above-mentioned actual distance value is the distance value of the second initial position information of the above-mentioned transmitting device relative to the position information of the above-mentioned receiving device; in the case where the actual distance value is not equal to the above-mentioned target distance value, the above-mentioned second initial position information is corrected according to the above-mentioned first initial position information at the first moment and the above-mentioned second initial position information at the second moment to obtain the above-mentioned target position information. In this embodiment, the initial position information can be further corrected, further ensuring that the obtained target position information is relatively accurate, and further improving the positioning accuracy of the transmitting device in the NLOS environment.

[0063] In still another specific embodiment of the present application, in the case where the above-mentioned moving state is a linear motion state and in the case where the actual distance value is not equal to the above-mentioned target distance value, the above-mentioned correction of the above-mentioned second initial position information according to the above-mentioned first initial position information at the first moment and the above-mentioned second initial position information at the second moment to obtain the above-mentioned target position information includes: using the above-mentioned first initial position information at multiple first moments and the above-mentioned second initial position information at the second moment to construct a first function relationship; correcting the above-mentioned second initial position information according to the above-mentioned first function relationship to obtain the above-mentioned target position information. In this embodiment, when the moving state is a linear motion state, the initial position information can be further corrected, further ensuring that the obtained target position information is relatively accurate, and further improving the positioning accuracy of the transmitting device in the NLOS environment.

[0064] In one embodiment, the schematic diagram of correction in the linear motion state is as Figure 5As shown in the figure, the first moment was co-located three times. If the gyroscope sensor detected an angular change exceeding 5°, it was considered that correction was required. In the case where the angular change did not exceed 5°, it was considered that no correction was needed. The first initial position information detected at times t1, t2, and t had an angular change less than 5°. The second initial position information was detected at time t3. However, according to the TOF algorithm, the offset angle of time t3 relative to times t1 and t2 was greater than 5°. There was still the influence of the NLOS environment, and correction was required. The first initial position information at time t1 was (x1, y1), the first initial position information at time t2 was (x2, y2), and the second initial position information at time t3 was (x3, y3). Let the corrected target position information be t4(x4, y4). The function formed by t1 and t2 is

[0065] Formula 1: y = qx + p, where

[0066] For the triangle formed by t2, t3, and t4, according to the trigonometric formula, we get:

[0067] Formula 2: (x2 - x3) 2 +(y2 - y3) 2 =(x3 - x4) 2 +(y3 - y4) 2 +(x2 - x4) 2 +(y2 - y4) 2 ,

[0068] After simplification, we get:

[0069] Formula 3: (x4 - x2)(x3 - x4)+(y4 - y2)(y3 - y4)=0;

[0070] According to Formula 1 and Formula 2, we get:

[0071] y4 = qx4 + p;

[0072] Where,

[0073] When the detected attitude angle deviates to the left, y4 = qx4 + p,

[0074] When the detected attitude angle deviates to the right, y4 = qx4 + p,

[0075] Therefore, the target position information is obtained as (x4, y4), and the initial position information of each positioning is corrected accordingly, so that the measured navigation route can be closer to the actual situation.

[0076] In yet another specific embodiment of the present application, in the case where the above-mentioned motion state is a non-linear motion state and the above-mentioned actual distance value is not equal to the above-mentioned target distance value, correcting the above-mentioned second initial position information according to the above-mentioned first initial position information at the first moment and the above-mentioned second initial position information at the second moment to obtain the above-mentioned target position information includes: determining whether the actual direction is the same as the target direction, where the actual direction refers to the direction of the above-mentioned second initial position information of the above-mentioned transmitting device relative to the position information of the above-mentioned receiving device; in the case where the actual direction is not the same as the target direction, obtaining a correction slope parameter and a rotation angle parameter; constructing a second functional relationship using the above-mentioned first initial position information at multiple first moments, the above-mentioned second initial position information at the second moment, the above-mentioned correction slope parameter, and the above-mentioned rotation angle parameter; and correcting the above-mentioned second initial position information according to the above-mentioned second functional relationship to obtain the above-mentioned target position information. In this embodiment, when the motion state is a non-linear motion state, the initial position information can be further corrected, further ensuring that the obtained target position information is relatively accurate and further improving the positioning accuracy of the transmitting device in the NLOS environment.

[0077] In one embodiment, a schematic diagram of correction in a non-linear motion state is as Figure 6 shown. Compared with linear motion, the correction of the non-linear motion state (turning state) is different. Using the target directions detected by the gyroscope sensor in the previous two times and the previous time as a reference, the gyroscope sensor can detect the offset angle of the actual direction this time. Assuming that the predicted target position information is the offset angle θ detected by the gyroscope sensor, when the angle formed by the offset amount of the horizontal attitude detected by the gyroscope sensor relative to the target position information calculated by the TOF algorithm is greater than or equal to 5°, it is considered that the motion is non-linear and the offset angle needs to be corrected. t1 is the first initial position information after the correction in the time before the previous time, t2 is the first initial position information after the previous correction, t3 is the second initial position information calculated by the TOF algorithm this time, and t4 is the target position information. Assuming that the horizontal coordinates at time t1 are (x1, y1), t2 is (x2, y2), and t3 is (x3, y3), and the corrected coordinates are t4(x4, y4), the change amount of the angle of the gyroscope sensor relative to the previously detected horizontal direction is θ, and the slope of the straight line equation formed by t1 and t2 is

[0078] Formula Four:

[0079] The straight line equation of y = mx + n formed by t2 and t4, and the slope of the equation is:

[0080] Formula Five:

[0081] Also, since the linear equation passes through t2, then y2 = mx2 + n, that is, n = y2 - mx2. So the equation is:

[0082] Formula Six: y = mx + (y2 - mx2),

[0083] For the triangle formed by the three points t2, t3, and t4, according to the trigonometric formula:

[0084] Formula Seven: (x2 - x3) 2 + (y2 - y3) 2 = (x3 - x4) 2 + (y3 - y4) 2 + (x2 - x4) 2 + (y2 - y4) 2 , after simplification, we get

[0085] Formula Eight: (x4 - x2)(x3 - x4) + (y4 - y2)(y3 - y4) = 0,

[0086] Combining Formula Six and Formula Eight, we get:

[0087] y4 = mx4 + (y2 - mx2);

[0088] Where,

[0089] Angle A is the measured rotation angle initially calculated by the TOF algorithm. Assume the distance from t1 to t2 is d c , the distance from t1 to t3 is d a , the distance from t2 to t3 is d b , for △t1t2t3, we get:

[0090] Formula Nine:

[0091] Where,

[0092] Then the calculated measured rotation angle A:

[0093] When A > θ, the corrected target position information is: y4 = mx4 + (y2 - mx2);

[0094] When A < θ, the corrected target position information is: y4 = mx4 + (y2 - mx2).

[0095] In another embodiment of the present application, to further accurately determine the target position information, the above method further includes: when the current state is the stationary state, determining not to correct the initial position information; continuously obtaining the initial position information at multiple moments, and obtaining the average value of the multiple initial position information, and determining the average value as the target position information.

[0096] Specifically, in the stationary state, due to the existence of errors in each measurement, there will still be slight fluctuations in the calculated position information of the measurement, which are not visually noticeable. A gyroscope sensor can be used to continuously locate multiple times in the stationary state. The obtained distance values are 5.001 cm, 4.999 cm, and 5.002 cm respectively. Take the average value of these three data as the target position information, so that the display effect is closer to the true value without slight fluctuations.

[0097] In still another embodiment of the present application, the above-mentioned using the correction distance value to correct the initial distance value to obtain the target distance value includes: obtaining the fourth difference between the initial distance value and the correction distance value; determining the fourth difference as the target distance value. In this embodiment, when the correction distance value has been determined, the fourth difference between the initial distance value and the correction distance value is determined as the target distance value. This embodiment can further accurately determine the target distance value between the sending device and the receiving device.

[0098] In one embodiment of the present application, the above-mentioned sending device includes a first UWB device, and the above-mentioned receiving device includes a second UWB device. In this way, the position of the UWB device in the NLOS environment can be calculated.

[0099] The embodiments of the present application also provide a positioning device. It should be noted that the positioning device of the embodiments of the present application can be used to execute the positioning method provided by the embodiments of the present application. The positioning device provided by the embodiments of the present application is introduced below.

[0100] Figure 7 is a schematic diagram of the positioning device according to the embodiments of the present application. As Figure 7 shown, the device includes:

[0101] A first acquisition unit 10, configured to acquire the combined signal strength and the first-path signal strength, where the combined signal strength is determined according to the strengths of multiple signals sent by the sending device, and the first-path signal strength is the strength of the first signal received by the receiving device;

[0102] A second acquisition unit 20, configured to acquire the initial distance value between the sending device and the receiving device, and the initial position information of the sending device;

[0103] The first determination unit 30 is configured to determine a correction distance value according to the above-mentioned combined signal strength and the above-mentioned first-path signal strength, and correct the above-mentioned initial distance value by using the above-mentioned correction distance value to obtain a target distance value;

[0104] The correction unit 40 is configured to correct the above-mentioned initial position information according to the above-mentioned target distance value to obtain target position information.

[0105] Specifically, the above-mentioned transmitting device includes a UWB device. This solution is applicable to the positioning of UWB devices in the NLOS environment. Corrections in the NLOS environment are carried out in multiple links, so that the position information and navigation route of the UWB device in the NLOS environment can be corrected, the influence degree of the UWB device positioning in the NLOS environment is reduced, the positioning accuracy of the UWB device in the NLOS environment is improved, and at the same time, this solution can reduce the deviation of radio communication ranging or positioning positions, making the measured value in the NLOS environment closer to the actual value.

[0106] In the above-mentioned device, the first acquisition unit acquires the combined signal strength and the first-path signal strength, the second acquisition unit acquires the initial distance value between the transmitting device and the receiving device, and the initial position information of the transmitting device. The first determination unit determines a correction distance value according to the combined signal strength and the first-path signal strength, and corrects the initial distance value by using the correction distance value to obtain a target distance value. The correction unit corrects the initial position information according to the target distance value to obtain target position information. In this solution, the position information of the transmitting device is corrected in the NLOS environment in multiple links, so that the position information and navigation route of the transmitting device in the NLOS environment can be corrected, the influence degree of the transmitting device positioning in the NLOS environment is reduced, and the positioning accuracy of the transmitting device in the NLOS environment is improved. At the same time, this solution can reduce the deviation of radio communication ranging or positioning positions, making the measured value in the NLOS environment closer to the actual value.

[0107] In an embodiment of the present application, the second acquisition unit includes a first acquisition module and a first determination module. The first acquisition module is configured to acquire the first difference between the above-mentioned combined signal strength and the above-mentioned first-path signal strength; the first determination module is configured to determine the above-mentioned initial distance value between the above-mentioned transmitting device and the above-mentioned receiving device according to the above-mentioned first difference. In this embodiment, the first difference can indicate whether reflection has occurred during the process of transmitting signals between the transmitting device and the receiving device, and the influence of the NLOS environment. The initial distance value between the transmitting device and the receiving device can be determined more accurately according to the first difference.

[0108] In another embodiment of the present application, the first determination module includes a first acquisition sub-module, a first determination sub-module, and a second determination sub-module. The first acquisition sub-module is configured to acquire a first timestamp, a second timestamp, a clock frequency offset, and an electromagnetic wave propagation speed when the first difference is less than a first threshold. The first timestamp refers to the timestamp when the sending device sends a data packet, and the second timestamp refers to the timestamp when the receiving device receives the data packet. The first determination sub-module is configured to determine an actual elapsed time according to the first timestamp, the second timestamp, and the clock frequency offset. The actual elapsed time refers to the time actually consumed for the data packet to be sent from the sending device to the receiving device. The second determination sub-module is configured to determine the initial distance value between the sending device and the receiving device according to the actual elapsed time and the electromagnetic wave propagation speed. In this embodiment, the actual elapsed time can be further accurately determined through the first timestamp, the second timestamp, and the clock frequency offset, and then the initial distance value between the sending device and the receiving device can be further accurately determined according to the actual elapsed time and the electromagnetic wave propagation speed.

[0109] In another embodiment of the present application, the device further includes a second determination unit, configured to determine that both the signal corresponding to the comprehensive signal strength and the signal corresponding to the first path signal strength are invalid signals when the first difference is greater than or equal to the first threshold. In this embodiment, if the first difference between the comprehensive signal strength and the first path signal strength is greater than or equal to the first threshold, these two signals are considered invalid signals. In this way, data severely affected by the NLOS environment can be filtered out to obtain data in the LOS environment or data less affected by NLOS, reducing the impact of the NLOS environment on positioning. Generally, the sending device can perform ranging with the nearest receiving device to reduce the degree of signal quality affected by the environment. If a relatively severe NLOS environment occurs at a short distance, a receiving device at a farther distance needs to be replaced to reduce the impact of the NLOS environment. This embodiment can filter data in the NLOS environment.

[0110] In another embodiment of the present application, the above comprehensive signal strength includes a first type of comprehensive signal strength and a second type of comprehensive signal strength, the above first path signal strength includes a first type of first path signal strength and a second type of first path signal strength. The above first type of comprehensive signal strength and the above first type of first path signal strength are obtained in a first scenario, and the above second type of comprehensive signal strength and the above second type of first path signal strength are obtained in a second scenario. The above first scenario refers to a scenario where there is no obstacle between the above transmitting device and the above receiving device, and the above second scenario refers to a scenario where there is an obstacle between the above transmitting device and the above receiving device. The first determination unit includes a second acquisition module, a third acquisition module, and a second determination module. The second acquisition module is used to acquire a second difference between the above first type of comprehensive signal strength and the above second type of comprehensive signal strength; the third acquisition module is used to acquire a third difference between the above first type of first path signal strength and the above second type of first path signal strength; the second determination module is used to determine the above correction distance value according to the above second difference and the above third difference. In this embodiment, although the data with greater influence in the NLOS environment has been filtered out before, there may still be data with relatively small influence in the NLOS environment. As the distance between the transmitting device and the receiving device is different, the interference or the degree of influence in the NLOS environment is also different. Therefore, the parameters of the first scenario (i.e., the LOS environment) and the second scenario (i.e., the NLOS environment) can be used to determine whether a reflection phenomenon occurs. The first type of comprehensive signal strength and the first type of first path signal strength can be used to construct a function curve as reference data and compared with the second type of comprehensive signal strength and the second type of first path signal strength to more accurately determine the correction distance value.

[0111] In order to more accurately determine the correction distance value, in another embodiment of the present application, the second determination module includes a third determination sub-module, a fourth determination sub-module, and a fifth determination sub-module. The third determination sub-module is used to determine that the above correction distance value is a first correction distance value when the above second difference is less than a second threshold and the above third difference is less than or equal to a third threshold; the fourth determination sub-module is used to determine that the above correction distance value is a second correction distance value when the above second difference is less than the above second threshold, the above third difference is greater than the above third threshold and the above third difference is less than a fourth threshold, where the above fourth threshold is greater than the above third threshold, and the above second correction distance value is greater than the above first correction distance value; the fifth determination sub-module is used to determine that the above correction distance value is a third correction distance value when the above second difference is greater than or equal to the above second threshold and less than a fifth threshold, and the above third difference is greater than the above third threshold and less than the above fourth threshold, where the above fifth threshold is greater than the above second threshold, and the above third correction distance value is greater than the above second correction distance value.

[0112] In yet another embodiment of the present application for more accurately determining the calibration distance value, the second determination module includes a sixth determination sub-module, a seventh determination sub-module, and an eighth determination sub-module. The sixth determination sub-module is configured to determine that the calibration distance value is a fourth calibration distance value when the second difference is greater than or equal to the fifth threshold, the third difference is greater than the third threshold and less than the fourth threshold, where the fourth calibration distance value is greater than the third calibration distance value; the seventh determination sub-module is configured to determine that the calibration distance value is a fifth calibration distance value when the second difference is greater than or equal to the second threshold and less than the fifth threshold, and the third difference is greater than or equal to the fourth threshold, where the fifth calibration distance value is greater than the fourth calibration distance value; the eighth determination sub-module is configured to determine that the calibration distance value is a sixth calibration distance value when the second difference is greater than or equal to the fifth threshold and the third difference is greater than or equal to the fourth threshold, where the sixth calibration distance value is greater than the fifth calibration distance value.

[0113] In a specific embodiment of the present application, the calibration unit includes a third determination module and a calibration module. The third determination module is configured to determine the current state of the sending device, where the current state is obtained by using a gyroscope sensor installed in the sending device, and the current state includes a stationary state and a moving state; the calibration module is configured to, when the current state is the moving state, calibrate the initial position information according to the target distance value to obtain target position information. In this embodiment, the initial position information can be further calibrated. The gyroscope sensor has a good feedback effect on the position and direction, and the gyroscope sensor can be used to calibrate the initial position information, so that the output target position information is closer to the actual situation and the error fluctuation is reduced.

[0114] In another specific embodiment of the present application, the calibration module includes a second acquisition sub-module, a ninth determination sub-module, and a calibration sub-module. The second acquisition sub-module is configured to acquire first initial position information at a first moment and second initial position information at a second moment; the ninth determination sub-module is configured to determine whether the actual distance value is equal to the target distance value, where the actual distance value is the distance value of the second initial position information of the sending device relative to the position information of the receiving device; the calibration sub-module is configured to, when the actual distance value is not equal to the target distance value, calibrate the second initial position information according to the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information. In this embodiment, the initial position information can be further calibrated, which further ensures that the obtained target position information is relatively accurate and further improves the positioning accuracy of the sending device in the NLOS environment.

[0115] In yet another specific embodiment of the present application, when the above-mentioned motion state is a linear motion state, the correction sub-module is further configured to construct a first functional relationship by using the above-mentioned first initial position information at multiple first moments and the above-mentioned second initial position information at a second moment; the correction sub-module is further configured to correct the above-mentioned second initial position information according to the above-mentioned first functional relationship to obtain the above-mentioned target position information. In this embodiment, when the motion state is a linear motion state, the initial position information can be further corrected, which further ensures that the obtained target position information is relatively accurate and further improves the positioning accuracy of the sending device in the NLOS environment.

[0116] In yet another specific embodiment of the present application, when the above-mentioned motion state is a non-linear motion state, the correction sub-module is further configured to determine whether the actual direction is the same as the target direction, where the actual direction refers to the direction of the above-mentioned second initial position information of the above-mentioned sending device relative to the position information of the above-mentioned receiving device; the correction sub-module is further configured to obtain a correction slope parameter and a rotation angle parameter when the actual direction is not the same as the target direction; the correction sub-module is further configured to construct a second functional relationship by using the above-mentioned first initial position information at multiple first moments, the above-mentioned second initial position information at a second moment, the above-mentioned correction slope parameter, and the above-mentioned rotation angle parameter; the correction sub-module is further configured to correct the above-mentioned second initial position information according to the above-mentioned second functional relationship to obtain the above-mentioned target position information. In this embodiment, when the motion state is a non-linear motion state, the initial position information can be further corrected, which further ensures that the obtained target position information is relatively accurate and further improves the positioning accuracy of the sending device in the NLOS environment.

[0117] In another embodiment of the present application for more accurately determining the target position information, the above-mentioned device further includes a third determination unit and a processing unit. The third determination unit is configured to determine not to correct the above-mentioned initial position information when the above-mentioned current state is the above-mentioned stationary state; the processing unit is configured to continuously obtain the above-mentioned initial position information at multiple moments, obtain the average value of the multiple above-mentioned initial position information, and determine the average value as the above-mentioned target position information.

[0118] Specifically, in the stationary state, since there will still be errors in each measurement, there will still be slight fluctuations in the calculated measured position information, which is not visually noticeable. The gyroscope sensor can be used to continuously locate multiple times in the stationary state. The obtained distance values are 5.001 cm, 4.999 cm, and 5.002 cm respectively. The average value of these three data is taken as the target position information, so that the display effect is closer to the true value without slight fluctuations.

[0119] In another embodiment of the present application, the first determination unit includes a fourth acquisition module and a fourth determination module. The fourth acquisition module is used to acquire a fourth difference between the initial distance value and the calibration distance value; the fourth determination module is used to determine that the fourth difference is the target distance value. In this embodiment, when the calibration distance value has been determined, the fourth difference between the initial distance value and the calibration distance value is determined as the target distance value. This embodiment can further accurately determine the target distance value between the sending device and the receiving device.

[0120] In one embodiment of the present application, the sending device includes a first UWB device, and the receiving device includes a second UWB device. In this way, the position of the UWB device in the NLOS environment can be calculated.

[0121] The positioning device includes a processor and a memory. The first acquisition unit, the second acquisition unit, the first determination unit, the calibration unit, etc. are all stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions.

[0122] The processor contains a kernel, and the kernel retrieves the corresponding program units from the memory. One or more kernels can be set, and by adjusting the kernel parameters, the position of the UWB device in the NLOS environment can be accurately calculated.

[0123] The memory may include non-permanent memory in a computer-readable medium, forms such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash memory (flash RAM), and the memory includes at least one storage chip.

[0124] An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the above-mentioned positioning method is implemented.

[0125] An embodiment of the present invention provides a processor, and the processor is used to run a program. When the program runs, the above-mentioned positioning method is executed.

[0126] The present application also provides a positioning system, which includes a sending device, a receiving device, and a positioning device. The positioning device communicates with the sending device and the receiving device respectively, and the positioning device is used to execute any one of the above-mentioned methods.

[0127] In the above system, since it includes any one of the above methods, in this method, the comprehensive signal strength and the first-path signal strength are first obtained. Then, the initial distance value between the transmitting device and the receiving device, as well as the initial position information of the transmitting device, are obtained. After that, the correction distance value is determined according to the comprehensive signal strength and the first-path signal strength, and the initial distance value is corrected using the correction distance value to obtain the target distance value. Finally, according to the target distance value, the initial position information is corrected to obtain the target position information. In this solution, the position information of the transmitting device is corrected in multiple links in the NLOS environment, so that the position information and the navigation route of the transmitting device in the NLOS environment can be corrected, the influence degree of the positioning of the transmitting device in the NLOS environment is reduced, and the positioning accuracy of the transmitting device in the NLOS environment is improved. At the same time, this solution can reduce the deviation of radio communication ranging or positioning, making the measurement value in the NLOS environment closer to the actual value.

[0128] An embodiment of the present invention provides a device, which includes a processor, a memory, and a program stored on the memory and executable on the processor. When the processor executes the program, it implements at least the following steps:

[0129] Step S101, obtain the comprehensive signal strength and the first-path signal strength. The comprehensive signal strength is determined according to the strengths of multiple signals transmitted by the transmitting device, and the first-path signal strength is the strength of the first signal received by the receiving device;

[0130] Step S102, obtain the initial distance value between the transmitting device and the receiving device, and the initial position information of the transmitting device;

[0131] Step S103, determine the correction distance value according to the comprehensive signal strength and the first-path signal strength, and correct the initial distance value using the correction distance value to obtain the target distance value;

[0132] Step S104, correct the initial position information according to the target distance value to obtain the target position information.

[0133] The device in this article can be a server, a PC, a PAD, a mobile phone, etc.

[0134] The present application also provides a computer program product, which is suitable for executing a program initialized with at least the following method steps when executed on a data processing device:

[0135] Step S101, obtain the comprehensive signal strength and the first-path signal strength. The comprehensive signal strength is determined according to the strengths of multiple signals transmitted by the transmitting device, and the first-path signal strength is the strength of the first signal received by the receiving device;

[0136] Step S102, obtain the initial distance value between the above-mentioned sending device and the above-mentioned receiving device, and the initial position information of the above-mentioned sending device;

[0137] Step S103, determine the corrected distance value according to the above-mentioned combined signal strength and the above-mentioned first-path signal strength, and use the above-mentioned corrected distance value to correct the above-mentioned initial distance value to obtain the target distance value;

[0138] Step S104, correct the above-mentioned initial position information according to the above-mentioned target distance value to obtain the target position information.

[0139] In order for those skilled in the art to more clearly understand the technical solution of the present application, the technical solution and technical effects of the present application will be described below in conjunction with specific embodiments.

[0140] Embodiment

[0141] This embodiment relates to a positioning method, as Figure 8 shown, this solution includes:

[0142] The implementation of the solution can be based on hardware, mainly including a UWB circuit, an MCU processor, a PA+LNA+SW high-power circuit, a six-axis acceleration sensor circuit, and a processor;

[0143] Measurement value screening, use the signal with the first difference between the signal corresponding to the combined signal strength and the first-path signal strength greater than or equal to the first threshold as the relatively serious NLOS measurement distance, and filter to obtain the LOS or low-impact NLOS measurement distance;

[0144] Measurement value correction, perform different correction calculations on the initial distance values with different degrees of NLOS;

[0145] Coordinate correction, use the angle increment of the gyroscope sensor to perform real-time feedback correction on the initial coordinate value;

[0146] Determine whether the angle change exceeds 5°. In the case where the angle change exceeds 5°, execute the correction method for non-linear motion. In the case where the angle change does not exceed 5°, execute the correction method for linear motion.

[0147] In the above embodiments of the present invention, the descriptions of each embodiment have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0148] In several embodiments provided in the present application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are merely illustrative. For example, the above-mentioned division of units can be a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the couplings or direct couplings or communication connections shown or discussed with each other can be through some interfaces. The indirect couplings or communication connections of units or modules can be in electrical or other forms.

[0149] The units described above as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place or distributed to multiple units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0150] In addition, in each embodiment of the present invention, the functional units can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

[0151] If the above-mentioned integrated units are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods in the various embodiments of the present invention. The foregoing storage medium includes: USB flash drives, read-only memories (ROMs), random access memories (RAMs), mobile hard disks, magnetic disks, or optical discs and other various media that can store program codes.

[0152] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0153] 1) The positioning method of the present application first obtains the comprehensive signal strength and the first-path signal strength, then obtains the initial distance value between the transmitting device and the receiving device, as well as the initial position information of the transmitting device. Then, it determines the correction distance value according to the comprehensive signal strength and the first-path signal strength, and uses the correction distance value to correct the initial distance value to obtain the target distance value. Finally, it corrects the initial position information according to the target distance value to obtain the target position information. In this solution, the position information of the transmitting device is corrected in the NLOS environment through multiple links, which can correct the position information and navigation route of the transmitting device in the NLOS environment, reduce the influence degree of the transmitting device positioning in the NLOS environment, and improve the positioning accuracy of the transmitting device in the NLOS environment. At the same time, this solution can reduce the deviation of radio communication ranging or positioning position, making the measurement value in the NLOS environment closer to the actual value.

[0154] 2) The positioning device of the present application, the first acquisition unit acquires the comprehensive signal strength and the first-path signal strength, the second acquisition unit acquires the initial distance value between the transmitting device and the receiving device, as well as the initial position information of the transmitting device. The first determination unit determines the correction distance value according to the comprehensive signal strength and the first-path signal strength, and uses the correction distance value to correct the initial distance value to obtain the target distance value. The correction unit corrects the initial position information according to the target distance value to obtain the target position information. In this solution, the position information of the transmitting device is corrected in the NLOS environment through multiple links, which can correct the position information and navigation route of the transmitting device in the NLOS environment, reduce the influence degree of the transmitting device positioning in the NLOS environment, and improve the positioning accuracy of the transmitting device in the NLOS environment. At the same time, this solution can reduce the deviation of radio communication ranging or positioning position, making the measurement value in the NLOS environment closer to the actual value.

[0155] 3) The positioning system of the present application, since it includes any of the above methods, in this method, first, the comprehensive signal strength and the first-path signal strength are obtained, then the initial distance value between the transmitting device and the receiving device, as well as the initial position information of the transmitting device are obtained. Then, the correction distance value is determined according to the comprehensive signal strength and the first-path signal strength, and the initial distance value is corrected using the correction distance value to obtain the target distance value. Finally, the initial position information is corrected according to the target distance value to obtain the target position information. In this solution, the position information of the transmitting device is corrected in the NLOS environment through multiple links, which can correct the position information and navigation route of the transmitting device in the NLOS environment, reduce the influence degree of the transmitting device positioning in the NLOS environment, and improve the positioning accuracy of the transmitting device in the NLOS environment. At the same time, this solution can reduce the deviation of radio communication ranging or positioning position, making the measurement value in the NLOS environment closer to the actual value.

[0156] The above are only the preferred embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the protection scope of the present application.

Claims

1. A positioning method, characterized in that, Including: Obtaining the comprehensive signal strength and the first-path signal strength, where the comprehensive signal strength is determined according to the strengths of multiple signals sent by a sending device, and the first-path signal strength is the strength of the first signal received by a receiving device; Obtaining an initial distance value between the sending device and the receiving device, and initial position information of the sending device; Determining a correction distance value according to the comprehensive signal strength and the first-path signal strength, and using the correction distance value to correct the initial distance value to obtain a target distance value; Correcting the initial position information according to the target distance value to obtain target position information; The obtaining the initial distance value between the sending device and the receiving device includes: Obtaining a first difference between the comprehensive signal strength and the first-path signal strength; Determining the initial distance value between the sending device and the receiving device according to the first difference.

2. The method according to claim 1, wherein The determining the initial distance value between the sending device and the receiving device according to the first difference includes: When the first difference is less than a first threshold, obtaining a first timestamp, a second timestamp, a clock frequency offset, and an electromagnetic wave propagation speed, where the first timestamp is the timestamp when the sending device sends a data packet, and the second timestamp is the timestamp when the receiving device receives the data packet; Determining an actual elapsed time according to the first timestamp, the second timestamp, and the clock frequency offset, where the actual elapsed time is the time actually taken for the data packet to be sent from the sending device to the receiving device; Determining the initial distance value between the sending device and the receiving device according to the actual elapsed time and the electromagnetic wave propagation speed.

3. The method according to claim 1, wherein The method further includes: When the first difference is greater than or equal to the first threshold, determining that both the signal corresponding to the comprehensive signal strength and the signal corresponding to the first-path signal strength are invalid signals.

4. The method according to claim 1, characterized in that The comprehensive signal strength includes a first-type comprehensive signal strength and a second-type comprehensive signal strength, and the first-path signal strength includes a first-type first-path signal strength and a second-type first-path signal strength. The first-type comprehensive signal strength and the first-type first-path signal strength are obtained in a first scenario, and the second-type comprehensive signal strength and the second-type first-path signal strength are obtained in a second scenario. The first scenario is a scenario where there is no obstacle between the sending device and the receiving device, and the second scenario is a scenario where there is an obstacle between the sending device and the receiving device. The determining the correction distance value according to the comprehensive signal strength and the first-path signal strength includes: Obtaining a second difference between the first-type comprehensive signal strength and the second-type comprehensive signal strength; Obtaining a third difference between the first-type first-path signal strength and the second-type first-path signal strength; Determining the correction distance value according to the second difference and the third difference.

5. The method according to claim 4, wherein The determining the correction distance value according to the second difference and the third difference includes: When the second difference is less than the second threshold and the third difference is less than or equal to the third threshold, determine that the correction distance value is the first correction distance value; When the second difference is less than the second threshold, the third difference is greater than the third threshold and the third difference is less than the fourth threshold, determine that the correction distance value is the second correction distance value, where the fourth threshold is greater than the third threshold and the second correction distance value is greater than the first correction distance value; When the second difference is greater than or equal to the second threshold and less than the fifth threshold, and the third difference is greater than the third threshold and less than the fourth threshold, determine that the correction distance value is the third correction distance value, where the fifth threshold is greater than the second threshold and the third correction distance value is greater than the second correction distance value.

6. The method according to claim 5, characterized in that, The determining the correction distance value according to the second difference and the third difference further includes: When the second difference is greater than or equal to the fifth threshold, the third difference is greater than the third threshold and less than the fourth threshold, determine that the correction distance value is the fourth correction distance value, where the fourth correction distance value is greater than the third correction distance value; When the second difference is greater than or equal to the second threshold and less than the fifth threshold, and the third difference is greater than or equal to the fourth threshold, determine that the correction distance value is the fifth correction distance value, where the fifth correction distance value is greater than the fourth correction distance value; When the second difference is greater than or equal to the fifth threshold and the third difference is greater than or equal to the fourth threshold, determine that the correction distance value is the sixth correction distance value, where the sixth correction distance value is greater than the fifth correction distance value.

7. The method according to claim 1, wherein The correcting the initial position information according to the target distance value to obtain the target position information includes: Determine the current state of the sending device, where the current state is obtained by using a gyroscope sensor installed in the sending device, and the current state includes a stationary state and a moving state; When the current state is the moving state, correct the initial position information according to the target distance value to obtain the target position information.

8. The method according to claim 7, wherein The correcting the initial position information according to the target distance value to obtain the target position information when the current state is the moving state includes: Obtain the first initial position information at the first moment and the second initial position information at the second moment; Determine whether the actual distance value is equal to the target distance value, where the actual distance value is the distance value of the second initial position information of the sending device relative to the position information of the receiving device; When the actual distance value is not equal to the target distance value, correct the second initial position information according to the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information.

9. The method according to claim 8, wherein When the motion state is a linear motion state and the actual distance value is not equal to the target distance value, correcting the second initial position information based on the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information includes: Constructing a first functional relationship using the first initial position information at multiple first moments and the second initial position information at the second moment; Correcting the second initial position information according to the first functional relationship to obtain the target position information.

10. The method according to claim 8, characterized in that When the motion state is a non-linear motion state and the actual distance value is not equal to the target distance value, correcting the second initial position information based on the first initial position information at the first moment and the second initial position information at the second moment to obtain the target position information includes: Determining whether the actual direction is the same as the target direction, where the actual direction refers to the direction of the second initial position information of the sending device relative to the position information of the receiving device; When the actual direction is not the same as the target direction, obtaining a correction slope parameter and a rotation angle parameter; Constructing a second functional relationship using the first initial position information at multiple first moments, the second initial position information at the second moment, the correction slope parameter, and the rotation angle parameter; Correcting the second initial position information according to the second functional relationship to obtain the target position information.

11. The method according to claim 7, wherein The method further includes: When the current state is the stationary state, determining not to correct the initial position information; Continuously obtaining the initial position information at multiple moments, obtaining the average value of the multiple initial position information, and determining the average value as the target position information.

12. The method according to any one of claims 1 to 11, characterized in that, The correcting the initial distance value using the correction distance value to obtain the target distance value includes: Obtaining a fourth difference between the initial distance value and the correction distance value; Determining the fourth difference as the target distance value.

13. The method according to any one of claims 1 to 11, characterized in that The sending device includes a first UWB device, and the receiving device includes a second UWB device.

14. A positioning device, characterized in that, Including: A first acquisition unit for acquiring the comprehensive signal strength and the first-path signal strength, where the comprehensive signal strength is determined based on the strengths of multiple signals sent by the sending device, and the first-path signal strength is the strength of the first signal received by the receiving device; A second acquisition unit for acquiring the initial distance value between the sending device and the receiving device, and the initial position information of the sending device; A first determination unit for determining the correction distance value according to the comprehensive signal strength and the first-path signal strength, and correcting the initial distance value using the correction distance value to obtain the target distance value; A correction unit for correcting the initial position information according to the target distance value to obtain the target position information; The second acquisition unit includes: A first acquisition module for acquiring a first difference between the comprehensive signal strength and the first-path signal strength; A first determination module, configured to determine the initial distance value between the sending device and the receiving device according to the first difference.

15. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 13.

16. A positioning system, characterized in that, Comprising: A sending device, a receiving device, and a positioning device, the positioning device communicates with the sending device and the receiving device respectively, and the positioning device is configured to execute the method according to any one of claims 1 to 13.

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