UWB Positioning Method, Device, System and Computer Readable Storage Medium

Abstract

The present invention discloses a UWB positioning method, device, system and computer-readable storage medium. The UWB positioning method is applied to a UWB positioning base station, and the UWB positioning base station includes at least four antennas. The method includes: receiving a UWB positioning signal sent by a device to be positioned, and determining a first distance between each antenna and the device to be positioned according to the UWB positioning signal; obtaining a second distance between every two antennas, and calculating positioning information of the device to be positioned according to the first distance and the second distance. By arranging at least four antennas in the UWB positioning base station, the present invention reduces the cost of UWB positioning. By receiving the UWB positioning signal sent by the device to be positioned, determining the first distance between each antenna and the device to be positioned, and calculating the positioning information of the device to be positioned according to the first distance and the second distance between every two antennas, the operation is made simple and the efficiency of UWB positioning is improved.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technologies, and in particular to a UWB positioning method, device, system and computer-readable storage medium. Background Art

[0002] The UWB (Ultra Wide Band) positioning method is a high-precision positioning method and is currently widely used. However, the existing UWB positioning method uses multiple positioning base stations, and the positioning base stations use a single-channel transmitting and receiving system, resulting in a high cost of the existing UWB positioning method and low positioning efficiency due to complex operations. Therefore, how to reduce the cost of the UWB positioning method and improve the positioning efficiency is an urgent problem to be solved. Summary of the Invention

[0003] The main purpose of the present invention is to propose a UWB positioning method, device, system and computer-readable storage medium, aiming to solve the problem of how to reduce the cost of the UWB positioning method and improve the positioning efficiency.

[0004] To achieve the above object, the present invention provides a UWB positioning method, which is applied to a UWB positioning base station. The UWB positioning base station includes at least four antennas, and the UWB positioning method includes the following steps:

[0005] Receive a UWB positioning signal sent by a device to be positioned, and determine a first distance between each antenna and the device to be positioned according to the UWB positioning signal;

[0006] Obtain a second distance between every two antennas, and calculate positioning information of the device to be positioned according to the first distance and the second distance.

[0007] Optionally, the step of determining the first distance between each antenna and the device to be positioned according to the UWB positioning signal includes:

[0008] Obtain a second distance between every two antennas, and determine a time difference of arrival of the UWB positioning signal between every two antennas according to the second distance;

[0009] Determine an arrival duration of the UWB positioning signal corresponding to each antenna according to the time difference of arrival, and determine the first distance between each antenna and the device to be positioned according to the arrival duration.

[0010] Optionally, the step of determining the first distance between each antenna and the device to be positioned according to the arrival duration includes:

[0011] Obtain the propagation speed of the UWB positioning signal, and calculate the first distance between each antenna and the device to be positioned according to the propagation speed and the arrival duration corresponding to each antenna.

[0012] Optionally, the step of obtaining the second distance between every two antennas and calculating the positioning information of the device to be positioned according to the first distance and the second distance includes:

[0013] Obtain the second distance between every two antennas, and determine the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance;

[0014] Determine the first antenna according to the arrangement information of the antennas, and calculate the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned.

[0015] Optionally, the step of determining the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance includes:

[0016] Determine the second antenna, the third antenna, and the fourth antenna according to the arrangement information of the antennas;

[0017] Determine the first trajectory circle according to the second distance between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned;

[0018] Determine the second trajectory circle according to the second distance between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned.

[0019] Optionally, the step of calculating the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned includes:

[0020] Determine the first intersection point and the second intersection point according to the first trajectory circle and the second trajectory circle, calculate the third distance between the first antenna and the first intersection point, and calculate the fourth distance between the first antenna and the second intersection point;

[0021] Calculate the positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned.

[0022] Optionally, the step of calculating the positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned includes:

[0023] Compare the third distance and the fourth distance with the first distance between the first antenna and the device to be positioned respectively;

[0024] If it is determined that the third distance meets the preset condition, obtain the positioning information of the first intersection point, and use the positioning information of the first intersection point as the positioning information of the device to be positioned;

[0025] If it is determined that the fourth distance meets the preset condition, obtain the positioning information of the second intersection point, and use the positioning information of the second intersection point as the positioning information of the device to be positioned.

[0026] In addition, to achieve the above object, the present invention further provides a UWB positioning device, and the UWB positioning device includes:

[0027] A determination module, configured to receive a UWB positioning signal sent by a device to be positioned, and determine the first distance between each antenna and the device to be positioned according to the UWB positioning signal;

[0028] A calculation module, configured to obtain the second distance between every two antennas, and calculate the positioning information of the device to be positioned according to the first distance and the second distance.

[0029] Further, the determination module is further configured to:

[0030] Obtain the second distance between every two antennas, and determine the time difference of arrival of the UWB positioning signal between every two antennas according to the second distance;

[0031] Determine the arrival duration corresponding to each antenna of the UWB positioning signal according to the time difference of arrival, and determine the first distance between each antenna and the device to be positioned according to the arrival duration.

[0032] Further, the determination module is further configured to:

[0033] Obtain the propagation speed of the UWB positioning signal, and calculate the first distance between each antenna and the device to be positioned according to the propagation speed and the arrival duration corresponding to each antenna.

[0034] Further, the calculation module is further configured to:

[0035] Obtain the second distance between every two antennas, and determine the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance;

[0036] Determine a first antenna according to the arrangement information of the antennas, and calculate the positioning information of the device to be positioned based on the first locus circle, the second locus circle, and the first distance between the first antenna and the device to be positioned.

[0037] Furthermore, the calculation module is further configured to:

[0038] Determine a second antenna, a third antenna, and a fourth antenna according to the arrangement information of the antennas;

[0039] Determine the first locus circle according to the second distance between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned;

[0040] Determine the second locus circle according to the second distance between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned.

[0041] Furthermore, the calculation module is further configured to:

[0042] Determine a first intersection point and a second intersection point according to the first locus circle and the second locus circle, calculate a third distance between the first antenna and the first intersection point, and calculate a fourth distance between the first antenna and the second intersection point;

[0043] Calculate the positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned.

[0044] Furthermore, the calculation module is further configured to:

[0045] Compare the third distance and the fourth distance with the first distance between the first antenna and the device to be positioned respectively;

[0046] If it is determined that the third distance meets the preset condition, obtain the positioning information of the first intersection point, and use the positioning information of the first intersection point as the positioning information of the device to be positioned;

[0047] If it is determined that the fourth distance meets the preset condition, obtain the positioning information of the second intersection point, and use the positioning information of the second intersection point as the positioning information of the device to be positioned.

[0048] In addition, to achieve the above object, the present invention further provides a UWB positioning system, which includes: a memory, a processor, and a UWB positioning program stored on the memory and executable on the processor. When the UWB positioning program is executed by the processor, the steps of the UWB positioning method described above are implemented.

[0049] In addition, to achieve the above object, the present invention further provides a computer-readable storage medium, on which a UWB positioning program is stored. When the UWB positioning program is executed by a processor, the steps of the UWB positioning method described above are implemented.

[0050] The UWB positioning method proposed by the present invention is applied to a UWB positioning base station, which includes at least four antennas. The method includes: receiving a UWB positioning signal sent by a device to be positioned, and determining a first distance between each antenna and the device to be positioned according to the UWB positioning signal; obtaining a second distance between the antennas, and calculating the positioning information of the device to be positioned according to the first distance and the second distance. By setting at least four antennas in the UWB positioning base station, the present invention reduces the cost of UWB positioning. By receiving the UWB positioning signal sent by the device to be positioned, determining the first distance between each antenna and the device to be positioned, and calculating the positioning information of the device to be positioned according to the first distance and the second distance between the antennas, the operation is simplified and the efficiency of UWB positioning is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment solution of the present invention;

[0052] Figure 2 is a schematic flowchart of the first embodiment of the UWB positioning method of the present invention;

[0053] Figure 3 is a schematic flowchart of calculating the arrival duration corresponding to the antenna when the UWB positioning signal arrives in the present invention;

[0054] Figure 4 is a schematic diagram of the first trajectory circle and the second trajectory circle of the device to be positioned in the present invention;

[0055] Figure 5 is a schematic diagram of the structure of the UWB positioning device of the present invention.

[0056] The realization, functional features, and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0057] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0058] As shown Figure 1 in Figure 1 Figure 1, it is a schematic diagram of the device structure of the hardware operating environment involved in the embodiment of the present invention.

[0059] The device in the embodiment of the present invention can be a PC or a server device.

[0060] As shown Figure 1 in

[0061] Figure 2, the device may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, and a communication bus 1002. Among them, the communication bus 1002 is used to realize the connection and communication between these components. The user interface 1003 may include a display screen (Display) and an input unit such as a keyboard (Keyboard). Optionally, the user interface 1003 may further include a standard wired interface and a wireless interface. The network interface 1004 may optionally include a standard wired interface and a wireless interface (such as a WI-FI interface). The memory 1005 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Optionally, the memory 1005 may also be a storage device independent of the aforementioned processor 1001. Figure 1 Those skilled in the art can understand that the device structure shown in Figure 2 does not constitute a limitation on the device, and it may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0062] As shown Figure 1 in

[0063] Figure 3, in the memory 1005 as a computer storage medium, there may be included an operating system, a network communication module, a user interface module, and a UWB positioning program.

[0064] Among them, the operating system is a program for managing and controlling portable storage devices and software resources, and supports the operation of the network communication module, the user interface module, the UWB positioning program, and other programs or software; the network communication module is used to manage and control the network interface 1002; the user interface module is used to manage and control the user interface 1003. Figure 1 In the storage device shown in Figure 4, the storage device calls the UWB positioning program stored in the memory 1005 through the processor 1001 and executes the operations in each embodiment of the following UWB positioning method.

[0065] Based on the above hardware structure, an embodiment of the UWB positioning method of the present invention is proposed.

[0066] Referring Figure 2 to Figure 2Schematic flowchart of the first embodiment of the UWB positioning method of the present invention. The method includes:

[0067] Step S10: Receive the UWB positioning signal sent by the device to be positioned, and determine the first distance between each antenna and the device to be positioned according to the UWB positioning signal.

[0068] Step S20: Obtain the second distance between every two antennas, and calculate the positioning information of the device to be positioned according to the first distance and the second distance.

[0069] The UWB positioning method of this embodiment is applied to a UWB positioning base station, and the UWB positioning base station includes at least four antennas; for the convenience of description, the UWB positioning base station is taken as an example for illustration; the UWB positioning base station receives the UWB positioning signal sent by the device to be positioned, obtains the second distance between every two antennas, and determines the time difference of arrival of the UWB positioning signal between every two antennas according to the second distance; determines the arrival duration corresponding to each antenna when the UWB positioning signal arrives according to the time difference of arrival, and determines the first distance between each antenna and the device to be positioned according to the arrival duration; the UWB positioning base station obtains the second distance between every two antennas, and determines the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance; determines the first antenna according to the arrangement information of the antennas, and calculates the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle and the first distance between the first antenna and the device to be positioned. It should be noted that the second distance between the antennas in the UWB positioning base station is set in advance according to the wavelength of the UWB positioning signal; since the distances between each antenna in the UWB positioning base station and the device to be positioned are different, the durations for each antenna to receive the UWB positioning signal sent by the device to be positioned are also different, so there will be a time difference of arrival when receiving the UWB positioning signal between the antennas; the first trajectory circle and the second trajectory circle are respectively circular trajectories composed of all possible positioning information of the device to be positioned.

[0070] The UWB positioning method of this embodiment receives the UWB positioning signal sent by the device to be positioned, and determines the first distance between each antenna and the device to be positioned according to the UWB positioning signal; obtains the second distance between every two antennas, and calculates the positioning information of the device to be positioned according to the first distance and the second distance. By setting at least four antennas in the UWB positioning base station, the present invention significantly reduces the cost of UWB positioning compared with the prior art that requires multiple base stations. By receiving the UWB positioning signal sent by the device to be positioned, determining the first distance between each antenna and the device to be positioned, and calculating the positioning information of the device to be positioned according to the first distance and the second distance between every two antennas, the operation is made simple and the efficiency of UWB positioning is improved.

[0071] The following will explain each step in detail:

[0072] Step S10: Receive the UWB positioning signal sent by the device to be located, and determine the first distance between each antenna and the device to be located according to the UWB positioning signal.

[0073] In this embodiment, when the device to be located needs to be positioned, it sends a UWB positioning signal to the UWB positioning base station. Each antenna in the UWB positioning base station will receive the UWB positioning signal sent by the device to be located. The UWB positioning base station determines the arrival duration of the UWB positioning signal sent by the device to be located received by each antenna, and determines the first distance between each antenna and the device to be located. Preferably, the UWB positioning base station includes four antennas. The arrangement information of each antenna is determined according to the wavelength of the UWB positioning signal and the actual situation, and the antennas are installed in the UWB positioning base station according to the arrangement information of each antenna. The UWB positioning base station respectively determines the arrival durations of the UWB positioning signals sent by the device to be located received by the four antennas, and then respectively determines the first distances between the four antennas and the device to be located.

[0074] Specifically, the step of determining the first distance between each antenna and the device to be located according to the UWB positioning signal includes:

[0075] Step S101: Obtain the second distance between every two antennas, and determine the arrival time difference of the UWB positioning signal between the antennas according to the second distance.

[0076] In this step, the UWB positioning base station obtains the second distance between every two of its antennas, and determines the arrival time difference of the UWB positioning signal sent by the device to be located received between every two antennas according to the second distance. It can be understood that the second distance between every two antennas in the UWB positioning base station is determined, and the propagation speed of the UWB positioning signal is also determined. Therefore, the arrival time difference of the UWB positioning signal between every two antennas can be calculated according to the second distance between every two antennas and the propagation speed of the UWB positioning signal.

[0077] Step S102: Determine the arrival duration corresponding to each antenna when the UWB positioning signal arrives according to the arrival time difference, and determine the first distance between each antenna and the device to be located according to the arrival duration.

[0078] In this step, after the UWB positioning base station determines the arrival time difference of the UWB positioning signal between every two antennas, it determines the arrival duration corresponding to each antenna when the UWB positioning signal arrives according to the arrival time difference, and determines the first distance between each antenna and the device to be located according to the arrival duration; as Figure 3 shown Figure 3Schematic diagram for calculating the arrival duration of UWB positioning signals at each antenna. There are four antennas in the UWB positioning base station, namely the first antenna, the second antenna, the third antenna, and the fourth antenna. After the first antenna, the second antenna, the third antenna, and the fourth antenna receive the UWB positioning signals, the UWB positioning base station inputs the UWB positioning signals into the transmitting and receiving and diversity receiving modules for processing. Then, through the signal processing module, the arrival duration T1 corresponding to the UWB positioning signal reaching the first antenna, the arrival duration T2 corresponding to the UWB positioning signal reaching the second antenna, the arrival duration T3 corresponding to the UWB positioning signal reaching the third antenna, and the arrival duration T4 corresponding to the UWB positioning signal reaching the fourth antenna can be calculated. Among them, the arrival durations of the UWB positioning signals at the first antenna and the second antenna can be obtained according to the arrival time difference of the UWB positioning signals between the first antenna and the second antenna and the second distance between the first antenna and the second antenna; the arrival durations of the UWB positioning signals at the second antenna and the third antenna can be obtained according to the arrival time difference of the UWB positioning signals between the second antenna and the third antenna and the second distance between the second antenna and the third antenna; the arrival durations of the UWB positioning signals at the third antenna and the fourth antenna can be obtained according to the arrival time difference of the UWB positioning signals between the third antenna and the fourth antenna and the second distance between the third antenna and the fourth antenna.

[0079] Further, the steps of determining the first distance between each antenna and the device to be located according to the arrival duration include:

[0080] Step S1021: Obtain the propagation speed of the UWB positioning signal, and calculate the first distance between each antenna and the device to be located according to the propagation speed and the arrival duration corresponding to each antenna.

[0081] In this step, after the UWB positioning base station determines the arrival duration corresponding to the UWB positioning signal reaching each antenna, it obtains the propagation speed of the UWB positioning signal, and calculates the first distance between each antenna and the device to be located according to the propagation speed and the arrival duration corresponding to each antenna. For example, the UWB positioning signal propagates in the air in the form of electromagnetic waves. Therefore, the propagation speed of the UWB positioning signal can be approximately regarded as the speed of light. By multiplying the speed of light by the arrival duration corresponding to the UWB positioning signal reaching each antenna, the first distance between each antenna and the device to be located can be calculated.

[0082] Step S20: Obtain the second distance between every two antennas, and calculate the positioning information of the device to be located according to the first distance and the second distance.

[0083] In this embodiment, after the UWB positioning base station determines the first distance between each antenna and the device to be positioned, it obtains the second distance between every two antennas, and calculates the positioning information of the device to be positioned based on the first distance and the second distance.

[0084] Specifically, step S20 includes:

[0085] Step S201, obtain the second distance between every two antennas, and determine the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance;

[0086] In this step, the UWB positioning base station obtains the second distance between every two antennas, and determines the first antenna, the second antenna, the third antenna, and the fourth antenna according to the arrangement information of the antennas. Among them, the arrangement rules of the first antenna with the second antenna, the third antenna, and the fourth antenna are different. The first antenna is used to subsequently determine the positioning information of the device to be positioned, and the second antenna, the third antenna, and the fourth antenna are used to determine the first trajectory circle and the second trajectory circle of the device to be positioned; the UWB positioning base station determines the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance corresponding to the second antenna, the third antenna, and the fourth antenna.

[0087] Further, the step of determining the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance includes:

[0088] Step S2011, determine the second antenna, the third antenna, and the fourth antenna according to the arrangement information of the antennas;

[0089] Step S2012, determine the first trajectory circle according to the second distance between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned;

[0090] Step S2013, determine the second trajectory circle according to the second distance between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned.

[0091] In steps S2011 to S2013, the UWB positioning base station determines the second antenna, the third antenna, and the fourth antenna according to the arrangement information of the antennas. According to the second distance between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned, the first trajectory circle of the device to be positioned is determined. According to the second distance between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned, the second trajectory circle of the device to be positioned is determined. As Figure 4 shown Figure 4 FIG. is a schematic diagram of the first trajectory circle and the second trajectory circle of the device to be positioned. Among them, the UWB positioning base station determines the first trajectory circle of the device to be positioned according to the second distance (D23) between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned. These three distance values form a triangle with one side fixed. The other two sides of this triangle with one side fixed can be in any position in space. Therefore, the first trajectory circle of the device to be positioned can be formed. Similarly, the UWB positioning base station determines the second trajectory circle of the device to be positioned according to the second distance (D34) between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned. These three distance values form a triangle with one side fixed. The other two sides of this triangle with one side fixed can be in any position in space. Therefore, the second trajectory circle of the device to be positioned can be formed.

[0092] Step S202: Determine the first antenna according to the arrangement information of the antennas, and calculate the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned.

[0093] In this step, the UWB positioning base station determines the intersection points of the first trajectory circle and the second trajectory circle. The intersection points are the possible positions of the device to be positioned. Then, the first antenna is determined according to the arrangement information of the antennas. Combining the intersection points of the first trajectory circle and the second trajectory circle and the first distance between the first antenna and the device to be positioned, the positioning information of the device to be positioned is calculated.

[0094] Specifically, the step of calculating the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned includes:

[0095] Step S2021: Determine the first intersection point and the second intersection point according to the first trajectory circle and the second trajectory circle, calculate the third distance between the first antenna and the first intersection point, and calculate the fourth distance between the first antenna and the second intersection point.

[0096] In step S2022, calculate the positioning information of the device to be positioned based on the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned.

[0097] In steps S2021 to S2022, as Figure 4 shown, there are generally two intersection points between the first locus circle and the second locus circle. The UWB positioning base station determines the first intersection point and the second intersection point according to the first locus circle and the second locus circle respectively, calculates the third distance between the first antenna and the first intersection point according to the positioning information of the first intersection point, and calculates the fourth distance between the first antenna and the second intersection point according to the positioning information of the second intersection point. After obtaining the third distance and the fourth distance, the UWB positioning base station calculates the positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned. In a feasible embodiment, the UWB positioning base station determines the first intersection point and the second intersection point according to the first locus circle and the second locus circle respectively, and combines the pre-set electronic map to determine the positioning information of the first intersection point and the second intersection point respectively. The positioning information of the first intersection point and the second intersection point can be the coordinates of the first intersection point and the second intersection point on the electronic map. The UWB positioning base station also combines the pre-set electronic map to determine the coordinates of the first antenna on the electronic map, and then calculates the third distance between the first antenna and the first intersection point, and the fourth distance between the first antenna and the second intersection point according to the coordinates of the first intersection point on the electronic map, the coordinates of the second intersection point on the electronic map, and the coordinates of the first antenna on the electronic map.

[0098] Further, step S2022 includes:

[0099] Step S20221, compare the third distance and the fourth distance with the first distance between the first antenna and the device to be positioned respectively;

[0100] Step S20222, if it is determined that the third distance meets the preset condition, obtain the positioning information of the first intersection point, and use the positioning information of the first intersection point as the positioning information of the device to be positioned;

[0101] Step S20223, if it is determined that the fourth distance meets the preset condition, obtain the positioning information of the second intersection point, and use the positioning information of the second intersection point as the positioning information of the device to be positioned.

[0102] In steps S20221 to S20223, the UWB positioning base station compares the third distance and the fourth distance with the first distance between the first antenna and the device to be positioned respectively, calculates the difference between the third distance and the first distance between the first antenna and the device to be positioned, and the difference between the fourth distance and the first distance between the first antenna and the device to be positioned. If the difference between the third distance and the first distance between the first antenna and the device to be positioned is within the preset difference range and it is determined that the third distance meets the preset conditions, the positioning information of the first intersection point is obtained and used as the positioning information of the device to be positioned. If the difference between the fourth distance and the first distance between the first antenna and the device to be positioned is within the preset difference range and it is determined that the fourth distance meets the preset conditions, the positioning information of the second intersection point is obtained and the positioning information of the first intersection point is used as the positioning information of the device to be positioned.

[0103] The UWB positioning base station in this embodiment receives the UWB positioning signal sent by the device to be positioned, obtains the second distance between the antennas, and determines the time difference of arrival of the UWB positioning signal between the antennas according to the second distance; determines the arrival duration of the UWB positioning signal at each antenna according to the time difference of arrival, and determines the first distance between each antenna and the device to be positioned according to the arrival duration; the UWB positioning base station obtains the second distance between the antennas, and determines the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance; determines the first antenna according to the arrangement information of the antennas, and calculates the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned. By setting at least four antennas in the UWB positioning base station in the present invention, compared with the prior art that requires multiple base stations, the cost of UWB positioning is significantly reduced. By receiving the UWB positioning signal sent by the device to be positioned, determining the first distance between each antenna and the device to be positioned, and calculating the positioning information of the device to be positioned according to the first distance and the second distance between the antennas, the operation is simple and the efficiency of UWB positioning is improved.

[0104] As Figure 5 shown, the present invention also provides a UWB positioning device. The UWB positioning device of the present invention includes:

[0105] A determination module 101, configured to receive the UWB positioning signal sent by the device to be positioned, and determine the first distance between each antenna and the device to be positioned according to the UWB positioning signal;

[0106] A calculation module 102, configured to obtain the second distance between every two antennas, and calculate the positioning information of the device to be positioned according to the first distance and the second distance.

[0107] Further, the determination module is further configured to:

[0108] Obtain the second distance between every two antennas, and determine the time difference of arrival of the UWB positioning signal between every two antennas according to the second distance;

[0109] Determine the arrival duration corresponding to each antenna for the UWB positioning signal according to the time difference of arrival, and determine the first distance between each antenna and the device to be positioned according to the arrival duration.

[0110] Furthermore, the determining module is further configured to:

[0111] Obtain the propagation speed of the UWB positioning signal, and calculate the first distance between each antenna and the device to be positioned according to the propagation speed and the arrival duration corresponding to each antenna.

[0112] Furthermore, the calculating module is further configured to:

[0113] Obtain the second distance between every two antennas, and determine the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance;

[0114] Determine the first antenna according to the arrangement information of the antennas, and calculate the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned.

[0115] Furthermore, the calculating module is further configured to:

[0116] Determine the second antenna, the third antenna, and the fourth antenna according to the arrangement information of the antennas;

[0117] Determine the first trajectory circle according to the second distance between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned;

[0118] Determine the second trajectory circle according to the second distance between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned.

[0119] Furthermore, the calculating module is further configured to:

[0120] Determine the first intersection point and the second intersection point according to the first trajectory circle and the second trajectory circle, calculate the third distance between the first antenna and the first intersection point, and calculate the fourth distance between the first antenna and the second intersection point;

[0121] Calculate the positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned.

[0122] Further, the calculation module is further configured to:

[0123] Compare the third distance and the fourth distance with the first distance between the first antenna and the device to be positioned respectively;

[0124] If it is determined that the third distance meets the preset conditions, obtain the positioning information of the first intersection point, and use the positioning information of the first intersection point as the positioning information of the device to be positioned;

[0125] If it is determined that the fourth distance meets the preset conditions, obtain the positioning information of the second intersection point, and use the positioning information of the second intersection point as the positioning information of the device to be positioned.

[0126] The present invention also provides a UWB positioning system.

[0127] The UWB positioning system includes: a memory, a processor, and a UWB positioning program stored on the memory and executable on the processor. When the UWB positioning program is executed by the processor, the steps of the UWB positioning method described above are implemented.

[0128] Among them, the method implemented when the UWB positioning program running on the processor is executed can refer to the various embodiments of the UWB positioning method of the present invention, which will not be elaborated here.

[0129] The present invention also provides a computer-readable storage medium.

[0130] The computer-readable storage medium stores a UWB positioning program. When the UWB positioning program is executed by a processor, the steps of the UWB positioning method described above are implemented.

[0131] Among them, the method implemented when the UWB positioning program running on the processor is executed can refer to the various embodiments of the UWB positioning method of the present invention, which will not be elaborated here.

[0132] It should be noted that in this article, the term "comprising", "including" or any other variant thereof is intended to cover a non-exclusive inclusion, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or system. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or system including that element.

[0133] The serial numbers of the embodiments of the present invention above are only for description and do not represent the advantages or disadvantages of the embodiments.

[0134] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, in essence, or the part that makes a contribution to the prior art can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disk), and includes several instructions to enable a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention.

[0135] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the description of the present invention and the accompanying drawings, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present invention.

Claims

1. A UWB positioning method, characterized in that, The UWB positioning method is applied to a UWB positioning base station, and the UWB positioning base station includes at least four antennas. The UWB positioning method includes the following steps: Receiving a UWB positioning signal sent by a device to be positioned, and determining a first distance between each antenna and the device to be positioned according to the UWB positioning signal; Obtaining a second distance between every two antennas, and calculating positioning information of the device to be positioned according to the first distance and the second distance; The step of obtaining a second distance between every two antennas and calculating positioning information of the device to be positioned according to the first distance and the second distance includes: Obtaining a second distance between every two antennas, and determining a first trajectory circle and a second trajectory circle of the device to be positioned according to the first distance and the second distance. The first trajectory circle and the second trajectory circle are obtained through a triangle with one side fixed, and the other two sides are at arbitrary positions in space; Determining a first antenna according to the arrangement information of the antennas, and calculating positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned; The step of calculating positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned includes: Determining a first intersection point and a second intersection point according to the first trajectory circle and the second trajectory circle, and calculating a third distance between the first antenna and the first intersection point, and calculating a fourth distance between the first antenna and the second intersection point. The first intersection point and the second intersection point are the intersection points between the first trajectory circle and the second trajectory circle; Calculating positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned; The step of determining the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance includes: Determining a second antenna, a third antenna, and a fourth antenna according to the arrangement information of the antennas; Determining the first trajectory circle according to the second distance between the second antenna and the third antenna, the first distance between the second antenna and the device to be positioned, and the first distance between the third antenna and the device to be positioned; Determining the second trajectory circle according to the second distance between the third antenna and the fourth antenna, the first distance between the third antenna and the device to be positioned, and the first distance between the fourth antenna and the device to be positioned; The step of calculating positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned includes: Comparing the third distance and the fourth distance with the first distance between the first antenna and the device to be positioned respectively; If it is determined that the third distance meets the preset condition, obtain the positioning information of the first intersection point, and use the positioning information of the first intersection point as the positioning information of the device to be positioned. The preset condition is that the difference from the first distance between the first antenna and the device to be positioned meets the condition within a preset difference range; If it is determined that the fourth distance meets the preset condition, obtain the positioning information of the second intersection point, and use the positioning information of the second intersection point as the positioning information of the device to be positioned.

2. The UWB positioning method according to claim 1, characterized in that, The step of determining the first distance between each antenna and the device to be positioned according to the UWB positioning signal includes: Obtain the second distance between every two antennas, and determine the time difference of arrival of the UWB positioning signal between every two antennas according to the second distance; Determine the arrival duration of the UWB positioning signal corresponding to each antenna according to the time difference of arrival, and determine the first distance between each antenna and the device to be positioned according to the arrival duration.

3. The UWB positioning method according to claim 2, characterized in that, The step of determining the first distance between each antenna and the device to be positioned according to the arrival duration includes: Obtain the propagation speed of the UWB positioning signal, and calculate the first distance between each antenna and the device to be positioned according to the propagation speed and the arrival duration corresponding to each antenna.

4. A UWB positioning device, characterized in that, The UWB positioning device includes: A determination module, configured to receive the UWB positioning signal sent by the device to be positioned, and determine the first distance between each antenna and the device to be positioned according to the UWB positioning signal; A calculation module, configured to obtain the second distance between every two antennas, and calculate the positioning information of the device to be positioned according to the first distance and the second distance; The calculation module is further configured to obtain the second distance between every two antennas, and determine the first trajectory circle and the second trajectory circle of the device to be positioned according to the first distance and the second distance. The first trajectory circle and the second trajectory circle are obtained through a triangle with one side fixed and the other two sides at arbitrary positions in space; determine the first antenna according to the arrangement information of the antennas, and calculate the positioning information of the device to be positioned according to the first trajectory circle, the second trajectory circle, and the first distance between the first antenna and the device to be positioned; The calculation module is further configured to determine the first intersection point and the second intersection point according to the first trajectory circle and the second trajectory circle, calculate the third distance between the first antenna and the first intersection point, and calculate the fourth distance between the first antenna and the second intersection point. The first intersection point and the second intersection point are the intersection points between the first trajectory circle and the second trajectory circle; calculate the positioning information of the device to be positioned according to the third distance, the fourth distance, and the first distance between the first antenna and the device to be positioned; The calculation module is further configured to determine a second antenna, a third antenna, and a fourth antenna according to the arrangement information of the antennas; determine the first locus circle according to a second distance between the second antenna and the third antenna, a first distance between the second antenna and the positioning device, and a first distance between the third antenna and the positioning device; determine the second locus circle according to a second distance between the third antenna and the fourth antenna, a first distance between the third antenna and the positioning device, and a first distance between the fourth antenna and the positioning device. The calculation module is further configured to compare the third distance and the fourth distance with the first distance between the first antenna and the positioning device respectively; if it is determined that the third distance meets a preset condition, obtain the positioning information of the first intersection point, and use the positioning information of the first intersection point as the positioning information of the positioning device, where the preset condition is that the difference from the first distance between the first antenna and the positioning device meets the condition within a preset difference range; if it is determined that the fourth distance meets the preset condition, obtain the positioning information of the second intersection point, and use the positioning information of the second intersection point as the positioning information of the positioning device.

5. A UWB positioning system, characterized in that, The UWB positioning system includes: a memory, a processor, and a UWB positioning program stored on the memory and executable on the processor. When the UWB positioning program is executed by the processor, the steps of the UWB positioning method according to any one of claims 1 to 3 are implemented.

6. A computer-readable storage medium, characterized in that, A UWB positioning program is stored on the computer-readable storage medium. When the UWB positioning program is executed by a processor, the steps of the UWB positioning method according to any one of claims 1 to 3 are implemented.

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