A positioning method, device and medium based on UWB

Abstract

The application discloses a positioning method and device based on UWB and a medium, and is suitable for the field of communication technology. The distance value between each base station and the terminal is obtained through the ranging times, ranging algorithm and position information of each base station, the corresponding positioning information of the terminal is determined according to the distance value, and the corresponding positioning strategy is determined according to the relationship between the positioning information and the preset condition, wherein the preset condition is that multiple positioning information is in the current preset area. The combination of the ranging algorithm and the positioning strategy reduces the error of the transmission signal between the base station and the terminal, and the positioning information of the terminal obtained is relatively less error than the positioning information obtained by the existing single positioning method. Meanwhile, the corresponding positioning strategy is determined according to the relationship between the multiple positioning information and the preset condition, so that the position information of the terminal is in the preset area, the deviation of the positioning information is reduced, and the accuracy of the terminal positioning is improved.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a positioning method, device and medium based on UWB. Background Technology

[0002] Ultra-wideband (UWB) positioning technology is an emerging technology in the field of indoor positioning. It is a low-power radio technology applied to the field of wireless communication, which uses nanosecond or sub-nanosecond pulses to achieve wireless communication.

[0003] Current ranging and positioning methods rely on a single ranging or positioning method to determine the terminal's location information based on signal parameters between the base station and the terminal. This results in a limited range of positioning methods and the inability to eliminate the resulting errors. Furthermore, traditional positioning algorithms are susceptible to interference from reflections, multipath propagation, non-line-of-sight propagation, and noise during propagation, leading to significant deviations and low accuracy in the obtained terminal location information.

[0004] Therefore, finding a UWB positioning method is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide a UWB-based positioning method, device, and medium that ensures the location information of a terminal is within a preset area, thereby reducing the deviation of the positioning information and improving the accuracy of terminal positioning.

[0006] To solve the above-mentioned technical problems, the present invention provides a UWB-based positioning method, comprising:

[0007] Obtain the location information of each base station, where the number of base stations is at least three;

[0008] The distance values ​​between each base station and the terminal are obtained by using the number of ranging measurements, the ranging algorithm, and the location information of each base station to determine multiple positioning information corresponding to the terminal.

[0009] The corresponding positioning strategy is determined based on the relationship between multiple positioning information and preset conditions to obtain the final location information of the terminal, where the preset condition is that multiple positioning information are located in the current preset area.

[0010] Preferably, the distance values ​​between each base station and the terminal are obtained by using the number of ranging measurements, the ranging algorithm, and the location information of each base station to determine multiple positioning information corresponding to the terminal, including:

[0011] Obtain the signal parameters between each base station and the terminal for the current number of ranging operations;

[0012] The current distance value between each base station and the terminal is determined based on the ranging algorithm and signal parameters for the current ranging count.

[0013] The current location information of the terminal corresponding to the current ranging count is determined based on the relationship between the current distance value and the location information of each base station.

[0014] Preferably, determining the current distance value between each base station and the terminal for the current ranging count based on the ranging algorithm and signal parameters includes:

[0015] Obtain the timestamps of the pulse signals transmitted between each base station and the terminal. The timestamps include at least a first and a second set of timestamps of each base station transmitting pulse signals to the terminal, and a third and a fourth set of timestamps of each terminal transmitting response pulse signals to each base station. The signal parameters are the timestamps of the transmission.

[0016] The first difference value is obtained by subtracting the first timestamp from the fourth timestamp.

[0017] The second difference value is obtained by subtracting the second timestamp from the third timestamp.

[0018] The bidirectional delay time between each base station and terminal is obtained by subtracting the first and second differences.

[0019] Divide the bidirectional delay time by 2 to obtain the unidirectional delay time;

[0020] The relationship between one-way delay time and speed is used to determine the current distance between each base station and the terminal.

[0021] Preferably, the process of establishing the first and second timestamps includes the following steps:

[0022] Receive the first timestamp of the pulse signal sent to the terminal by each base station;

[0023] Receive pulse signals sent by each base station and record the reception time of the first timestamp as the second timestamp;

[0024] Correspondingly, the process of establishing the third and fourth timestamps includes the following steps:

[0025] A response signal is generated based on the pulse signals sent by each base station, and the sending time of the response signal is recorded as a third timestamp.

[0026] The third timestamp and response signal are sent to each base station so that each base station can record the response signal. The time of receiving the third timestamp is the fourth timestamp.

[0027] Preferably, determining a corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions to obtain the final location information of the terminal includes:

[0028] Determine whether multiple location information pieces meet preset conditions;

[0029] If not, then the actual distance between each base station and the measured distance between each base station and the terminal at the current time are determined according to the ranging algorithm.

[0030] The mean error is determined based on the relationship between each actual distance value and each standard distance value, and the location information of the terminal is determined based on the relationship between the measured distance value and the mean error. Each standard distance value is the distance between each base station determined by the location information of each base station.

[0031] Use the terminal's location information as the new location information;

[0032] The distance measurement count is merged into multiple positioning information to select multiple positioning information corresponding to the distance measurement count closest to the current time to obtain new multiple positioning information, and then the process returns to the step of determining whether the multiple positioning information meets the preset conditions.

[0033] If so, the final location information of the terminal is determined based on the relationship between multiple location information.

[0034] Preferably, the process of establishing the current preset area specifically includes:

[0035] Select any two location information from multiple location information to determine the corresponding length value;

[0036] Select the maximum length value from all length values ​​and use the maximum length value as the diameter length value;

[0037] Determine the corresponding target location information based on the maximum length value;

[0038] The current preset area is determined by dividing the circular region based on the target positioning information and the relationship between the diameter and length values.

[0039] Preferably, the location information of the terminal is determined based on the relationship between each measured distance value and the mean error, including:

[0040] The first, second, and third distance values ​​of the corresponding terminal are obtained by summing and processing each measured distance value with the mean error value.

[0041] The terminal's location information is determined based on the relationship between the first distance value, the second distance value, the third distance value, and the location information of each base station.

[0042] Preferably, determining the final location information of the terminal based on the relationship between multiple location information includes:

[0043] Determine whether multiple location information entries are identical;

[0044] If they are different, the average value of the multiple location information is used to obtain the final location information as the final location information of the terminal.

[0045] If they are the same, one of the multiple location information will be selected as the terminal's final location information.

[0046] To address the aforementioned technical problems, the present invention also provides a UWB-based positioning device, comprising:

[0047] The acquisition module is used to acquire the location information of each base station, wherein the number of base stations is at least three.

[0048] The first determining module is used to obtain the distance value between each base station and the terminal by the number of ranging measurements, the ranging algorithm and the location information of each base station to determine multiple positioning information corresponding to the terminal.

[0049] The second determining module is used to determine the corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions in order to obtain the final location information of the terminal, wherein the preset condition is that multiple positioning information are located in the current preset area.

[0050] To address the aforementioned technical problems, the present invention also provides a UWB-based positioning device, comprising:

[0051] Memory, used to store computer programs;

[0052] A processor is used to implement the steps of the UWB-based positioning method described above when executing a computer program.

[0053] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the UWB-based positioning method described above.

[0054] This invention provides a UWB-based positioning method, comprising: acquiring location information of each base station, wherein the number of base stations is at least three; obtaining distance values ​​between each base station and a terminal through ranging counts, ranging algorithms, and the location information of each base station to determine multiple positioning information corresponding to the terminal; and determining a corresponding positioning strategy based on the relationship between the multiple positioning information and preset conditions to obtain the final location information of the terminal, wherein the preset condition is that the multiple positioning information is located within a current preset area. This method obtains the distance values ​​between each base station and the terminal through a ranging algorithm, determines the positioning information corresponding to the terminal based on the distance values, and then determines the corresponding positioning strategy based on the relationship between the positioning information and preset conditions. The combination of the ranging algorithm and the positioning strategy reduces the error in the transmitted signals between the base station and the terminal, resulting in positioning information with lower error compared to existing single positioning methods. Simultaneously, determining the corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions ensures that the terminal's location information is within a preset area, reducing positioning information deviation and improving the accuracy of terminal positioning.

[0055] In addition, the present invention also provides a UWB-based positioning device and medium, which has the same beneficial effects as the UWB-based positioning method described above. Attached Figure Description

[0056] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A flowchart illustrating a UWB-based positioning method provided in an embodiment of the present invention;

[0058] Figure 2 A schematic diagram of a terminal positioning method provided in an embodiment of the present invention;

[0059] Figure 3 A structural diagram of a UWB-based positioning device provided in an embodiment of the present invention;

[0060] Figure 4 This is a structural diagram of another UWB-based positioning device provided in an embodiment of the present invention. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present invention.

[0062] The core of this invention is to provide a UWB-based positioning method, device, and medium, which ensures that the location information of the terminal is within a preset area, reduces the deviation of the positioning information, and improves the accuracy of the terminal positioning.

[0063] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0064] It should be noted that the UWB-based positioning method provided by this invention can be applied to various positioning electronic devices, such as smartwatches, smart bracelets, rings, virtual reality (VR) devices, augmented reality (AR) devices, and other smart wearable devices, as well as mobile devices such as locators and mobile phones.

[0065] Figure 1A flowchart of a UWB-based positioning method provided for an embodiment of the present invention is shown below. Figure 1 As shown, the method includes:

[0066] S11: Obtain the location information of each base station, wherein the number of base stations is at least three;

[0067] S12: The distance between each base station and the terminal is obtained by the number of ranging measurements, the ranging algorithm, and the location information of each base station to determine multiple positioning information corresponding to the terminal;

[0068] S13: Determine the corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions to obtain the final location information of the terminal;

[0069] The preset condition is that multiple location information points are located in the current preset area.

[0070] Specifically, the location information of each base station is obtained. The base station uses the Earth as its horizontal coordinate system, and its coordinates represent its location information. The number of base stations can be determined based on the accuracy requirements of UWB positioning technology, as well as dimensionality requirements. UWB positioning technology is suitable for zero-dimensional, one-dimensional, two-dimensional, and three-dimensional positioning. In zero-dimensional positioning, the presence or absence of a base station is considered. In this case, the coverage area of ​​a single base station is generally taken into account. Depending on environmental interference and obstruction, the coverage area is generally within a radius of 10 to 100 meters. In zero-dimensional positioning, accuracy is generally not emphasized; the focus is on whether the controlled area is completely covered.

[0071] One-dimensional positioning, based on the principle that two points form a line, requires at least two base stations. Accuracy varies depending on the environment and can be adjusted by distance; theoretically, it can reach 10cm, but in typical environments, it's between 30 and 100cm. Two-dimensional positioning, on the other hand, is within a planar area, outputting specific X and Y coordinates. Technically, it requires at least three base stations, but in practice, four are more necessary. The deployment distance of base stations varies depending on environmental complexity and accuracy requirements. In areas with higher requirements, increased base station density is generally used for high-quality, high-precision calculations. Two-dimensional positioning can achieve a maximum accuracy of 10cm, but this is limited to specific, constant environments; in normal use, accuracy is 30-50cm. Three-dimensional positioning adds height information to two-dimensional positioning, outputting three-axis data (X, Y, Z). In principle, three-dimensional positioning consists of two planar positioning points at different heights, so the number of base stations is generally doubled. This approach is less common nowadays because it doubles the cost, and practical height accuracy is generally around 100cm, making ultra-high precision difficult to achieve. As a preferred embodiment, the number of base stations is at least three, which can meet the needs of most application scenarios.

[0072] In step S12, the number of ranging operations is determined based on a preset number of operations to determine the number of location information pieces needed. In other words, the number of ranging operations is the same as the number of location information pieces. It can be understood that the number of ranging operations is set based on empirical values; for example, if the number of ranging operations is 10, it will obtain 10 location information pieces corresponding to the terminal. Since a single location information piece is prone to randomness or error, multiple location information pieces will be set to avoid errors or randomness affecting the determination of the terminal's final location information. A direct relationship is determined based on the location information of each base station and the unknown location information of the terminal. The sum of the squared differences between the location information of each base station and the unknown location information of the terminal is equal to the distance between each base station and the terminal. The specific formula is as follows:

[0073]

[0074] The location information of each base station is represented by coordinate axes (x1, y1), (x2, y2), and (x3, y3), while the unknown location information of the terminal is (x, y), with distance values ​​corresponding to r1, r2, and r3, respectively. Since the location information of each base station is known, its distance value can be determined based on the pulse signal transmission from each base station and the terminal, as well as the ranging algorithm. Therefore, the unknown location information of the terminal, i.e., its positioning information, can be derived by reversing the above formula. The specific formula is as follows:

[0075]

[0076] It should be noted that, since the ranging algorithm can be used multiple times, the algorithm can be the same or different in each ranging process. When the ranging algorithm is different in the number of ranging tests, the obtained positioning information is obtained based on different ranging algorithms or the same ranging algorithm used at different times. This invention does not impose specific limitations on this.

[0077] In ranging algorithms, the single-sided-two-way ranging (SS-TWR) method of Time-of-Flight (ToF) is generally used. This method has a strict constraint: the transmitting and receiving devices must be clock-synchronized. To reduce the impact of clock skew, double-sided-two-way ranging (DS-TWR) is frequently used in UWB ranging. For reverse measurement compensation, module A transmits a request-type pulse signal at its timestamp Ta1. Module B receives this signal at its timestamp Tb1. After processing the UWB signal, module B simultaneously transmits both response and request-type signals at its timestamp Tb2. Module A receives this signal at its own timestamp Ta2. After processing for a period of time, a response signal is sent at its timestamp Tb3 and received by module B at its own timestamp Tb3. The specific formula is as follows:

[0078]

[0079] The second method solves the clock skew problem, but increases the ranging time. Therefore, a ranging algorithm determined by combining the two methods, considering both clock frequency shift and time reduction, can also be applied to the embodiments of this invention. The ranging algorithm can be any one or more of the algorithms mentioned above. It should be noted that the ranging algorithm of this invention can also be other ranging algorithms, such as Angle of Arrival (AOA), Received Signal Strength Indication (RSSI), Time of Arrival (TOA), and Time Difference of Arrival (TDOA), etc. This invention does not impose specific limitations, as long as the positioning information of the terminal can be obtained.

[0080] After obtaining multiple positioning information in step S12, a corresponding positioning strategy is determined based on the relationship between the multiple positioning information and preset conditions. When the multiple positioning information meets the preset conditions, it indicates that the deviation between the multiple positioning information is small, and the final location information of the terminal can be determined based on the multiple positioning information. When the multiple positioning information does not meet the preset conditions, it indicates that the deviation between the multiple positioning information is large, and positioning information needs to be reselected. The reselected positioning information needs to be combined with the actual distance of each base station to determine the average error to obtain the current positioning information. The positioning information is then updated, and it is re-evaluated whether the current preset conditions are met. If so, it indicates that the deviation of the corrected positioning information is small.

[0081] The positioning strategy is based on the common intersection point of the circles corresponding to the base stations as the terminal's location information. Typically, the circles corresponding to the base stations do not intersect, or the intersection point is not a single point but multiple points, meaning the terminal has multiple location information. This embodiment of the invention corrects these multiple location information points to place them within a currently preset area, thereby reducing the deviation in positioning information.

[0082] Correspondingly, the preset condition is that multiple location information is in the current preset area. Since the location information is different each time, the corresponding current preset area is also different. The preset area is updated in real time to correct the positioning deviation until the deviation meets a certain condition, that is, to make the current multiple location information be in the current preset area. In this way, the location information of the terminal is more accurate.

[0083] This invention provides a UWB-based positioning method, comprising: acquiring location information of each base station, wherein the number of base stations is at least three; obtaining distance values ​​between each base station and a terminal through ranging counts, ranging algorithms, and the location information of each base station to determine multiple positioning information corresponding to the terminal; and determining a corresponding positioning strategy based on the relationship between the multiple positioning information and preset conditions to obtain the final location information of the terminal, wherein the preset condition is that the multiple positioning information is located within a current preset area. This method obtains the distance values ​​between each base station and the terminal through a ranging algorithm, determines the positioning information corresponding to the terminal based on the distance values, and then determines a corresponding positioning strategy based on the relationship between the positioning information and preset conditions. The combination of the ranging algorithm and the positioning strategy reduces the error in the transmitted signals between the base station and the terminal, resulting in positioning information with lower error compared to existing single positioning methods. Simultaneously, determining the corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions ensures that the terminal's location information is within a preset area, reducing positioning information deviation and improving the accuracy of terminal positioning.

[0084] Based on the above embodiments, step S12, which obtains the distance values ​​between each base station and the terminal by using the number of ranging operations, the ranging algorithm, and the location information of each base station, to determine multiple positioning information corresponding to the terminal, includes:

[0085] Obtain the signal parameters between each base station and the terminal for the current number of ranging operations;

[0086] The current distance value between each base station and the terminal is determined based on the ranging algorithm and signal parameters for the current ranging count.

[0087] The current location information of the terminal corresponding to the current ranging count is determined based on the relationship between the current distance value and the location information of each base station.

[0088] Specifically, based on the current number of ranging operations, the signal parameters between each base station and the terminal are obtained. These signal parameters can be the timestamp information of the transmission and reception of the signals transmitted between each base station and the terminal. Based on the timestamp information and the ranging algorithm, the current distance value between each base station and the terminal can be obtained.

[0089] After obtaining the current distance value between each base station and the terminal, the location information of each base station is known. Based on the formula for the unknown location information of the terminal obtained by reverse deduction in the above embodiment, the current location information of the terminal can be obtained, and thus multiple location information under the number of ranging measurements can be obtained.

[0090] The ranging algorithm can use existing ranging algorithms or combine multiple ranging algorithms to form a new ranging algorithm; no limitation is made here.

[0091] The present invention provides a process for determining multiple positioning information corresponding to a terminal by obtaining the distance values ​​between each base station and the terminal through the number of ranging operations, ranging algorithm, and the location information of each base station. The distance values ​​are measured by the signal parameters (flight time of the pulse signal between each base station and the terminal) between each base station and the terminal, so as to obtain the positioning information of the terminal.

[0092] Based on the above embodiments, due to issues such as clock asynchrony between modules in various ranging algorithms, large measurement errors, long flight times, and long time consumption resulting from simultaneously collecting timestamp information from multiple one-way transmissions, a preferred embodiment is proposed, taking into account the problems encountered in each ranging algorithm, to determine the current distance value between each base station and the terminal for the current ranging count based on the ranging algorithm and signal parameters, including:

[0093] Obtain the timestamps of the pulse signals transmitted between each base station and the terminal. The timestamps include at least a first and a second set of timestamps of each base station transmitting pulse signals to the terminal, and a third and a fourth set of timestamps of each terminal transmitting response pulse signals to each base station. The signal parameters are the timestamps of the transmission.

[0094] The first difference value is obtained by subtracting the first timestamp from the fourth timestamp.

[0095] The second difference value is obtained by subtracting the second timestamp from the third timestamp.

[0096] The bidirectional delay time between each base station and terminal is obtained by subtracting the first and second differences.

[0097] Divide the bidirectional delay time by 2 to obtain the unidirectional delay time;

[0098] The relationship between one-way delay time and speed is used to determine the current distance between each base station and the terminal.

[0099] Specifically, during bidirectional transmission between the base station and the terminal, multiple sets of timestamps can be obtained. These include at least one set of timestamps sent from the base station to the terminal and one set of timestamps sent from the terminal to the base station. From the perspective of bidirectional transmission, there are two sets of timestamps (first timestamp, second timestamp, third timestamp, and fourth timestamp) obtained through bidirectional transmission. Typically, the transmission directions between the base station and the terminal include two directions: one direction is for the base station to transmit the corresponding first and second timestamps to the terminal, and the other direction is for the base station to transmit the corresponding third and fourth timestamps to the terminal. The specific third and fourth timestamps are the timestamps corresponding to the response pulse signal. The pulse signal is associated with the response pulse signal to obtain more accurate timestamp information.

[0100] From the perspective of multiple bidirectional transmissions, this involves multiple sets of timestamp information, namely multiple first timestamps, multiple second timestamps, multiple third timestamps, and multiple fourth timestamps. Currently, the timestamp information obtained from multiple bidirectional transmissions facilitates a more accurate calculation of the distance between the base station and the terminal. However, this also incurs significant time consumption. In engineering implementation, the distance between the base station and the terminal is relatively large, and the multiple bidirectional transmissions consume considerable time, increasing the time required to obtain the subsequent distance values.

[0101] In this embodiment, the timestamp information for recording the pulse signal transmission, corresponding to the first and third timestamps, can be either the timetamp when the entire pulse signal transmission is completed or the timetamp when the pulse signal transmission just begins. This invention does not limit this. To avoid interference from other signals during the pulse signal transmission process, the timetamp when the entire pulse signal transmission is completed is used as the recording timestamp. Similarly, for the second and fourth timestamps received, the timetamp when the pulse signal from the other end just begins to be recorded, or the timetamp when the pulse signal is completely received at this end, is also not limited. As a preferred embodiment, to avoid interference caused by reception, the timetamp when the entire reception is completed is used as the recording timestamp for the second and fourth timestamps. This invention does not limit this.

[0102] It should be noted that the delay time can be a delay caused by the transmission protocol, or a delay caused by the local end and the remote end receiving or sending data themselves. This is not limited and can be set according to the actual situation. Regarding the delay caused by the transmission protocol, it can be the transmission protocol delay from A to B, or the transmission protocol delay from B to A. To avoid the transmission protocol delay in one-way transmission, this embodiment of the invention considers bidirectional transmission, that is, bidirectional transmission formed by one transmission from A to B and one transmission from B to A.

[0103] To save time, it includes two sets of timestamp records. When each base station sends a pulse signal to the terminal at time Ta1, the terminal receives the pulse signal at time Tb1. The transmission process can involve sending only the pulse signal, or the pulse signal and the timestamp information of time Ta1. When the base station only sends a pulse signal to the terminal, the terminal only knows the time of its received pulse signal as time Tb1 (second timestamp). Since the base station and the terminal use different clock sources, the terminal needs to send an acknowledgment signal (response signal) to the base station again. The terminal records the current transmission time as time Tb2 (third timestamp), and the base station receives the acknowledgment signal at time Ta2 (fourth timestamp). At this time, as a base station, it knows the first timestamp of its transmitted pulse signal and the fourth timestamp of its received acknowledgment pulse signal; as a terminal, it knows the third timestamp of its received pulse signal and the third timestamp of its transmitted acknowledgment pulse signal. Therefore, subtracting the first timestamp from the fourth timestamp yields the total transmission time between the base station and the terminal, and subtracting the second timestamp from the third timestamp yields the terminal's transmission time. Subtracting the terminal's transmission time from the total transmission time gives the bidirectional transmission delay, which in turn gives the unidirectional transmission delay T. The specific formula is as follows:

[0104]

[0105] Among them, Ta2 is the fourth timestamp, Ta1 is the first timestamp, Tb2 is the third timestamp, and Tb1 is the fourth timestamp.

[0106] After obtaining the one-way delay time, the current distance between the base station and the terminal is determined based on the relationship between time and speed, where the speed is typically the speed of light (3 * 10^6). 8 Since the distance between the terminal and the base station is T*C (m / s), where C is the speed of light. The speed of light refers to the propagation speed of light waves or electromagnetic waves in a vacuum or a medium. The speed of light in a vacuum is the highest speed of motion of a natural object currently known. It is independent of the observer's speed relative to the light source; that is, the speed of light measured in inertial frames that are stationary and moving relative to the light source is the same.

[0107] It should be noted that, in this embodiment of the invention, the transmission of pulse signals between the base station and the terminal can also involve the terminal sending a pulse signal to the base station, the base station responding to the pulse signal to obtain a response signal, and then sending the response signal back to the terminal. This is not limited to any particular method, as long as the distance between the base station and the terminal can be obtained.

[0108] To enable signal transmission and timestamp information exchange between the base station and the terminal, a corresponding transmission timestamp can be carried during transmission, allowing the receiving end to know the current transmission timestamp of the local terminal. As a preferred embodiment, the process of establishing the first and second timestamps includes the following steps:

[0109] Receive the first timestamp of the pulse signal sent to the terminal by each base station;

[0110] Receive pulse signals sent by each base station and record the reception time of the first timestamp as the second timestamp;

[0111] Correspondingly, the process of establishing the third and fourth timestamps includes the following steps:

[0112] A response signal is generated based on the pulse signals sent by each base station, and the sending time of the response signal is recorded as a third timestamp.

[0113] The third timestamp and response signal are sent to each base station so that each base station can record the response signal. The time of receiving the third timestamp is the fourth timestamp.

[0114] Specifically, the transmission time of the pulse signal sent by each base station is recorded as the first timestamp. This first timestamp, along with the pulse signal transmission information, is sent to the terminal. The terminal can see the first timestamp, which is the transmission time of the pulse signal sent by the base station. Alternatively, the reception time of the pulse signal and the first timestamp can be used as the second timestamp. At this point, the delay time of the one-way transmission from the base station to the terminal can be obtained.

[0115] The terminal sends a response signal to the base station, which is a response pulse signal. The time when the terminal sends the response signal is the third timestamp. The third timestamp and the response signal are sent to the base station at the same time. The base station can see the third timestamp information, which is the timestamp when the terminal sends the response signal. At this time, the delay time of the one-way transmission from the terminal to the base station can be obtained.

[0116] Adding the two delay times together yields the total transmission delay time. As can be understood from the above description, the delay times for one-way transmission between the local end and the remote end are different. Since the transmitted pulse signal and response signal are different, there may be a difference between the delay time from the base station to the terminal and the delay time from the terminal to the base station. In order to obtain a more accurate delay time, the formula for the one-way delay time mentioned in this embodiment is the same.

[0117] The process provided in this invention for determining the current distance value between each base station and the terminal based on the ranging algorithm and signal parameters for the current ranging iteration, addresses clock skew and ranging time consumption by ensuring that the base station and terminal mutually know each other's transmission time, thus minimizing clock synchronization skew and reducing errors. Furthermore, the use of four timestamps transmitted bidirectionally solves the ranging time consumption problem, reducing its occurrence and improving ranging efficiency and accuracy.

[0118] Based on the above embodiments, step S13, which determines the corresponding positioning strategy according to the relationship between multiple positioning information and preset conditions to obtain the final location information of the terminal, includes:

[0119] Determine whether multiple location information pieces meet preset conditions;

[0120] If not, then the actual distance between each base station and the measured distance between each base station and the terminal at the current time are determined according to the ranging algorithm.

[0121] The mean error is determined based on the relationship between each actual distance value and each standard distance value, and the location information of the terminal is determined based on the relationship between the measured distance value and the mean error. Each standard distance value is the distance between each base station determined by the location information of each base station.

[0122] Use the terminal's location information as the new location information;

[0123] The distance measurement count is merged into multiple positioning information to select multiple positioning information corresponding to the distance measurement count closest to the current time to obtain new multiple positioning information, and then the process returns to the step of determining whether the multiple positioning information meets the preset conditions.

[0124] If so, the final location information of the terminal is determined based on the relationship between multiple location information.

[0125] It should be noted that the process of determining whether multiple location data meet preset conditions involves several steps. If they do, it means that the multiple location data points are within the current preset area, and the deviations between them are small. No correction is needed; the final location information of the terminal is determined directly based on the current multiple location data points. If the conditions are not met, it means that some of the current multiple location data points may not be within the current preset area, and the deviations between them are large. Correction is required to ensure that all the current multiple location data points are within the current preset area.

[0126] If the preset conditions are not met, the actual distance between each base station and the measured distance between each base station and the terminal at the current moment are determined by the ranging algorithm. The actual distance is the value measured by the pulse signal transmission between each base station through the ranging algorithm, taking into account the actual transmission environment (the existence of interference factors). Since the distance values ​​at different times will be affected by the current transmission environment, it is necessary to obtain the distance value measured by the pulse signal transmission between each base station and the terminal at the current moment, that is, the measured distance value.

[0127] The mean error is determined by the relationship between each actual distance value and each standard distance value. Specifically, the real-time error is obtained by subtracting each standard distance value from each actual distance value, and the mean error is obtained by averaging the real-time errors. Each standard distance value is the distance between base stations determined by their location information. For example, with three base stations, three distance values ​​are obtained: the distance between base station 1 and base station 2, the distance between base station 1 and base station 3, and the distance between base station 2 and base station 3. Since the coordinates and location information of each base station are constant, the distances between them are also constant. This standard distance value is measured in an interference-free environment, and the error is small and can be ignored. This standard distance value is used as the standard reference value for ranging and positioning.

[0128] For example, three base stations, Figure 2 This is a schematic diagram of a terminal positioning method provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the standard distance value (ToF) between base station 1 and base station 2 is... 1_2 The standard distance between base station 2 and base station 3 (ToF) 2_3 The standard distance between base station 1 and base station 3 (ToF) 1_3 The corresponding actual distance values ​​are ToF'. 1_2 ToF' 1_3 、ToF' 2_3 The specific formula for determining its mean error is as follows:

[0129]

[0130] Where Δt is the mean error.

[0131] The terminal's location information is determined based on the relationship between the measured distance values ​​and the mean error. The method for calculating the measured distance values ​​is the same as that used in the ranging algorithm to determine the distances between each base station and the terminal, corresponding to the measured distance values ​​(r1, r2, r3). ​​The mean error is added to each of the measured distance values ​​to obtain the current corrected local ranging and positioning values ​​(r1', r2', r3'). The terminal's location information can then be obtained using the positioning information formula (refer to the above embodiment).

[0132] As a preferred embodiment, the location information of the terminal is determined based on the relationship between each measured distance value and the mean error, including:

[0133] The first, second, and third distance values ​​of the corresponding terminal are obtained by summing and processing each measured distance value with the mean error value.

[0134] The terminal's location information is determined based on the relationship between the first distance value, the second distance value, the third distance value, and the location information of each base station.

[0135] Based on the above examples, the first distance value r1', the second distance value r2', and the third distance value r3' are obtained by summing each measured distance value with the mean error. The specific formula is as follows:

[0136]

[0137] The terminal's location information is obtained by combining the first distance value, the second distance value, and the third distance value with the location information of each base station and the formula for obtaining the unknown location information of the terminal by reverse deduction in the above embodiment.

[0138] The current location information is used as the new positioning information, which is then merged into multiple positioning information based on the number of ranging measurements. For example, if the number of ranging measurements N=10, the merged new positioning information becomes the 11th positioning information. Since the number of positioning information remains the same only for the number of ranging measurements, when new positioning information arrives, the original first positioning information is discarded. The new positioning information is then selected from multiple positioning information with the closest ranging measurements at the current moment. In other words, each time new positioning information appears, multiple positioning information corresponding to the corresponding ranging measurements need to be shifted to become the current new positioning information.

[0139] The system continues to evaluate multiple new location information entries to determine whether they meet preset conditions, until the preset conditions are met, at which point the corresponding final location information is output.

[0140] The present invention provides a process for determining the final location information of a terminal by determining a corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions. When multiple positioning information meets the preset conditions, the final location information of the terminal is determined from that positioning information. When multiple positioning information does not meet the preset conditions, the positioning strategy of the positioning information needs to be corrected to obtain new positioning information, and the preset conditions are checked again until they are met, at which point the final location information is obtained. This process ensures that when the positioning information is within a preset area, the corresponding positioning strategy is determined, so that the terminal's location information is within the preset area, reducing the deviation of the positioning information and improving the accuracy of terminal positioning.

[0141] Based on the above embodiments, the process of establishing the current preset region in the preset conditions specifically includes:

[0142] Select any two location information from multiple location information to determine the corresponding length value;

[0143] Select the maximum length value from all length values ​​and use the maximum length value as the diameter length value;

[0144] Determine the corresponding target location information based on the maximum length value;

[0145] The current preset area is determined by dividing the circular region based on the target positioning information and the relationship between the diameter and length values.

[0146] Specifically, any two location information points are selected from multiple location information points to determine their length values. Each pair of location information points determines a length value. The maximum length value is then selected from all length values, and this maximum length value is used as the diameter of the preset area.

[0147] Since the maximum length value is determined by the positioning information, the positioning information of the maximum length value can be determined as the positioning information of two targets. The circular area is divided by the diameter length value of the current two target positioning information to determine the current preset area.

[0148] Understandably, since the selection of location information is different each time, the size and position of the preset area also change in real time, so as to better determine the final location information based on the current multiple location information, thereby improving real-time performance and accuracy.

[0149] In addition, the shape of the current preset area can be the circular area mentioned above, or a semi-fan-shaped area or a rectangular area, etc. As a preferred embodiment, in order to better determine its preset area in real time based on the positioning information, a circular area determined by the diameter length value is more convenient and faster, so that the time for determining the preset area is shorter.

[0150] The process of establishing the current preset region under the preset conditions provided in the embodiments of the present invention is more convenient and faster with a circular region determined by the diameter length value, so that the time for determining the preset region is shorter.

[0151] Based on the above embodiments, the final location information of the terminal is determined according to the relationship between multiple location information, including:

[0152] Determine whether multiple location information entries are identical;

[0153] If they are different, the average value of the multiple location information is used to obtain the final location information as the final location information of the terminal.

[0154] If they are the same, one of the multiple location information will be selected as the terminal's final location information.

[0155] Understandably, when multiple location information pieces meet preset conditions—that is, when multiple location information pieces are within the current preset area—the deviation between their location information is small. The system then continues to determine if the multiple location information pieces are identical. If they are identical, the system determines that the multiple location information pieces are compared to a single point, and selects one of these location information pieces as the terminal's final location information.

[0156] If the locations are different, but the deviation is small, the final location information is obtained by averaging the multiple location information. For example, if there are 5 location information with coordinates (x1', y1'), (x2', y2'), (x3', y3'), (x4', y4'), and (x5', y5'), the x' value of the final location information obtained by averaging is:

[0157]

[0158] The final location information y' value obtained by mean processing is:

[0159]

[0160] The final position information coordinates (x', y') are obtained by merging x' and y'.

[0161] It should be noted that the mean processing provided in this embodiment of the invention is only one embodiment, and the final location information can also be obtained by processing through standard deviation or other algorithms.

[0162] This invention utilizes the relationship between multiple location information pieces to determine the final location information of a terminal. If the multiple location information pieces are the same, then one location information is determined as the final location information; if the multiple location information pieces are different, then an average value is applied to obtain the final location information. This simplifies the process of determining the final location information while improving its accuracy.

[0163] The foregoing has described in detail various embodiments of the UWB-based positioning method. Based on this, the present invention also discloses a UWB-based positioning device corresponding to the above method. Figure 3 This is a structural diagram of a UWB-based positioning device provided in an embodiment of the present invention. Figure 3 As shown, the UWB-based positioning device includes:

[0164] The acquisition module 11 is used to acquire the location information of each base station, wherein the number of base stations is at least three;

[0165] The first determining module 12 is used to obtain the distance value between each base station and the terminal by the number of ranging measurements, the ranging algorithm and the location information of each base station to determine multiple positioning information corresponding to the terminal.

[0166] The second determining module 13 is used to determine the corresponding positioning strategy based on the relationship between multiple positioning information and preset conditions to obtain the final location information of the terminal, wherein the preset condition is that multiple positioning information are located in the current preset area.

[0167] Since the embodiments of the device part correspond to the embodiments described above, please refer to the embodiments described in the method part for the embodiments of the device part, and will not be repeated here.

[0168] For a description of the UWB-based positioning device provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-described UWB-based positioning method.

[0169] Figure 4 A structural diagram of another UWB-based positioning device provided in an embodiment of the present invention is shown below. Figure 4 As shown, the device includes:

[0170] Memory 21 is used to store computer programs;

[0171] Processor 22 is used to implement the steps of a UWB-based positioning method when executing a computer program.

[0172] The UWB-based positioning device provided in this embodiment may include, but is not limited to, mobile devices such as wearable devices, locators, smartphones, tablets, laptops, or desktop computers.

[0173] The processor 22 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 22 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the processor 22 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the processor 22 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0174] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 21 is used to store at least the following computer program 211, which, after being loaded and executed by the processor 22, is capable of implementing the relevant steps of the UWB-based positioning method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, etc., and the storage method may be temporary storage or permanent storage. The operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include, but is not limited to, the data involved in the UWB-based positioning method, etc.

[0175] In some embodiments, the UWB-based positioning device may further include a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.

[0176] Those skilled in the field can understand, Figure 4 The structure shown does not constitute a limitation on UWB-based positioning devices and may include more or fewer components than illustrated.

[0177] The processor 22 implements the UWB-based positioning method provided in any of the above embodiments by calling instructions stored in the memory 21.

[0178] For a description of the UWB-based positioning device provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-described UWB-based positioning method.

[0179] Furthermore, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by processor 22, implements the steps of the UWB-based positioning method described above.

[0180] It is understood that if the methods in the above embodiments are implemented as 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 the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0181] For an introduction to the computer-readable storage medium provided by the present invention, please refer to the above method embodiments. The present invention will not be described in detail here, but it has the same beneficial effects as the above-described UWB-based positioning method.

[0182] The foregoing has provided a detailed description of a UWB-based positioning method, a UWB-based positioning device, and a medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the descriptions are relatively simple, and relevant parts can be referred to the method section. It should be noted that those skilled in the art can make various improvements and modifications to the present invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of the present invention.

[0183] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A UWB-based positioning method, characterized by, The method comprises: obtaining position information of a plurality of base stations, wherein the number of the base stations is at least three; determining a plurality of positioning information corresponding to a terminal by distance values between the base stations and the terminal obtained by a number of ranging times, ranging algorithms and the position information of the base stations, wherein the number of current positioning information is determined according to the number of ranging times, and the positioning information obtained by the ranging algorithms at different times is determined according to different ranging algorithms or the same ranging algorithm at different times; determining a final position information of the terminal according to a relationship between the plurality of positioning information and a preset condition, wherein the preset condition is that the plurality of positioning information is in a current preset area. Correspondingly, the method of determining the plurality of positioning information corresponding to the terminal by the number of ranging times, the ranging algorithms and the position information of the base stations comprises: obtaining signal parameters between the base stations and the terminal corresponding to the current ranging time, wherein the signal parameters are time stamp information corresponding to the transmission and reception of the signal between the base stations and the terminal; determining current distance values between the base stations and the terminal corresponding to the current ranging time according to the ranging algorithms and the signal parameters; determining current positioning information corresponding to the terminal at the current ranging time according to a relationship between the current distance values and the position information of the base stations; Correspondingly, the method of determining the final position information of the terminal according to the relationship between the plurality of positioning information and the preset condition comprises: determining whether the plurality of positioning information meets the preset condition; if not, determining actual distance values between the base stations and measured distance values between the base stations and the terminal at the current time according to the ranging algorithms; determining an error mean value according to a relationship between the actual distance values and standard distance values, and determining the position information of the terminal according to a relationship between the measured distance values and the error mean value, wherein the standard distance values are distance values between the base stations determined by the position information of the base stations; taking the position information of the terminal as new positioning information; merging the plurality of positioning information according to the number of ranging times to select the plurality of positioning information corresponding to the ranging times close to the current time to obtain new plurality of positioning information, and returning to the step of determining whether the plurality of positioning information meets the preset condition; if yes, determining the final position information of the terminal according to a relationship between the plurality of positioning information; Correspondingly, the method of determining the position information of the terminal according to the relationship between the measured distance values and the error mean value comprises: performing sum processing on the measured distance values and the error mean value to obtain first, second and third distance values of the terminal corresponding to the terminal; determining the position information of the terminal according to a relationship between the first, second and third distance values and the position information of the base stations. 2.The UWB-based positioning method of claim 1, wherein, The current distance value between each base station and the terminal is determined according to the ranging algorithm and the signal parameter, and the method comprises the steps of: acquiring the time stamp of the transmission pulse signal between each base station and the terminal, wherein the time stamp comprises at least a first time stamp and a second time stamp of the transmission pulse signal from each base station to the terminal, and a third time stamp and a fourth time stamp of the response pulse signal from the terminal to each base station, and the signal parameter is the transmission time stamp; determining a first difference value by subtracting the first time stamp from the fourth time stamp; determining a second difference value by subtracting the second time stamp from the third time stamp; determining a two-way delay time between each base station and the terminal by subtracting the first difference value from the second difference value; determining a one-way delay time by dividing the two-way delay time by 2; determining the current distance value between each base station and the terminal according to the relationship between the one-way delay time and the speed. 3.The UWB-based positioning method of claim 2, wherein, The establishment process of the first time stamp and the second time stamp comprises the following steps: receiving the first time stamp of the transmission pulse signal from each base station to the terminal; receiving the transmission pulse signal from each base station and recording the receiving time of the first time stamp as the second time stamp; correspondingly, the establishment process of the third time stamp and the fourth time stamp comprises the following steps: generating a response signal of the response pulse signal according to the transmission pulse signal from each base station, and recording the transmission time of the response signal as the third time stamp; sending the third time stamp and the response signal to each base station so that each base station records the receiving time of the response signal and the third time stamp as the fourth time stamp. 4.The UWB-based positioning method of claim 1, wherein, The method for determining the final position information of the terminal according to the relationship between multiple positioning information comprises the following steps: determining whether multiple positioning information is the same; if different, performing average value processing on multiple positioning information to obtain final positioning information as the final position information of the terminal; if the same, selecting one positioning information from multiple positioning information as the final position information of the terminal.

5. A UWB-based positioning apparatus, characterized by, The method comprises the following steps: an acquisition module is configured to acquire the position information of each base station, wherein the number of base stations is at least three; a first determination module is configured to obtain the distance value between each base station and the terminal by the ranging number, the ranging algorithm and the position information of each base station to determine multiple positioning information corresponding to the terminal; wherein the number of current positioning information is determined according to the ranging number; when the ranging algorithm is different, the positioning information is determined according to different ranging algorithms or the same ranging algorithm at different time; a second determination module is configured to determine the corresponding positioning strategy according to the relationship between multiple positioning information and the preset condition to obtain the final position information of the terminal, wherein the preset condition is that multiple positioning information is in the current preset area. Correspondingly, the distance values between the terminal and each of the base stations are obtained by the ranging times, ranging algorithms and position information of each of the base stations to determine a plurality of positioning information corresponding to the terminal, comprising: obtaining signal parameters between the terminal and each of the base stations corresponding to the current ranging time; wherein the signal parameters are time stamp information corresponding to the transmission and reception of each base station and terminal; determining the current distance value corresponding to the terminal and each of the base stations at the current ranging time according to the ranging algorithm and the signal parameters; determining the current positioning information corresponding to the terminal at the current ranging time according to the relationship between the current distance value and the position information of each of the base stations; Correspondingly, the positioning strategy corresponding to the terminal is determined according to the relationship between the plurality of positioning information and the preset condition to obtain the final position information of the terminal, comprising: determining whether the plurality of positioning information meets the preset condition; if not, determining the actual distance value between each of the base stations and the measured distance value between each of the base stations and the terminal at the current time according to the ranging algorithm; determining the error mean value according to the relationship between each of the actual distance values and each of the standard distance values, and determining the position information of the terminal according to the relationship between the measured distance value and the error mean value, wherein each of the standard distance values is the distance value between each of the base stations determined by the position information of each of the base stations; taking the position information of the terminal as new positioning information; combining the ranging times to the plurality of positioning information to select the plurality of positioning information corresponding to the ranging times close to the current time to obtain new plurality of positioning information, and returning to the step of determining whether the plurality of positioning information meets the preset condition; if yes, determining the final position information of the terminal according to the relationship between the plurality of positioning information; Correspondingly, the position information of the terminal is determined according to the relationship between each of the measured distance values and the error mean value, comprising: processing each of the measured distance values and the error mean value to obtain the first distance value, the second distance value and the third distance value of the terminal corresponding to each of the measured distance values and the error mean value; determining the position information of the terminal according to the relationship between the first distance value, the second distance value, the third distance value and the position information of each of the base stations.

6. A UWB-based positioning apparatus, characterized by, comprising: a memory for storing a computer program; a processor for executing the computer program to realize the steps of the UWB-based positioning method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, The computer program is stored on the computer readable storage medium, and the computer program is executed by the processor to realize the steps of the UWB-based positioning method according to any one of claims 1 to 4.

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