Different ranging accuracy positioning method and system based on UWB ToF positioning

Abstract

The application provides a ranging accuracy positioning method and system based on UWBToF positioning, wherein the method comprises the following steps: calculating a corrected timestamp of a Resp message received by a positioning identification card; calculating a corrected timestamp of a Resp message sent by a positioning base station; calculating a first distance between the positioning identification card and the positioning base station; calculating a corrected timestamp of a Final message sent by the positioning identification card; calculating a corrected timestamp of a Final message received by the positioning base station; and calculating a second distance between the positioning identification card and the positioning base station. The application can determine the position of the positioning identification card in the case that three messages in one ToF ranging cannot be completely sent or received.

Description

Positioning methods and systems with varying ranging accuracies based on UWB ToF positioning Technical Field

[0001] This invention belongs to the field of ultra-wideband communication technology, and in particular relates to a positioning method and system with different ranging accuracy based on UWB ToF positioning. Background Technology

[0002] Ultra-wideband (UWB) positioning technology is a carrier-free communication technology that uses nanosecond-level non-sinusoidal narrow pulses to transmit data, thus occupying a wide frequency spectrum. Time-of-flight (ToF) represents the flight time of a signal (electromagnetic wave). The two corresponding devices are named the positioning tag and the positioning base station, as shown in Figure 1. These two devices communicate through the transmission and reception of three messages, ultimately generating a highly accurate ToF ranging distance at the base station.

[0003] However, in ToF positioning, the positioning tag card interacts with each positioning base station through multiple UWB messages to perform ToF ranging. In practical applications, factors such as interference and obstruction may cause three messages in a single ToF ranging to fail to be sent or received successfully, resulting in ranging failure with the positioning base station. Consequently, the location calculation server will be unable to determine the location of the positioning tag card due to insufficient ranging information. Summary of the Invention

[0004] This invention addresses the shortcomings of existing technologies by providing a positioning method and system with varying ranging accuracy based on UWB ToF positioning.

[0005] In a first aspect, the present invention provides a positioning method with different ranging accuracy based on UWB ToF positioning, including obtaining the timestamp of the Poll message sent by the positioning identification card and the crystal oscillator frequency deviation coefficient of the positioning identification card;

[0006] Obtain the timestamp of the Poll message received by the positioning base station;

[0007] Obtain the timestamp of the Resp message sent by the positioning base station and the crystal oscillator frequency deviation coefficient of the positioning base station;

[0008] Obtain the timestamp of the Resp message received by the positioning identification card;

[0009] The corrected timestamp for the Resp message received by the positioning identification card is calculated based on the timestamp of the Poll message sent by the positioning identification card, the crystal oscillator frequency deviation coefficient of the positioning identification card, and the timestamp of the Resp message received by the positioning identification card.

[0010] The corrected timestamp for the Resp message sent by the positioning base station is calculated based on the timestamp of the Poll message received by the positioning base station, the timestamp of the Resp message sent by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0011] The first distance between the positioning identifier card and the positioning base station is calculated based on the timestamp of the Poll message sent by the positioning identifier card, the timestamp of the Poll message received by the positioning base station, the correction timestamp of the Resp message received by the positioning identifier card, and the correction timestamp of the Resp message sent by the positioning base station.

[0012] Obtain the timestamp of the Final message sent by the location identification card;

[0013] Obtain the timestamp of the Final message received by the positioning base station;

[0014] The corrected timestamp for the Final message sent by the positioning identification card is calculated based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Final message sent by the positioning identification card, and the crystal oscillator frequency deviation coefficient of the positioning identification card.

[0015] The corrected timestamp for the Final message received by the positioning base station is calculated based on the timestamp of the Final message received by the positioning base station, the timestamp of the Poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0016] The second distance between the positioning identifier card and the positioning base station is calculated based on the timestamps of the positioning identifier card sending the Poll message, the correction timestamps of the positioning identifier card receiving the Resp message, the timestamps of the positioning base station receiving the Poll message, the correction timestamps of the positioning base station sending the Resp message, the correction timestamps of the positioning identifier card sending the Final message, and the correction timestamps of the positioning base station receiving the Final message.

[0017] Furthermore, the positioning method with different ranging accuracies based on UWB ToF positioning provided by the present invention also includes:

[0018] Obtain the signal strength of the Poll message received by the positioning base station;

[0019] The third distance between the positioning tag and the positioning base station is calculated based on the signal strength of the Poll message received by the positioning base station.

[0020] Further, the step of calculating the corrected timestamp for the location identification card receiving the Resp message based on the timestamp of the Poll message sent by the location identification card, the crystal oscillator frequency deviation coefficient of the location identification card, and the timestamp of the Resp message received by the location identification card includes:

[0021] The corrected timestamp for the Resp message received by the positioning identification card is calculated using the following formula:

[0022]

[0023] Where t21' is the correction timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t21 is the timestamp of the positioning tag receiving the Resp message; and Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag.

[0024] Further, the step of calculating the corrected timestamp for the Resp message sent by the positioning base station based on the timestamp of the positioning base station receiving the Poll message, the timestamp of the positioning base station sending the Resp message, and the crystal oscillator frequency deviation coefficient of the positioning base station includes:

[0025] The corrected timestamp of the Resp message sent by the positioning base station is calculated using the following formula:

[0026]

[0027] Where t22' is the correction timestamp of the Resp message sent by the positioning base station; t12 is the timestamp of the Poll message received by the positioning base station; t22 is the timestamp of the Resp message sent by the positioning base station; and Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station.

[0028] Further, the calculation of the first distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the timestamp of the positioning base station receiving the Poll message, the corrected timestamp of the positioning identifier card receiving the Resp message, and the corrected timestamp of the positioning base station sending the Resp message includes:

[0029] The first distance between the positioning tag and the positioning base station is calculated using the following formula:

[0030] d1=c×0.5×[(t21'-t11)-(t22'-t12)];

[0031] Where d1 is the first distance between the positioning tag and the positioning base station; c is the speed of light; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t22' is the corrected timestamp of the positioning base station sending the Resp message; and t12 is the timestamp of the positioning base station receiving the Poll message.

[0032] Further, the step of calculating the corrected timestamp for the final message sent by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the final message sent by the positioning identification card, and the crystal oscillator frequency deviation coefficient of the positioning identification card includes:

[0033] The correction timestamp for the Final message sent by the positioning identification card is calculated using the following formula:

[0034]

[0035] Where t31' is the correction timestamp of the positioning tag card sending the Final message; t11 is the timestamp of the positioning tag card sending the Poll message; t31 is the timestamp of the positioning tag card sending the Final message; and Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag card.

[0036] Further, the step of calculating the corrected timestamp of the Final message received by the positioning base station based on the timestamp of the Final message received by the positioning base station, the timestamp of the Poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station includes:

[0037] The corrected timestamp for the Final message received by the positioning base station is calculated using the following formula:

[0038]

[0039] Where t32' is the correction timestamp of the positioning base station receiving the Final message; t12 is the timestamp of the positioning base station receiving the Poll message; t32 is the timestamp of the positioning base station receiving the Final message; and Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station.

[0040] Further, the calculation of the second distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the corrected timestamp of the positioning identifier card receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the corrected timestamp of the positioning base station sending the Resp message, the corrected timestamp of the positioning identifier card sending the Final message, and the corrected timestamp of the positioning base station receiving the Final message includes:

[0041] The second distance between the positioning tag and the positioning base station is calculated using the following formula:

[0042]

[0043] Where d2 is the second distance between the positioning tag and the positioning base station; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t32' is the corrected timestamp of the positioning base station receiving the Final message; t22' is the corrected timestamp of the positioning base station sending the Resp message; t31' is the corrected timestamp of the positioning tag sending the Final message; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t12 is the timestamp of the positioning base station receiving the Poll message; and c is the speed of light.

[0044] Secondly, the present invention provides a positioning system with different ranging accuracies based on UWB ToF positioning, comprising:

[0045] The first acquisition module is used to acquire the timestamp of the Poll message sent by the positioning identification card and the crystal oscillator frequency deviation coefficient of the positioning identification card;

[0046] The second acquisition module is used to acquire the timestamp of the Poll message received by the positioning base station.

[0047] The third acquisition module is used to acquire the timestamp of the Resp message sent by the positioning base station and the crystal oscillator frequency deviation coefficient of the positioning base station;

[0048] The fourth acquisition module is used to acquire the timestamp of the Resp message received by the positioning identification card;

[0049] The first calculation module is used to calculate the corrected timestamp of the Resp message received by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the crystal frequency deviation coefficient of the positioning identification card, and the timestamp of the Resp message received by the positioning identification card.

[0050] The second calculation module is used to calculate the corrected timestamp of the Resp message sent by the positioning base station based on the timestamp of the Poll message received by the positioning base station, the timestamp of the Resp message sent by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0051] The third calculation module is used to calculate the first distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, and the correction timestamp of the positioning base station sending the Resp message.

[0052] The fifth acquisition module is used to acquire the timestamp of the Final message sent by the positioning identification card;

[0053] The sixth acquisition module is used to acquire the timestamp of the Final message received by the positioning base station;

[0054] The fourth calculation module is used to calculate the corrected timestamp of the Final message sent by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Final message sent by the positioning identification card, and the crystal frequency deviation coefficient of the positioning identification card.

[0055] The fifth calculation module is used to calculate the corrected timestamp of the Final message received by the positioning base station based on the timestamp of the Final message received by the positioning base station, the timestamp of the Poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0056] The seventh calculation module is used to calculate the second distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning base station sending the Resp message, the correction timestamp of the positioning identifier card sending the Final message, and the correction timestamp of the positioning base station receiving the Final message.

[0057] Thirdly, the present invention provides a computer device, including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the steps of the positioning method with different ranging accuracy based on UWB ToF positioning as described in the first aspect.

[0058] This invention provides a positioning method and system with different ranging accuracies based on UWB ToF positioning. The method includes: acquiring the timestamp of a positioning tag card sending a Poll message and the crystal oscillator frequency deviation coefficient of the positioning tag card; acquiring the timestamp of a positioning base station receiving a Poll message; acquiring the timestamp of a positioning base station sending a Resp message and the crystal oscillator frequency deviation coefficient of the positioning base station; acquiring the timestamp of a positioning tag card receiving a Resp message; calculating a corrected timestamp for the Resp message received by the positioning tag card based on the timestamp of the Poll message sent by the positioning tag card, the crystal oscillator frequency deviation coefficient of the positioning tag card, and the timestamp of the Resp message received by the positioning tag card; calculating a corrected timestamp for the Resp message sent by the positioning base station based on the timestamp of the Poll message received by the positioning base station, the timestamp of the Resp message sent by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station; and calculating a corrected timestamp for the Resp message sent by the positioning base station based on the timestamp of the Poll message sent by the positioning tag card, the timestamp of the Poll message received by the positioning base station, the corrected timestamp of the Resp message received by the positioning tag card, and the timestamp of the Resp message sent by the positioning base station. The invention calculates the first distance between the positioning tether and the positioning base station using the corrected timestamp; obtains the timestamp of the positioning tether sending the final message; obtains the timestamp of the positioning base station receiving the final message; calculates the corrected timestamp of the final message sent by the positioning tether based on the timestamp of the poll message sent by the positioning tether, the timestamp of the final message sent by the positioning tether, and the crystal oscillator frequency deviation coefficient of the positioning tether; calculates the corrected timestamp of the final message received by the positioning base station based on the timestamp of the final message received by the positioning base station, the timestamp of the poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station; and calculates the second distance between the positioning tether and the positioning base station using the timestamp of the poll message sent by the positioning tether, the corrected timestamp of the resp message received by the positioning tether, the timestamp of the poll message received by the positioning base station, the corrected timestamp of the resp message sent by the positioning base station, the corrected timestamp of the final message sent by the positioning tether, and the corrected timestamp of the final message received by the positioning tether. This invention can determine the location of the positioning tether even when three messages in a single ToF ranging measurement cannot be successfully sent or received. Attached Figure Description

[0059] To more clearly illustrate the technical solution of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0060] Figure 1 is a flowchart of the ToF ranging and positioning process provided in an embodiment of the present invention;

[0061] Figure 2 is a flowchart of a positioning method with different ranging accuracy based on UWB ToF positioning provided in an embodiment of the present invention;

[0062] Figure 3 is a diagram of a device for ToF ranging to achieve ToF positioning provided in an embodiment of the present invention;

[0063] Figure 4 shows the ToF ranging and positioning effect when the three messages are successfully sent or received in the embodiment of the present invention.

[0064] Figure 5 shows the ToF ranging and positioning effect under the three cases where the three messages are not completely successfully sent or received according to the embodiment of the present invention.

[0065] Figure 6 shows another ToF ranging and positioning effect diagram under the condition that the three messages are not completely successfully sent or received according to the embodiment of the present invention;

[0066] Figure 7 is a structural diagram of a positioning system with different ranging accuracy based on UWB ToF positioning provided in an embodiment of the present invention. Detailed Implementation

[0067] 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 skilled in the art without creative effort are within the scope of protection of the present invention.

[0068] As shown in Figure 3, ToF positioning using Time-of-Flight (ToF) ranging requires a positioning tag, a positioning base station, and a location calculation server. The positioning tag is a portable device using UWB radio frequency (UWB) to perform ToF ranging with multiple positioning base stations. The positioning base stations can then calculate the distance between themselves and the positioning tag. The positioning base station includes UWB radio frequency and network (Ethernet, Wi-Fi) devices, installed in fixed locations such as ceilings or walls. It performs ToF ranging with the positioning tag via UWB and transmits the ranging information from the positioning tag to the location calculation server in real time via the network. The location calculation server is a server running location calculation software that receives the ranging messages from the positioning tag transmitted from the positioning base stations. Combining map information, the location coordinates of the positioning base stations, and the ranging information between the positioning tag and the base stations, the server calculates the location coordinates of the positioning tag.

[0069] As shown in Figure 4, ToF positioning is based on ToF ranging. Taking three positioning base stations as an example, after the ranging is successful, three circles are drawn with the location of the positioning base station as the center and the ranging distance as the radius. The intersection of the circles is the location of the positioning tag.

[0070] The device transmits a carrier wave, and the center frequency of the carrier wave is measured using a spectrum analyzer and recorded as f1. Based on the device's software settings, the theoretical center frequency of the transmitted carrier wave is calculated as f2. The crystal oscillator frequency deviation coefficient of the device is calculated as follows:

[0071] In one embodiment, as shown in FIG2, this embodiment of the invention provides a positioning method with different ranging accuracies based on UWB ToF positioning, including:

[0072] Step 101: Obtain the timestamp of the Poll message sent by the positioning identification card and the crystal oscillator frequency deviation coefficient of the positioning identification card.

[0073] Step 102: Obtain the timestamp of the Poll message received by the positioning base station.

[0074] Step 103: Obtain the timestamp of the Resp message sent by the positioning base station and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0075] Step 104: Obtain the timestamp of the Resp message received by the positioning identification card.

[0076] Step 105: Calculate the corrected timestamp for the Resp message received by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the crystal oscillator frequency deviation coefficient of the positioning identification card, and the timestamp of the Resp message received by the positioning identification card.

[0077] For example, the corrected timestamp of the Resp message received by the positioning identification card is calculated according to the following formula:

[0078]

[0079] Where t21' is the correction timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t21 is the timestamp of the positioning tag receiving the Resp message; and Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag.

[0080] Step 106: Calculate the corrected timestamp for the Resp message sent by the positioning base station based on the timestamp of the Poll message received by the positioning base station, the timestamp of the Resp message sent by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0081] For example, the corrected timestamp of the Resp message sent by the positioning base station is calculated according to the following formula:

[0082]

[0083] Where t22' is the correction timestamp of the Resp message sent by the positioning base station; t12 is the timestamp of the Poll message received by the positioning base station; t22 is the timestamp of the Resp message sent by the positioning base station; and Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station.

[0084] Step 107: Calculate the first distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, and the correction timestamp of the positioning base station sending the Resp message.

[0085] For example, the first distance between the positioning tag and the positioning base station is calculated according to the following formula:

[0086] d1=c×0.5×[(t21'-t11)-(t22'-t12)].

[0087] Where d1 is the first distance between the positioning tag and the positioning base station; c is the speed of light; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t22' is the corrected timestamp of the positioning base station sending the Resp message; and t12 is the timestamp of the positioning base station receiving the Poll message.

[0088] Step 108: Obtain the timestamp of the Final message sent by the positioning identification card.

[0089] Step 109: Obtain the timestamp of the Final message received by the positioning base station.

[0090] Step 110: Calculate the corrected timestamp for the Final message sent by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Final message sent by the positioning identification card, and the crystal frequency deviation coefficient of the positioning identification card.

[0091] For example, the corrected timestamp for the location identification card sending the Final message is calculated according to the following formula:

[0092]

[0093] Where t31' is the correction timestamp of the positioning tag card sending the Final message; t11 is the timestamp of the positioning tag card sending the Poll message; t31 is the timestamp of the positioning tag card sending the Final message; and Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag card.

[0094] Step 111: Calculate the corrected timestamp of the Final message received by the positioning base station based on the timestamp of the Final message received by the positioning base station, the timestamp of the Poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0095] For example, the corrected timestamp for the location base station receiving the Final message is calculated according to the following formula:

[0096]

[0097] Where t32' is the correction timestamp of the positioning base station receiving the Final message; t12 is the timestamp of the positioning base station receiving the Poll message; t32 is the timestamp of the positioning base station receiving the Final message; and Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station.

[0098] Step 112: Calculate the second distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning base station sending the Resp message, the correction timestamp of the positioning identifier card sending the Final message, and the correction timestamp of the positioning base station receiving the Final message.

[0099] For example, the second distance between the positioning tag and the positioning base station is calculated according to the following formula:

[0100]

[0101] Where d2 is the second distance between the positioning tag and the positioning base station; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t32' is the corrected timestamp of the positioning base station receiving the Final message; t22' is the corrected timestamp of the positioning base station sending the Resp message; t31' is the corrected timestamp of the positioning tag sending the Final message; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t12 is the timestamp of the positioning base station receiving the Poll message; and c is the speed of light.

[0102] For example, the positioning method with different ranging accuracies based on UWB ToF positioning provided in this embodiment further includes:

[0103] Obtain the signal strength of the Poll message received by the positioning base station; calculate the third distance between the positioning tag and the positioning base station based on the signal strength of the Poll message received by the positioning base station.

[0104] The distance between the positioning base station and the positioning tag was tested under unobstructed conditions according to a pre-set distance. At the same time, the distance was recorded as a corresponding mapping relationship with the signal strength of the positioning base station receiving the Poll message sent by the positioning tag card, as shown in Table 1:

[0105] Table 1 shows the mapping relationship between distance and the signal strength of Poll messages.

[0106]

[0107] Based on the obtained Poll message signal strength, find the closest signal strength value from Table 1, and then use the distance to its left as the distance calculated by this signal strength as the third distance between the positioning tag and the positioning base station.

[0108] If the Final message is not successfully received by the positioning base station, it may be because the positioning identification card failed to receive the Resp message, or the positioning base station failed to receive the Final message.

[0109] If the positioning base station fails to receive the Final message, when the positioning tagged card receives the Resp message during the Nth positioning, it calculates the first distance between the positioning tagged card and the positioning base station and saves the first distance of the Nth positioning. During the N+1th positioning, it sends the first distance information of the Nth positioning in the Poll message. When the positioning base station receives the Poll message of the N+1th positioning that includes the first distance information of the Nth positioning, it will send the information to the location calculation server to recalculate the Nth positioning.

[0110] For the location calculation server, in the Nth positioning, two of the positioning base stations output the second distance between the positioning tag and the base station, and the third positioning base station outputs the Poll message signal strength. As shown in Figure 5, after the location calculation server receives the positioning tag's Nth positioning information, it outputs a somewhat inaccurate tag location based on the second distance between the positioning tag and the base station output by two of the positioning base stations, and the Poll message signal strength output by the third positioning base station, using a circle intersection method.

[0111] When the positioning tag reaches its N+1th positioning, it transmits the first distance information between itself and the third positioning base station from the Nth positioning to the third positioning base station, and then sends it to the location calculation server. As shown in Figure 6, the location calculation server combines this first distance information with the second distances output by the previous positioning tag and two of the positioning base stations to recalculate and output a more accurate positioning tag location.

[0112] If the positioning tagged card fails to receive the Resp message, the positioning base station sends the data content and signal strength from the Poll message to the location calculation server. The location calculation server calculates the positioning tagged card's position based on the signal strength of the positioning base station and the ranging information between the positioning tagged card and other positioning base stations during this positioning. Distance is estimated based on signal strength. Unlike the case where the Final message is not successfully received by the positioning base station, the (N+2)th positioning will not include the unilateral ranging information from the (N+1)th positioning. This is because the positioning tagged card did not receive the Resp message in the (N+1)th positioning, therefore, the initial distance information between the positioning tagged card and the positioning base station cannot be generated.

[0113] This invention can determine the location of a positioning tag even when three messages in a single ToF ranging operation cannot be successfully sent or received.

[0114] Based on the same inventive concept, this invention also provides a positioning system with different ranging accuracies based on UWB ToF positioning. Since the principle of this system in solving the problem is similar to the aforementioned positioning method with different ranging accuracies based on UWB ToF positioning, the implementation of this system can refer to the implementation of the positioning method with different ranging accuracies based on UWB ToF positioning, and the repeated parts will not be described again.

[0115] In another embodiment, a positioning system with different ranging accuracies based on UWB ToF positioning provided by an embodiment of the present invention, as shown in FIG7, includes:

[0116] The first acquisition module 10 is used to acquire the timestamp of the Poll message sent by the positioning identification card and the crystal oscillator frequency deviation coefficient of the positioning identification card.

[0117] The second acquisition module 20 is used to acquire the timestamp of the Poll message received by the positioning base station.

[0118] The third acquisition module 30 is used to acquire the timestamp of the Resp message sent by the positioning base station and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0119] The fourth acquisition module 40 is used to acquire the timestamp of the Resp message received by the positioning identification card.

[0120] The first calculation module 50 is used to calculate the corrected timestamp of the Resp message received by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the crystal oscillator frequency deviation coefficient of the positioning identification card, and the timestamp of the Resp message received by the positioning identification card.

[0121] The second calculation module 60 is used to calculate the corrected timestamp of the Resp message sent by the positioning base station based on the timestamp of the Poll message received by the positioning base station, the timestamp of the Resp message sent by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0122] The third calculation module 70 is used to calculate the first distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, and the correction timestamp of the positioning base station sending the Resp message.

[0123] The fifth acquisition module 80 is used to acquire the timestamp of the Final message sent by the positioning identification card.

[0124] The sixth acquisition module 90 is used to acquire the timestamp of the Final message received by the positioning base station.

[0125] The fourth calculation module 100 is used to calculate the corrected timestamp of the Final message sent by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Final message sent by the positioning identification card, and the crystal oscillator frequency deviation coefficient of the positioning identification card.

[0126] The fifth calculation module 110 is used to calculate the corrected timestamp of the Final message received by the positioning base station based on the timestamp of the Final message received by the positioning base station, the timestamp of the Poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station.

[0127] The seventh calculation module 120 is used to calculate the second distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning base station sending the Resp message, the correction timestamp of the positioning identifier card sending the Final message, and the correction timestamp of the positioning base station receiving the Final message.

[0128] For example, the positioning system with different ranging accuracies based on UWB ToF positioning provided in the embodiments of the present invention further includes:

[0129] The seventh acquisition module is used to acquire the signal strength of the Poll message received by the positioning base station.

[0130] The eighth calculation module is used to calculate the third distance between the positioning identification card and the positioning base station based on the signal strength of the Poll message received by the positioning base station.

[0131] For example, the first computing module includes:

[0132] The first calculation unit is used to calculate the corrected timestamp of the Resp message received by the positioning identification card according to the following formula:

[0133]

[0134] Where t21' is the correction timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t21 is the timestamp of the positioning tag receiving the Resp message; and Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag.

[0135] For example, the second computing module includes:

[0136] The second calculation unit is used to calculate the corrected timestamp of the Resp message sent by the positioning base station according to the following formula:

[0137]

[0138] Where t22' is the correction timestamp of the Resp message sent by the positioning base station; t12 is the timestamp of the Poll message received by the positioning base station; t22 is the timestamp of the Resp message sent by the positioning base station; and Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station.

[0139] For example, the third computing module includes:

[0140] The third calculation unit is used to calculate the first distance between the positioning tag and the positioning base station according to the following formula:

[0141] d1=c×0.5×[(t21'-t11)-(t22'-t12)].

[0142] Where d1 is the first distance between the positioning tag and the positioning base station; c is the speed of light; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t22' is the corrected timestamp of the positioning base station sending the Resp message; and t12 is the timestamp of the positioning base station receiving the Poll message.

[0143] For example, the fourth computing module includes:

[0144] The fourth calculation unit is used to calculate the correction timestamp for the Final message sent by the positioning identification card according to the following formula:

[0145]

[0146] Where t31' is the correction timestamp of the positioning tag card sending the Final message; t11 is the timestamp of the positioning tag card sending the Poll message; t31 is the timestamp of the positioning tag card sending the Final message; and Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag card.

[0147] For example, the fifth computing module includes:

[0148] The fifth calculation unit is used to calculate the corrected timestamp of the Final message received by the positioning base station according to the following formula:

[0149]

[0150] Where t32' is the correction timestamp of the positioning base station receiving the Final message; t12 is the timestamp of the positioning base station receiving the Poll message; t32 is the timestamp of the positioning base station receiving the Final message; and Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station.

[0151] For example, the sixth computing module includes:

[0152] The sixth calculation unit is used to calculate the second distance between the positioning tag and the positioning base station according to the following formula:

[0153]

[0154] Where d2 is the second distance between the positioning tag and the positioning base station; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t32' is the corrected timestamp of the positioning base station receiving the Final message; t22' is the corrected timestamp of the positioning base station sending the Resp message; t31' is the corrected timestamp of the positioning tag sending the Final message; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t12 is the timestamp of the positioning base station receiving the Poll message; and c is the speed of light.

[0155] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0156] In another embodiment, the present invention provides a computer device including a processor and a memory; wherein, when the processor executes a computer program stored in the memory, it implements the aforementioned positioning method with different ranging accuracies based on UWB ToF positioning.

[0157] For more detailed information on the above methods, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0158] In another embodiment, the present invention provides a computer-readable storage medium for storing a computer program; when the computer program is executed by a processor, it implements the aforementioned positioning method with different ranging accuracies based on UWB ToF positioning.

[0159] For more detailed information on the above methods, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0160] The various embodiments in this 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. The systems, devices, and storage media disclosed in the embodiments are described simply because they correspond to the methods disclosed in the embodiments; relevant details can be found in the method section.

[0161] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solutions in the embodiments of the present invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or certain parts of the embodiments of the present invention.

[0162] The present invention has been described in detail above with reference to specific embodiments and exemplary examples; however, these descriptions should not be construed as limiting the present invention. Those skilled in the art will understand that various equivalent substitutions, modifications, or improvements can be made to the technical solutions and embodiments of the present invention without departing from the spirit and scope of the invention, and all such modifications and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims.

Claims

1. A positioning method with different ranging accuracies based on UWB ToF positioning, characterized in that, include: Obtain the timestamp of the Poll message sent by the positioning identification card and the crystal oscillator frequency deviation coefficient of the positioning identification card; obtain the timestamp of the Poll message received by the positioning base station; Obtain the timestamp of the Resp message sent by the positioning base station and the crystal oscillator frequency deviation coefficient of the positioning base station; obtain the timestamp of the Resp message received by the positioning identification card; calculate the corrected timestamp of the Resp message received by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the crystal oscillator frequency deviation coefficient of the positioning identification card, and the timestamp of the Resp message received by the positioning identification card. The corrected timestamp for the Resp message received by the positioning identification card is calculated using the following formula: Where t21' is the corrected timestamp of the location identification card receiving the Resp message; t11 is the timestamp of the location identification card sending the Poll message; t21 is the timestamp of the location identification card receiving the Resp message; Δf1 is the crystal oscillator frequency deviation coefficient of the location identification card; the corrected timestamp of the Resp message sent by the location base station is calculated based on the timestamp of the Poll message received by the location base station, the timestamp of the Resp message sent by the location base station, and the crystal oscillator frequency deviation coefficient of the location base station; the corrected timestamp of the Resp message sent by the location base station is calculated according to the following formula: Where t22' is the corrected timestamp of the Resp message sent by the positioning base station; t12 is the timestamp of the Poll message received by the positioning base station; t22 is the timestamp of the Resp message sent by the positioning base station; Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station; the first distance between the positioning identification card and the positioning base station is calculated based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Poll message received by the positioning base station, the corrected timestamp of the Resp message received by the positioning identification card, and the corrected timestamp of the Resp message sent by the positioning base station; the timestamp of the Final message sent by the positioning identification card is obtained; the timestamp of the Final message received by the positioning base station is obtained; the corrected timestamp of the Final message sent by the positioning identification card is calculated based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Final message sent by the positioning identification card, and the crystal oscillator frequency deviation coefficient of the positioning identification card; the corrected timestamp of the Final message sent by the positioning identification card is calculated according to the following formula: Where t31' is the corrected timestamp of the positioning tag card sending the Final message; t11 is the timestamp of the positioning tag card sending the Poll message; t31 is the timestamp of the positioning tag card sending the Final message; Δf1 is the crystal oscillator frequency deviation coefficient of the positioning tag card; the corrected timestamp of the positioning base station receiving the Final message is calculated based on the timestamp of the positioning base station receiving the Final message, the timestamp of the positioning base station receiving the Poll message, and the crystal oscillator frequency deviation coefficient of the positioning base station; the corrected timestamp of the positioning base station receiving the Final message is calculated according to the following formula: Where t32' is the corrected timestamp of the positioning base station receiving the Final message; t12 is the timestamp of the positioning base station receiving the Poll message; t32 is the timestamp of the positioning base station receiving the Final message; Δf2 is the crystal oscillator frequency deviation coefficient of the positioning base station; the second distance between the positioning tag and the positioning base station is calculated based on the timestamp of the positioning tag sending the Poll message, the corrected timestamp of the positioning tag receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the corrected timestamp of the positioning base station sending the Resp message, the corrected timestamp of the positioning tag sending the Final message, and the corrected timestamp of the positioning base station receiving the Final message.

2. The positioning method with different ranging accuracies based on UWB ToF positioning according to claim 1, characterized in that, Also includes: Obtain the signal strength of the Poll message received by the positioning base station; The third distance between the positioning tag and the positioning base station is calculated based on the signal strength of the Poll message received by the positioning base station.

3. The positioning method with different ranging accuracies based on UWB ToF positioning according to claim 1, characterized in that, The calculation of the first distance between the positioning identifier card and the positioning base station based on the timestamp of the Poll message sent by the positioning identifier card, the timestamp of the Poll message received by the positioning base station, the corrected timestamp of the Resp message received by the positioning identifier card, and the corrected timestamp of the Resp message sent by the positioning base station includes: calculating the first distance between the positioning identifier card and the positioning base station according to the following formula: Where d1 is the first distance between the positioning identification card and the positioning base station; c is the speed of light; t21' is the corrected timestamp of the positioning identification card receiving the Resp message; t11 is the timestamp of the positioning identification card sending the Poll message; t22' is the corrected timestamp of the positioning base station sending the Resp message; and t12 is the timestamp of the positioning base station receiving the Poll message.

4. The positioning method with different ranging accuracies based on UWB ToF positioning according to claim 1, characterized in that, The calculation of the second distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the corrected timestamp of the positioning identifier card receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the corrected timestamp of the positioning base station sending the Resp message, the corrected timestamp of the positioning identifier card sending the Final message, and the corrected timestamp of the positioning base station receiving the Final message includes: calculating the second distance between the positioning identifier card and the positioning base station according to the following formula: Where d2 is the second distance between the positioning tag and the positioning base station; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t11 is the timestamp of the positioning tag sending the Poll message; t32' is the corrected timestamp of the positioning base station receiving the Final message; t22' is the corrected timestamp of the positioning base station sending the Resp message; t31' is the corrected timestamp of the positioning tag sending the Final message; t21' is the corrected timestamp of the positioning tag receiving the Resp message; t12 is the timestamp of the positioning base station receiving the Poll message; c is the speed of light.

5. A positioning system with different ranging accuracies based on UWB ToF positioning, executing the positioning method with different ranging accuracies based on UWB ToF positioning as described in any one of claims 1-4, characterized in that, include: The first acquisition module is used to acquire the timestamp of the Poll message sent by the positioning identification card and the crystal oscillator frequency deviation coefficient of the positioning identification card; The second acquisition module is used to acquire the timestamp of the Poll message received by the positioning base station. The third acquisition module is used to acquire the timestamp of the Resp message sent by the positioning base station and the crystal oscillator frequency deviation coefficient of the positioning base station; the fourth acquisition module is used to acquire the timestamp of the Resp message received by the positioning identification card; the first calculation module is used to calculate the corrected timestamp of the Resp message received by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the crystal oscillator frequency deviation coefficient of the positioning identification card and the timestamp of the Resp message received by the positioning identification card. The second calculation module is used to calculate the corrected timestamp of the Resp message sent by the positioning base station based on the timestamp of the Poll message received by the positioning base station, the timestamp of the Resp message sent by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station. The third calculation module is used to calculate the first distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, and the correction timestamp of the positioning base station sending the Resp message; the fifth acquisition module is used to acquire the timestamp of the positioning identifier card sending the Final message. The sixth acquisition module is used to acquire the timestamp of the Final message received by the positioning base station; The fourth calculation module is used to calculate the corrected timestamp of the Final message sent by the positioning identification card based on the timestamp of the Poll message sent by the positioning identification card, the timestamp of the Final message sent by the positioning identification card, and the crystal frequency deviation coefficient of the positioning identification card. The fifth calculation module is used to calculate the corrected timestamp of the Final message received by the positioning base station based on the timestamp of the Final message received by the positioning base station, the timestamp of the Poll message received by the positioning base station, and the crystal oscillator frequency deviation coefficient of the positioning base station. The seventh calculation module is used to calculate the second distance between the positioning identifier card and the positioning base station based on the timestamp of the positioning identifier card sending the Poll message, the correction timestamp of the positioning identifier card receiving the Resp message, the timestamp of the positioning base station receiving the Poll message, the correction timestamp of the positioning base station sending the Resp message, the correction timestamp of the positioning identifier card sending the Final message, and the correction timestamp of the positioning base station receiving the Final message.

6. A computer device, characterized in that, It includes a processor and a memory; wherein, when the processor executes the computer program stored in the memory, it implements the steps of the positioning method with different ranging accuracy based on UWB ToF positioning as described in any one of claims 1-4.

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