Positioning method and apparatus

Abstract

The present disclosure relates to a positioning method and device, and relates to the technical field of navigation and positioning. The positioning method comprises: in a first positioning mode, acquiring distances of a terminal to two ultra-wideband (UWB) base stations at a first time and a second time; determining a moving distance of the terminal between the first time and the second time; and determining a position of the terminal at the first time and a position of the terminal at the second time according to the distances of the terminal to the two UWB base stations at the first time and the second time and the moving distance of the terminal. Through the above method, positioning based on two UWB base stations can be realized, so that the positioning cost can be reduced while ensuring a certain positioning accuracy.

Description

Technical Field

[0001] This disclosure relates to the field of navigation and positioning technology, and in particular to a positioning method and apparatus. Background Technology

[0002] Positioning technology is currently widely used in various intelligent business scenarios, such as metaverse and autonomous driving. In outdoor scenarios, satellite navigation systems (SNS) can solve most positioning problems. In indoor scenarios, however, inertial navigation systems based on inertial measurement unit (IMU) sensors and positioning systems based on radio frequency (RF) signals, such as Wi-Fi, Bluetooth, and Ultra Wide Band (UWB), dominate the market.

[0003] UWB is a high-precision radio frequency positioning technology that has emerged in recent years. It achieves ultra-high temporal resolution through ultra-high bandwidth, thereby achieving centimeter-level indoor positioning, with accuracy far exceeding other RF positioning technologies. Summary of the Invention

[0004] This disclosure presents a positioning method and apparatus.

[0005] According to a first aspect of this disclosure, a positioning method is proposed, comprising: in a first positioning mode, acquiring the distances of a terminal to two ultra-wideband (UWB) base stations at a first time and a second time; determining the moving distance of the terminal between the first time and the second time; and determining the position of the terminal at the first time and the position of the terminal at the second time based on the distances of the terminal to the two UWB base stations at the first time and the second time, and the moving distance of the terminal.

[0006] In some embodiments, the method further includes: determining the first time and the second time based on measurement data from the inertial measurement unit (IMU) corresponding to the terminal.

[0007] In some embodiments, determining the first time and the second time based on the measurement data of the inertial measurement unit (IMU) corresponding to the terminal includes: performing step detection on the terminal based on the measurement data of the IMU corresponding to the terminal; and determining the first time and the second time based on the result of the step detection.

[0008] In some embodiments, the result of the step detection includes a start timestamp and an end timestamp of the terminal moving a specified number of steps. Determining the first moment and the second moment based on the result of the step detection includes: taking the start timestamp of the terminal moving a specified number of steps as the first moment and the end timestamp of the terminal moving a specified number of steps as the second moment.

[0009] In some embodiments, determining the distance the terminal moves between the first time point and the second time point includes: determining the moving step length of the terminal; and determining the distance the terminal moves between the first time point and the second time point based on the moving step length of the terminal and a specified number of steps the terminal moves.

[0010] In some embodiments, determining the step size of the terminal includes: obtaining the step size of the terminal from the terminal's historical walking data; or calculating the step size of the terminal based on information about the user carrying the terminal.

[0011] In some embodiments, determining the position of the terminal at the first time moment and the position of the terminal at the second time moment includes: determining a first position coordinate component of the terminal at the first time moment and a distance from the terminal to the two UWB base stations at the first time moment and a distance from the terminal to the line connecting the two UWB base stations at the first time moment based on the distance from the terminal to the two UWB base stations at the first time moment and the distance between the two UWB base stations at the second time moment; determining a first position coordinate component of the terminal at the second time moment and a distance from the terminal to the line connecting the two UWB base stations at the second time moment based on the distance from the terminal to the two UWB base stations at the second time moment and the distance between the two UWB base stations at the second time moment; and determining a second position coordinate component of the terminal at the first time moment and a second position coordinate component of the terminal at the second time moment based on the first position coordinate component of the terminal at the first time moment, the first position coordinate component of the terminal at the second time moment, the distance from the terminal to the line connecting the two UWB base stations at the first time moment, the distance from the terminal to the line connecting the two UWB base stations at the second time moment, and the distance the terminal has moved.

[0012] In some embodiments, the two UWB base stations are deployed at the same altitude.

[0013] In some embodiments, the method further includes: positioning the terminal based on three UWB base stations in the second positioning mode; and switching to the first positioning mode when the conditions for switching from the second positioning mode to the first positioning mode are met.

[0014] In some embodiments, the conditions for switching from the second positioning mode to the first positioning mode include: the terminal only receives signals sent by two UWB base stations.

[0015] According to a second aspect of this disclosure, a positioning device is provided, comprising: an acquisition module configured to acquire, in a first positioning mode, the distances of a terminal to two ultra-wideband (UWB) base stations at a first time and a second time; a determination module configured to determine the moving distance of the terminal between the first time and the second time; and a positioning module configured to determine the position of the terminal at the first time and the position of the terminal at the second time based on the distances of the terminal to the two UWB base stations at the first time and the second time, and the moving distance of the terminal.

[0016] According to a third aspect of this disclosure, a positioning device is provided, comprising: a memory; and a processor coupled to the memory, the processor being configured to perform the positioning method as described above based on instructions stored in the memory.

[0017] According to a fourth aspect of this disclosure, a computer-storeable medium is provided having computer program instructions stored thereon, which, when executed by a processor, implement the positioning method as described above. Attached Figure Description

[0018] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0019] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0020] Figure 1 This is a schematic diagram illustrating positioning based on three UWB base stations in related technologies;

[0021] Figure 2 This is a flowchart illustrating a positioning method according to some embodiments of the present disclosure;

[0022] Figure 3 This is a flowchart illustrating the determination of a first time and a second time based on IMU measurement data according to some embodiments of the present disclosure;

[0023] Figure 4 This is a flowchart illustrating the determination of terminal location according to some embodiments of the present disclosure;

[0024] Figure 5a This is a schematic diagram illustrating the principle of determining the terminal location according to some embodiments of the present disclosure;

[0025] Figure 5b This is a schematic diagram illustrating the principle of determining the terminal location according to some embodiments of the present disclosure;

[0026] Figure 6 This is a flowchart illustrating a positioning method according to other embodiments of the present disclosure;

[0027] Figure 7 This is a block diagram illustrating a positioning device according to some embodiments of the present disclosure;

[0028] Figure 8 This is a block diagram illustrating a positioning device according to other embodiments of the present disclosure;

[0029] Figure 9 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure. Detailed Implementation

[0030] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0031] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0032] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0033] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0034] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0035] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0036] Figure 1 This is a schematic diagram illustrating positioning based on three UWB base stations in related technologies. These technologies employ a Time-of-Flight (TOF) algorithm for terminal positioning. For example... Figure 1 As shown, this positioning algorithm requires the terminal to receive signals from three UWB base stations simultaneously to achieve positioning. Deploying three UWB base stations is costly. Furthermore, UWB is significantly affected by the quality of signal transmission in the environment, performing poorly in non-line-of-sight (NLOS) scenarios. If, in a traditional three-base station deployment, a single base station experiences obstruction or signal loss, the terminal cannot achieve positioning.

[0037] Figure 2 This is a flowchart illustrating a positioning method according to some embodiments of the present disclosure. For example... Figure 2 As shown, the positioning method of this disclosure includes:

[0038] Step S210: In the first positioning mode, obtain the distances from the terminal to the two UWB base stations at the first and second times.

[0039] In some embodiments, UWB measurement data is collected at a specified collection frequency and the collection timestamp is marked. After the positioning method of this embodiment is triggered, the distance from the terminal to the two UWB base stations at a first moment and the distance from the terminal to the two UWB base stations at a second moment are obtained from the collected UWB data.

[0040] In some embodiments, the positioning method further includes: before step S210, determining a first moment and a second moment based on measurement data from the inertial measurement unit (IMU) corresponding to the terminal. The IMU measurement data includes triaxial acceleration data. For example, using measurement data from the IMU module installed on the terminal, based on... Figure 3 The process shown determines the first and second time points.

[0041] In some embodiments, the positioning method is performed by a positioning device. For example, the positioning method is performed by a positioning device located on the terminal, or by a positioning device located outside the terminal that is capable of communicating with the terminal. Exemplarily, the terminal can be a user-carried device, such as a mobile phone, or it can be a mobile unmanned device, etc.

[0042] Step S220: Determine the distance the terminal travels between the first time point and the second time point.

[0043] In some embodiments, step S220 includes: determining the terminal's movement step size; and determining the distance the terminal moves between a first time moment and a second time moment based on the terminal's movement step size and a specified number of steps the terminal moves. The specified number of steps the terminal moves refers to the number of steps the terminal moves between the first time moment and the second time moment.

[0044] In some embodiments, the step size of the terminal is determined by obtaining the step size of the terminal from the terminal's historical walking data. For example, historical walking data, including the step size of the terminal, is stored in advance in the terminal or the server corresponding to the terminal, and in step S220, the step size of the terminal is obtained from the terminal or the server corresponding to the terminal.

[0045] In other embodiments, the terminal's step size is determined by calculating the terminal's step size based on information about the user carrying the terminal. For example, the terminal's step size is estimated based on one or more of the user's gender, height, and cadence. For example, the terminal's step size is estimated using the following formula:

[0046]

[0047] Where L represents the terminal's step size, k represents a gender-related constant, h represents height, and f represents step frequency.

[0048] In some embodiments, after determining the terminal's movement step size, the product of the terminal's movement step size and the specified number of steps the terminal moves is used as the distance the terminal moves between the first time point and the second time point.

[0049] Step S230: Determine the terminal's position at the first moment and the terminal's position at the second moment based on the distances from the terminal to the two UWB base stations at the first moment and the second moment, as well as the distance the terminal has moved.

[0050] In some embodiments, the position of the terminal at the first moment and the position of the terminal at the second moment are determined based on the distance from the terminal to the two UWB base stations at the first moment and the second moment, the distance between the two UWB base stations, and the distance the terminal moves between the first moment and the second moment.

[0051] In some embodiments, the positions of the terminal determined by the positioning method at a first time and a second time include the two-dimensional position coordinate components of the terminal. For example, the x-coordinate component and the y-coordinate component of the terminal.

[0052] In other embodiments, the positions of the terminal determined by the positioning method at the first and second moments include the three-dimensional position coordinate components of the terminal. For example, the x-coordinate components, y-coordinate components, and z-coordinate components of the terminal.

[0053] In this embodiment, the above steps enable positioning based on two UWB base stations, thereby reducing the number of UWB base stations required for positioning while maintaining a certain level of positioning accuracy, thus lowering positioning costs. Furthermore, the deployment method using two UWB base stations is more suitable for deployment in narrow corridors within large buildings compared to the traditional triangular deployment of three UWB base stations.

[0054] Figure 3 This is a flowchart illustrating the determination of a first time point and a second time point based on IMU measurement data according to some embodiments of the present disclosure. Figure 3 As shown, the process for determining the first and second moments based on IMU measurement data in this embodiment includes:

[0055] Step S310: Perform step detection on the terminal based on the measurement data of the IMU corresponding to the terminal.

[0056] The measurement data from the IMU corresponding to the terminal includes acceleration data.

[0057] In some embodiments, the measured acceleration data is continuously compared with a preset threshold to monitor whether the terminal moves, and to count whether the terminal has moved a specified number of steps. Furthermore, after detecting that the terminal has moved a specified number of steps, the start and end timestamps of that number of steps are obtained. The specified number of steps can be flexibly set, for example, to 1 step, 5 steps, or other integer values.

[0058] In some embodiments, based on acceleration data, a peak detection algorithm is used to monitor whether the terminal has moved in steps, count whether the terminal has moved a specified number of steps, and obtain the start and end timestamps of the specified number of steps moved by the terminal.

[0059] Step S320: Determine the first time point and the second time point based on the gait detection results.

[0060] In some embodiments, the result of step detection includes a start timestamp and an end timestamp of the terminal moving a specified number of steps. In these embodiments, the start timestamp of the terminal moving a specified number of steps is used as a first time point, and the end timestamp of the terminal moving a specified number of steps is used as a second time point.

[0061] In this embodiment of the disclosure, the above steps can accurately determine the start time (i.e., the first time) and the end time (i.e., the second time) of the terminal moving a specified distance based on the IMU measurement data, which facilitates alignment with the UWB measurement data during subsequent positioning processing, thereby improving positioning accuracy.

[0062] Figure 4 This is a flowchart illustrating the determination of a terminal location according to some embodiments of the present disclosure.

[0063] like Figure 4 As shown, the process for determining the terminal location in this embodiment of the disclosure includes:

[0064] Step S231: Determine the first position coordinate components of the terminal at the first moment.

[0065] In some embodiments, the first position coordinate component of the terminal at the first moment is determined based on the distance from the terminal to the two UWB base stations at the first moment and the distance between the two UWB base stations.

[0066] For example, the first position coordinate component of the terminal at the first moment is determined according to the following formula:

[0067]

[0068] Where x1 represents the first position coordinate component of the terminal at the first moment, and d represents the distance between the two UWB base stations. 11 d represents the distance from the terminal to a UWB base station at the first moment. 12 This indicates the distance between the terminal and another UWB base station at the first moment.

[0069] Furthermore, the process for determining the terminal's location also includes: determining the distance from the terminal to the two UWB base stations at the first moment, based on the distance from the terminal to the two UWB base stations at the first moment, and the distance between the two UWB base stations.

[0070] For example, the distance from the terminal to the line connecting the two UWB base stations at the first moment can be determined using the following formula:

[0071]

[0072] Where h1 represents the distance from the terminal to the line connecting the two UWB base stations at the first moment, and d represents the distance between the two UWB base stations. 11 d represents the distance from the terminal to a UWB base station at the first moment. 12 This indicates the distance between the terminal and another UWB base station at the first moment.

[0073] Step S232: Determine the first position coordinate component of the terminal at the second time.

[0074] In some embodiments, the first position coordinate component of the terminal at the second time time is determined based on the distance of the terminal to the two UWB base stations at the second time time and the distance between the two UWB base stations.

[0075] For example, the first position coordinate component of the terminal at the second time moment is determined according to the following formula:

[0076]

[0077] Where x2 represents the first position coordinate component of the terminal at the second time moment, and d represents the distance between the two UWB base stations. 21 d represents the distance from the terminal to a UWB base station at the second moment. 22 This indicates the distance from the terminal to another UWB base station at the second moment.

[0078] Furthermore, the process for determining the terminal's location also includes: determining the distance from the terminal to the two UWB base stations at the second time point based on the distance from the terminal to the two UWB base stations at the second time point, and the distance between the two UWB base stations.

[0079] For example, the distance from the terminal to the line connecting the two UWB base stations at the second time point can be determined using the following formula:

[0080]

[0081] Where h2 represents the distance from the terminal to the line connecting the two UWB base stations at the second time point, and d represents the distance between the two UWB base stations. 21 d represents the distance from the terminal to a UWB base station at the second moment. 22 This indicates the distance from the terminal to another UWB base station at the second moment.

[0082] Step S233: Determine the second position coordinate component of the terminal at the first moment and the second position coordinate component of the terminal at the second moment.

[0083] In some embodiments, the second position coordinate component of the terminal at the first time and the second position coordinate component of the terminal at the second time are determined based on the first position coordinate component of the terminal at the first time, the first position coordinate component of the terminal at the second time, the distance of the terminal to the line connecting the two UWB base stations at the first time, the distance of the terminal to the line connecting the two UWB base stations at the second time, and the moving distance of the terminal.

[0084] For example, the second position coordinate components of the terminal at the first time moment and the second position coordinate components of the terminal at the second time moment are determined according to the following formula:

[0085]

[0086]

[0087]

[0088] Where y1 represents the second position coordinate component of the terminal at the first moment, y2 represents the second position coordinate component of the terminal at the second moment, h1 represents the distance from the terminal to the line connecting the two UWB base stations at the first moment, h2 represents the distance from the terminal to the line connecting the two UWB base stations at the second moment, h represents the height difference between the horizontal plane where the terminal is located and the horizontal plane where the two UWB base stations are located, and L represents the distance the terminal moves between the first moment and the second moment.

[0089] In some embodiments, the third position coordinate component of the terminal at a first time moment and the third position coordinate component of the terminal at a second time moment are determined based on the height difference between the horizontal plane where the terminal is located and the horizontal planes where the two UWB base stations are located. For example, the height difference h between the horizontal plane where the terminal is located and the horizontal planes where the two UWB base stations are located is used as the z-coordinate component of the terminal at the first time moment and the second time moment. Through the above processing, three-dimensional positioning of the terminal can be achieved.

[0090] In this embodiment, the above steps enable three-dimensional positioning of the terminal based on two UWB base stations. This ensures high positioning accuracy while reducing the requirements for UWB base station deployment density and lowering deployment costs. Furthermore, the two-UWB base station deployment method is more suitable for deployment in narrow corridors within large buildings compared to the traditional triangular deployment of three UWB base stations.

[0091] The following combination Figure 5a and Figure 5b The derivation process of the positioning formulas used in some embodiments of this disclosure will be explained.

[0092] like Figure 5a As shown, there are two planes in the space. The lower plane represents the horizontal plane where the terminal to be located is located, and the upper plane is a plane parallel to the lower plane, such as the ceiling. Two UWB base stations are deployed on the upper plane, and the two UWB base stations are represented as A1 and A2 respectively.

[0093] In some embodiments, a spatial coordinate axis is established with the location of UWB base station A1 as the origin. The positive directions of the three coordinate axes satisfy: x-axis to the right, y-axis forward, and z-axis downward. Then the coordinates of the location of UWB base station A2 can be represented as (0,0,d), where d is the distance between the two UWB base stations.

[0094] S1 represents the terminal's position at the first moment, and S2 represents the terminal's position at the second moment. Both S1 and S2 are on the lower plane. 11 and d 12 Let S1 be the distance from point S1 to UWB base stations A1 and A2. These two parameters can be directly measured. Draw a perpendicular line from the line connecting S1 to A1A2, with the perpendicular point H1. The length of line segment H1S1 is h1, and the length of line segment A1H1 is x1, which is the x-coordinate of point S1. The length of line segment A2H1 is (d-x1). Based on the above positional relationships, the following system of equations can be established:

[0095]

[0096]

[0097] By solving the above system of equations, we can obtain

[0098]

[0099]

[0100] Therefore, the terminal's first location coordinates at the first moment and the distance from the terminal to the line connecting the two UWB base stations at the first moment can be obtained. Similarly, the calculation formulas for the terminal's first location coordinates at the second moment and the distance from the terminal to the line connecting the two UWB base stations at the second moment can be derived.

[0101] exist Figure 5a In the diagram, H1' is the perpendicular point of H1 to the lower plane. The length h of line segment H1H1' is the height difference between the two planes, and also the z-axis coordinate of points S1 and S2. The length y1 of line segment S1H1' is the ordinate of point S1. Similarly, the coordinates of point S2 can be represented in a similar way.

[0102] like Figure 5b As shown, in the lower plane, S1 and S2 have the following positional relationship:

[0103]

[0104]

[0105]

[0106] Where L is the distance the terminal travels between the first and second time points, is a value determined by previous steps, and x1, x2, h1, h2 are values ​​determined by the aforementioned steps. Substituting these determined parameter values ​​into the above formula yields the values ​​of y1, y2, and h. Thus, the three-dimensional coordinates (x1, y1, h) of point S1 and the three-dimensional coordinates (x2, y2, h) of point S2 can be obtained.

[0107] Figure 6 This is a flowchart illustrating a positioning method according to other embodiments of the present disclosure. For example... Figure 6 As shown, the positioning method of this disclosure includes:

[0108] Step S610: In the second positioning mode, the terminal is located based on three UWB base stations.

[0109] In some embodiments, in the second positioning mode, the terminal is located using the Time of Flight (TOF) algorithm based on the distance from the terminal to the three UWB base stations.

[0110] Step S620: If the condition for switching from the second positioning mode to the first positioning mode is met, switch to the first positioning mode.

[0111] In some embodiments, the condition for switching from the second positioning mode to the first positioning mode includes the terminal receiving signals from only two UWB base stations. For example, in some cases, the signal from one of the three UWB base stations is blocked, causing the terminal to receive signals from only two UWB base stations.

[0112] Step S630: Locate the terminal based on the first positioning mode.

[0113] In some embodiments, in the first positioning mode, based on Figure 1 The process shown uses measurement data from two UWB base stations to locate the terminal.

[0114] In some embodiments, two UWB base stations are deployed at the same height. For example, two UWB base stations can be deployed on the ceiling. Deploying UWB base stations at the same height helps reduce the computational load for terminal positioning and simplifies the solution process.

[0115] In some embodiments, the positioning method is applied to indoor scenes. For example, the positioning method is applied to large indoor building scenes.

[0116] In this embodiment, the above steps enable terminal positioning based on measurement data from two UWB base stations. Compared to terminal positioning methods based on three UWB base stations in related technologies, this method reduces positioning costs while maintaining high positioning accuracy. Furthermore, by combining the two positioning modes, even in traditional three-base station deployments where a base station's signal is blocked or lost, preventing positioning based on the second positioning mode, the remaining two UWB base stations can still provide positioning capability, thereby improving the reliability and applicability of the positioning service.

[0117] Figure 7 This is a block diagram illustrating a positioning device according to some embodiments of the present disclosure. Figure 7 As shown, the positioning device 700 of this embodiment includes: an acquisition module 710, a determination module 720, and a positioning module 730.

[0118] The acquisition module 710 is configured to acquire the distances from the terminal to two ultra-wideband (UWB) base stations at a first time and a second time in a first positioning mode.

[0119] In some embodiments, UWB measurement data is collected at a specified collection frequency and the collection timestamp is marked. After being switched to the first positioning mode, the acquisition module 710 obtains the distance from the terminal to the two UWB base stations at the first moment and the distance from the terminal to the two UWB base stations at the second moment from the collected UWB data.

[0120] In some embodiments, the positioning device further includes a time determination module. The time determination module is configured to determine a first moment and a second moment based on measurement data from an inertial measurement unit (IMU) corresponding to the terminal. The IMU measurement data includes triaxial acceleration data. For example, using measurement data from the IMU module installed on the terminal, based on… Figure 3 The process shown determines the first and second time points.

[0121] The determination module 720 is configured to determine the distance the terminal moves between the first time point and the second time point.

[0122] In some embodiments, the determining module 720 determines the moving step size of the terminal; the determining module 720 determines the moving distance of the terminal between the first time moment and the second time moment based on the moving step size of the terminal and the specified number of steps the terminal moves. The specified number of steps the terminal moves refers to the number of steps the terminal moves between the first time moment and the second time moment.

[0123] For example, the determination module 720 determines the terminal's step size by obtaining the terminal's step size from the terminal's historical walking data.

[0124] For example, the determining module 720 determines the terminal's step length by calculating the terminal's step length based on information about the user carrying the terminal. For example, the determining module 720 estimates the terminal's step length based on one or more of the user's gender, height, and cadence.

[0125] The positioning module 730 is configured to determine the terminal's position at the first moment and the terminal's position at the second moment based on the distances from the terminal to the two UWB base stations at the first moment and the second moment, as well as the distance the terminal has moved.

[0126] In some embodiments, the positioning module 730 determines the position of the terminal at the first moment and the position of the terminal at the second moment based on the distance from the terminal to the two UWB base stations at the first moment and the second moment, the distance between the two UWB base stations, and the distance the terminal moves between the first moment and the second moment.

[0127] In some embodiments, the positions of the terminal determined by the positioning module 730 at the first and second moments include the two-dimensional position coordinate components of the terminal. For example, the x-coordinate component and the y-coordinate component of the terminal.

[0128] In other embodiments, the positions of the terminal determined by the positioning module 730 at the first and second moments include the three-dimensional position coordinate components of the terminal. For example, the x-coordinate components, y-coordinate components, and z-coordinate components of the terminal.

[0129] In this embodiment, the above-described device enables positioning based on two UWB base stations, thereby reducing the number of UWB base stations required for positioning while maintaining a certain level of positioning accuracy, thus lowering positioning costs. Furthermore, the deployment method of positioning using two UWB base stations is more suitable for deployment in narrow corridors within large buildings compared to the traditional triangular deployment of three UWB base stations.

[0130] Figure 8 This is a block diagram illustrating a positioning device according to other embodiments of the present disclosure.

[0131] like Figure 8 As shown, the positioning device 800 includes a memory 810 and a processor 820 coupled to the memory 810. The memory 810 is used to store instructions for performing a positioning method according to a corresponding embodiment. The processor 820 is configured to perform the positioning method in any of the embodiments of this disclosure based on the instructions stored in the memory 810.

[0132] Figure 9 This is a block diagram illustrating a computer system for implementing some embodiments of the present disclosure.

[0133] like Figure 9 As shown, the computer system 900 can be represented in the form of a general computing device. The computer system 900 includes a memory 910, a processor 920, and a bus 930 connecting different system components.

[0134] The memory 910 may include, for example, system memory, non-volatile storage media, etc. The system memory may store, for example, an operating system, application programs, a boot loader, and other programs. The system memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. The non-volatile storage media may store, for example, instructions for executing at least one embodiment of the positioning method. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0135] The processor 920 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the acquisition module, the determination module, and the positioning module, can be implemented by executing instructions in the central processing unit (CPU) running memory to perform the corresponding steps, or by implementing dedicated circuitry to perform the corresponding steps.

[0136] Bus 930 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MCA) bus, and Peripheral Component Interconnect (PCI) bus.

[0137] The computer system 900 may also include an input / output interface 940, a network interface 950, and a storage interface 960. These interfaces 940, 950, and 960, as well as the memory 910 and processor 920, can be connected via a bus 930. The input / output interface 940 provides a connection interface for input / output devices such as a monitor, mouse, and keyboard. The network interface 950 provides a connection interface for various networked devices. The storage interface 960 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0138] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.

[0139] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.

[0140] These computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.

[0141] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0142] The positioning method and apparatus described in the above embodiments can be used to locate the terminal based on two UWB base stations, which can reduce positioning costs while ensuring a certain level of positioning accuracy.

[0143] The positioning method and apparatus according to this disclosure have now been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein based on the above description.

Claims

1. A positioning method, comprising: In the first positioning mode, the distances from the terminal to two ultra-wideband (UWB) base stations are obtained at the first and second moments, wherein the two UWB base stations are deployed at the same height; Determining the distance the terminal moves between the first time point and the second time point includes: determining the terminal's step size; and determining the distance the terminal moves between the first time point and the second time point based on the terminal's step size and a specified number of steps the terminal moves. Determining the terminal's position at the first time point and its position at the second time point based on the distances from the terminal to the two UWB base stations at the first and second time points, and the distance the terminal has moved, includes: Based on the distance from the terminal to the two UWB base stations at the first moment and the distance between the two UWB base stations, the first position coordinate components of the terminal at the first moment and the distance from the terminal to the line connecting the two UWB base stations at the first moment are determined. Based on the distance from the terminal to the two UWB base stations at the second time and the distance between the two UWB base stations, the first position coordinate component of the terminal at the second time and the distance from the terminal to the line connecting the two UWB base stations at the second time are determined. Based on the first position coordinate component of the terminal at the first moment, the first position coordinate component of the terminal at the second moment, the distance from the terminal to the line connecting the two UWB base stations at the first moment, the distance from the terminal to the line connecting the two UWB base stations at the second moment, and the moving distance of the terminal, the second position coordinate component of the terminal at the first moment and the second position coordinate component of the terminal at the second moment are determined.

2. The positioning method according to claim 1 further includes: The first time and the second time are determined based on the measurement data from the inertial measurement unit (IMU) corresponding to the terminal.

3. The positioning method according to claim 2, wherein, Based on the measurement data from the inertial measurement unit (IMU) corresponding to the terminal, the determination of the first time and the second time includes: Based on the measurement data of the IMU corresponding to the terminal, step detection is performed on the terminal; Based on the results of the step detection, the first time point and the second time point are determined.

4. The positioning method according to claim 3, wherein, The result of the step detection includes the start and end timestamps of the terminal moving a specified number of steps. Determining the first moment and the second moment based on the result of the step detection includes: The start timestamp of the terminal moving a specified number of steps is taken as the first time point, and the end timestamp of the terminal moving a specified number of steps is taken as the second time point.

5. The positioning method according to claim 1, wherein, The determination of the terminal's movement step size includes: Obtain the terminal's step length from its historical walking data; or The movement step size of the terminal is calculated based on the information of the user carrying the terminal.

6. The positioning method according to claim 1 further includes: In the second positioning mode, the terminal is located based on three UWB base stations; If the conditions for switching from the second positioning mode to the first positioning mode are met, the system switches to the first positioning mode.

7. The positioning method according to claim 6, wherein, The conditions for switching from the second positioning mode to the first positioning mode include: The terminal only receives signals from two UWB base stations.

8. A positioning device, comprising: The acquisition module is configured to acquire the distances from the terminal to two ultra-wideband (UWB) base stations at a first time and a second time in a first positioning mode, wherein the two UWB base stations are deployed at the same height. The determining module is configured to determine the distance the terminal moves between the first time point and the second time point, including: determining the moving step size of the terminal; and determining the distance the terminal moves between the first time point and the second time point based on the moving step size of the terminal and a specified number of steps the terminal moves. The positioning module is configured to determine the location of the terminal at the first time moment and the location of the terminal at the second time moment based on the distance of the terminal to the two UWB base stations at the first time moment and the second time moment, and the moving distance of the terminal, including: Based on the distance from the terminal to the two UWB base stations at the first moment and the distance between the two UWB base stations, the first position coordinate components of the terminal at the first moment and the distance from the terminal to the line connecting the two UWB base stations at the first moment are determined. Based on the distance from the terminal to the two UWB base stations at the second time and the distance between the two UWB base stations, the first position coordinate component of the terminal at the second time and the distance from the terminal to the line connecting the two UWB base stations at the second time are determined. Based on the first position coordinate component of the terminal at the first moment, the first position coordinate component of the terminal at the second moment, the distance from the terminal to the line connecting the two UWB base stations at the first moment, the distance from the terminal to the line connecting the two UWB base stations at the second moment, and the moving distance of the terminal, the second position coordinate component of the terminal at the first moment and the second position coordinate component of the terminal at the second moment are determined.

9. An electronic device, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the positioning method as described in any one of claims 1 to 7 based on instructions stored in the memory.

10. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the positioning method as described in any one of claims 1 to 7.

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