Fully wireless anti-interference positioning method and system based on edge computing

Abstract

The present invention proposes a fully wireless anti-interference positioning method and system based on edge computing, which performs forward positioning and reverse positioning at the same time, improves the accuracy and anti-interference of positioning through two-way collaborative positioning, fuses the coordinate information obtained by forward positioning and reverse positioning, obtains multiple high-precision two-way fusion positioning coordinates, matches the multiple high-precision two-way fusion positioning coordinate information with the fingerprint information in the high-precision two-way collaborative positioning fingerprint library, and determines the final high-precision two-way fusion positioning coordinates. The present invention also uses the correlation between the core fingerprint and the subordinate fingerprint to eliminate the supplementary fingerprints that do not meet the accuracy requirements, effectively improving the accuracy of the core fingerprint identification.

Description

Technical Field

[0001] The present invention relates to the field of power distribution network node positioning methods, and in particular to a fully wireless anti-interference positioning method and system based on edge computing. Background Art

[0002] With the rapid development of new power systems, the demand for production supervision in new distribution networks and indoor positioning in distribution rooms is increasing. Ultra-Wideband (UWB) positioning has become one of the mainstream positioning methods due to its powerful multipath resolution, anti-interference and concealment capabilities. The positioning information fingerprint library is a database containing information between nodes to be located in the new distribution network. Compared with traditional non-collaborative positioning methods, collaborative positioning can better utilize the information between nodes to be located in the new distribution network in the positioning information fingerprint library, use the distance and direction information between wireless signal transmission devices, and achieve more accurate and reliable positioning results through mutual communication and data exchange between multiple devices. It has relatively high accuracy and robustness, and good scalability.

[0003] However, most of the existing collaborative positioning methods are simply a combination of several single positioning technologies. In fact, they are all one-way positioning technologies. Although the positioning accuracy and performance can be improved to a certain extent, this collaborative technology is based on the error correlation between the user receiver and the base station. It is easily affected by the dynamic number of base stations, the noise of sensitive components, and the surrounding environment, resulting in large errors. There are also great limitations. The single-point positioning method cannot meet the requirements of positioning accuracy. The existing collaborative positioning technology only uses the relative position and relative speed between the target node and the reference point, and does not take into account the difference between the position information obtained by the forward positioning of the base station itself and the electronic tag device on the base station side and the position information obtained by the reverse positioning of the electronic tag device on the device itself and the base station. Therefore, it is difficult to ensure the accuracy and real-time performance of the obtained position information, and it is difficult to meet the application scenarios and requirements of high-precision real-time positioning under the new power system.

[0004] Therefore, the existing technology ignores the role of the collaborative calculation of forward positioning and reverse positioning in improving positioning accuracy and enhancing anti-interference capabilities. One-way positioning is difficult to handle the multipath fading problems caused by other mobile devices and the errors caused by user movement. Therefore, it is difficult to obtain real-time and accurate location information by considering only forward positioning and reverse positioning, and it is difficult to achieve accurate matching with the location information in the fingerprint library. In addition, in the high-precision two-way collaborative positioning information fingerprint library, when the number of fingerprints is too large, fingerprint data with poor positioning accuracy will appear, reducing positioning accuracy; and when the number of fingerprints is too small, it is difficult to match the required fingerprint information from the fingerprint library when performing high-precision positioning, which also reduces positioning accuracy. Summary of the invention

[0005] The purpose of the present invention is to provide a high-precision two-way collaborative positioning method based on edge computing, which not only solves the problems of multipath fading and user movement errors in mobile positioning caused by the collaborative calculation of forward positioning and reverse positioning, but also avoids the reduction of the accuracy of two-way collaborative positioning due to too many or too few fingerprints in the high-precision two-way collaborative positioning fingerprint library.

[0006] In order to achieve the above object, the present invention is implemented through the following technical solutions:

[0007] The full wireless anti-interference positioning method based on edge computing is characterized by comprising the steps of:

[0008] Constructing a high-precision two-way collaborative positioning information fingerprint library Among them, f i Represents the i-th fingerprint, which is an N-dimensional vector, where N is a positive integer. The location information of the portable electronic positioning tag device and the positioning base station device is stored, and the high-precision two-way collaborative positioning information fingerprint library is stored in the portable electronic positioning tag device and the positioning base station device respectively;

[0009] The portable electronic positioning tag device can perform two-way collaborative positioning with the positioning base station device, and simultaneously perform forward positioning and reverse positioning, and obtain the base station coordinates C1 (x1, y1) evaluated by the base station side, the device coordinates C2 (x2, y2) evaluated by the base station side, the device coordinates C3 (x3, y3) evaluated by the device side, and the base station coordinates C4 (x4, y4) evaluated by the device side respectively;

[0010] The obtained device coordinates C2(x2,y2), C3(x3,y3) and base station coordinates C1(x1,y1), C4(x4,y4) are collaboratively calculated to complete error correction and obtain the portable electronic positioning tag device coordinates C based on bidirectional fusion positioning. 23 (x 23 ,y 23 ) and the positioning base station device coordinates C 14 (x 14 ,y 14 );

[0011] The coordinates after high-precision bidirectional fusion positioning are matched with the location fingerprint information in the fingerprint library to obtain high-precision positioning coordinates.

[0012] Furthermore, the location information fingerprint stored in the high-precision two-way collaborative positioning information fingerprint library includes signal transmission distance, signal reception strength, signal propagation time difference, received signal power, transmitted signal power, and positioning coordinates, and forward positioning and reverse positioning are performed simultaneously through the received signal strength indication RSSI and the signal arrival time difference TDOA.

[0013] Furthermore, the weighted sum method is used to complete the collaborative calculation of the device coordinates and the base station coordinates, and the coordinates of the portable electronic positioning tag device C for bidirectional fusion positioning 23 (x 23 ,y 23 ) and the positioning base station coordinates C 14 (x 14 ,y 14 ) is calculated as follows:

[0014] x 23 =γ1x2+γ2x3

[0015] y 23 =ε1y2+ε2y3

[0016] x 14 =γ1x1+γ2x4

[0017] y 14 =ε1y1+ε2y4

[0018] Among them, γ1 and γ2 are respectively the preset positive and negative horizontal coordinate weight coefficients, ε1 and ε2 are respectively the preset positive and negative vertical coordinate weight coefficients, and they satisfy γ1+γ2=1, ε1+ε2=1.

[0019] Furthermore, building a high-precision two-way collaborative positioning information fingerprint library also includes the following steps:

[0020] The two-way collaborative positioning information that meets the matching degree threshold requirement is added as a supplementary fingerprint to the high-precision two-way collaborative positioning information fingerprint library;

[0021] Determine the maximum direct subordinate fingerprint and the maximum indirect subordinate fingerprint;

[0022] Eliminate redundant and supplementary fingerprints;

[0023] The supplementary high-precision two-way collaborative positioning information fingerprint library obtained after edge calculation of the positioning base station is sent to each portable electronic positioning tag device to complete the synchronous update of the high-precision two-way collaborative positioning information fingerprint library.

[0024] Furthermore, the method for matching the coordinates after high-precision bidirectional fusion positioning with the location fingerprint information in the fingerprint library is to define is the coordinates C of the portable electronic positioning tag device based on bidirectional fusion positioning 23 (x 23 ,y 23 ) information and the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library i The matching degree, is the coordinates C of the portable electronic positioning tag device based on bidirectional fusion positioning 14 (x14 ,y 14 ) information and the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library i The matching degree is calculated as follows:

[0025]

[0026]

[0027] Among them, λ 23 , σ 23 are the weight factors of the signal receiving strength and signal propagation time difference of the coordinates of the portable electronic positioning tag device, λ 14 , σ 14 are the weight factors of the signal receiving strength and signal propagation time difference of the coordinates of the portable electronic positioning tag device, and λ 23 +σ 23 =1,λ 14 +σ 14 =1, Respectively represent the coordinates C 23 (x 23 ,y 23 )’s signal reception strength and signal propagation time difference, Respectively represent the coordinates C 14 (x 14 ,y 14 )’s signal reception strength and signal propagation time difference, P ri and T ri They represent the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library. i The signal reception strength and signal propagation time difference, when The larger the value is, the closer the location information of the coordinate is to the i-th location information fingerprint f in the high-precision two-way collaborative location information fingerprint library. i The higher the matching degree, the Get the maximum value of the positioning information fingerprint f i The coordinates in are the matching positioning coordinates of the portable electronic positioning tag device. and the base station's location coordinates

[0028] Furthermore, the coordinates of the portable electronic positioning tag device based on the two-way fusion positioning and the coordinates of the positioning base station device are combined with the location information fingerprint f i Maximum matching value As the complementary fingerprint reference value of the two-way collaborative positioning information, when the complementary fingerprint reference value of the two-way collaborative positioning information is greater than the preset matching degree threshold, the location information f generated after the two-way collaborative high-precision positioning is i'As the location information fingerprint in the original high-precision two-way collaborative positioning information fingerprint library i The supplementary fingerprints are added to the high-precision two-way collaborative positioning information fingerprint library.

[0029] Furthermore, the maximum directly subordinate fingerprint is: input the supplemented high-precision two-way collaborative positioning information fingerprint library The original high-precision two-way collaborative positioning information fingerprint library location information fingerprint except the supplementary fingerprint is set as the core fingerprint, and a non-accessed core fingerprint f is randomly selected. i , get all fingerprints in the direct subordinate range (0, dis] of the core fingerprint, and define these fingerprints as f i The directly subordinate fingerprint of;

[0030] The maximum indirect subordinate fingerprint is: input the supplemented high-precision two-way collaborative positioning information fingerprint library Randomly select an unvisited direct subordinate fingerprint f i , obtain all fingerprints of the core fingerprint in the indirect subordinate range (0, dis′], and define these fingerprints as f i The indirect subordinate fingerprint of;

[0031] Traverse the core fingerprint to obtain the direct subordinate fingerprints and indirect subordinate fingerprints of all core fingerprints.

[0032] Furthermore, the method for determining the direct subordinate range (0, dis] of the core fingerprint and the indirect subordinate range (0, dis′] of the core fingerprint is as follows:

[0033]

[0034] Among them, T max , and are respectively the maximum allowable signal transmission time difference, the maximum allowable received signal power difference and the maximum allowable transmitted signal power difference between the two preset fingerprints, μ1, μ2 and μ3 are the direct adjustment coefficients of the preset signal transmission time difference, the received signal power difference and the transmitted signal power difference;

[0035]

[0036] in, is the location information fingerprint f i and location information fingerprint f j The minimum matching value of , a is a base greater than 1, ψ4 is the positioning information fingerprint f i and location information fingerprint f j The indirect adjustment coefficient of the matching degree, T i,j , They are respectively the positioning information fingerprint fi and location information fingerprint f j The transmission time difference, received signal power difference and transmitted signal power difference of the positioning information fingerprint f are respectively i and location information fingerprint f j The indirect adjustment coefficient of the transmission time difference, the received signal power difference and the transmitted signal power difference.

[0037] Furthermore, removing redundant supplementary fingerprints includes the following steps:

[0038] Traverse all the direct subordinate fingerprints and all the indirect subordinate fingerprints in the core fingerprint, and add the supplemented high-precision two-way collaborative positioning information fingerprint library All supplementary fingerprints except the core fingerprint, the directly subordinate fingerprint and the indirectly subordinate fingerprint are identified as redundant supplementary fingerprints that do not meet the positioning accuracy requirements and are removed.

[0039] The fully wireless anti-interference positioning system based on edge computing includes a portable electronic positioning tag device and a positioning base station device;

[0040] The portable electronic positioning tag device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, a communication module, a storage module and a power module; the positioning base station device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, an edge computing module, a communication module, a storage module and a power module;

[0041] UWB positioning sensor module: used to send and receive UWB signals to obtain data such as the distance between the tag and the base station, transmission power, and reception power;

[0042] High-precision positioning module based on two-way collaboration: uses a high-precision positioning method based on two-way collaboration to process the received UWB positioning signal and perform two-way positioning collaborative calculation;

[0043] Communication module: The communication module is responsible for communicating with other devices to obtain communication information;

[0044] Data storage module: including flash memory unit and random access memory unit;

[0045] Power module: used to supply power to each module in the portable electronic positioning tag device;

[0046] Edge computing module: used to supplement and remove positioning information fingerprints.

[0047] The advantages of the present invention are:

[0048] (1) The present invention proposes a high-precision positioning method based on two-way collaboration. First, considering that one-way positioning cannot solve the error problems caused by factors such as multipath fading and user movement during the positioning process, the method performs forward positioning and reverse positioning simultaneously, and improves the accuracy and anti-interference of positioning through two-way collaborative positioning; secondly, in order to further improve the accuracy of two-way collaborative positioning, the coordinate information obtained by forward positioning and reverse positioning is fused to obtain multiple high-precision two-way fused positioning coordinates; finally, the high-precision two-way fused positioning coordinates are matched with the fingerprint information in the high-precision two-way collaborative positioning information fingerprint library to determine the final high-precision two-way fused positioning coordinates, thereby providing reliable positioning information for supplementing the high-precision two-way collaborative positioning information fingerprint library.

[0049] (2) The positioning accuracy improvement method proposed in the present invention utilizes the edge computing capability of the positioning base station device. First, the two-way collaborative positioning information that meets the matching threshold requirement is added as a supplementary fingerprint to the high-precision two-way collaborative positioning information fingerprint library, thereby avoiding the situation where the positioning information cannot be matched due to the limited sampling times of the traditional fingerprint library. Secondly, in order to solve the problem of too many supplementary fingerprints in the high-precision two-way collaborative positioning information fingerprint library, a natural population selection method is proposed to quickly and automatically cluster the positioning information fingerprints in the high-precision two-way collaborative positioning information fingerprint library, and the association between the core fingerprint and the subordinate fingerprint is used to eliminate the supplementary fingerprints that do not meet the accuracy requirements. At the same time, through the maximum direct subordinate fingerprint and the maximum indirect subordinate fingerprint identification method, the accuracy of the core fingerprint identification can be effectively improved, thereby avoiding the excessive amount of storage data in the high-precision two-way collaborative positioning information fingerprint library and the occurrence of redundancy, and at the same time providing a basis for the next high-precision positioning based on two-way collaboration.

[0050] (3) The present invention proposes a fully wireless anti-interference positioning system based on edge computing. First, the portable electronic positioning tag device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, a communication module, a storage module and a power module, which can meet the two-way collaborative positioning, provide very high positioning accuracy, and have good communication capability and anti-interference capability; secondly, the fully wireless, portable positioning base station device adds an edge computing module on the basis of the portable electronic positioning tag device, and uses the powerful computing power of edge computing to effectively improve the positioning accuracy, realize the screening, updating and supplement of the data stored in the high-precision two-way collaborative positioning information fingerprint library, and reduce the data storage pressure of the positioning system. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 This is a flow chart of the full wireless anti-interference positioning method based on edge computing;

[0052] Figure 2 This is a schematic diagram of the structure of a fully wireless anti-interference positioning system based on edge computing. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0054] Example 1

[0055] Please refer to Figure 1 This embodiment proposes a fully wireless anti-interference positioning method based on edge computing, including a high-precision positioning method based on two-way collaboration and a positioning accuracy improvement method.

[0056] S1. Build a high-precision two-way collaborative positioning information fingerprint library.

[0057] The high-precision two-way collaborative positioning information fingerprint library is defined as Among them, f i Represents the i-th fingerprint, which is an N-dimensional vector, where N is a positive integer. The location information of the portable electronic positioning tag device and the positioning base station device when there is no movement is stored, mainly including fingerprints such as signal transmission distance, signal reception strength, signal propagation time difference, received signal power, transmitted signal power, and positioning coordinates. The high-precision two-way collaborative positioning information fingerprint library is stored in the portable electronic positioning tag device and the positioning base station device respectively, to achieve matching, updating, and storage of the location information at the time of movement.

[0058] S2. Two-way collaborative positioning between the portable electronic positioning tag device and the positioning base station device.

[0059] If there are other devices moving between the portable electronic positioning tag device and the positioning base station device, multipath fading will occur and positioning errors will occur. Therefore, forward positioning and reverse positioning need to be performed simultaneously to improve the anti-interference ability and accuracy of positioning. Forward positioning and reverse positioning can be performed simultaneously through RSSI (Received Signal Strength Indication) and TDOA (Time Difference Of Arrival), and the base station coordinates C1 (x1, y1) evaluated by the base station side, the device coordinates C2 (x2, y2) evaluated by the base station side, the device coordinates C3 (x3, y3) evaluated by the device side, and the base station coordinates C4 (x4, y4) evaluated by the device side are obtained respectively;

[0060] S3. Obtain coordinates of a portable electronic tag device and a positioning base station device based on bidirectional fusion positioning.

[0061] Taking into account that there may be errors in the coordinates C1(x1, y1), C2(x2, y2) obtained by forward positioning and C3(x3, y3), C4(x4, y4) obtained by reverse positioning, it is necessary to collaboratively calculate the device coordinates C2, C3 and the base station coordinates C1, C4 respectively, and collaboratively calculate the obtained device coordinates C2(x2, y2), C3(x3, y3) and the base station coordinates C1(x1, y1), C4(x4, y4) to complete the error correction and obtain the coordinates of the portable electronic tag device and the positioning base station device based on two-way fusion positioning.

[0062] Coordinates of portable electronic tag device C for bidirectional fusion positioning 23 (x 23 ,y 23 ) Positioning base station coordinates C 14 (x 14 ,y 14 ) can be obtained by the weighted sum of coordinates C2, C3 and C1, C4, and its formula is as follows:

[0063] x 23 =γ1x2+γ2x3

[0064] y 23 =ε1y2+ε2y3

[0065] x 14 =γ1x1+γ2x4

[0066] y 14 =ε1y1+ε2y4

[0067] Among them, γ1 and γ2 are respectively the preset positive and negative horizontal coordinate weight coefficients, ε1 and ε2 are respectively the preset positive and negative vertical coordinate weight coefficients, and they satisfy γ1+γ2=1, ε1+ε2=1.

[0068] S4. A bidirectional collaborative positioning method between a portable electronic tag device and a positioning base station device based on high-precision bidirectional collaborative positioning information fingerprint library information matching.

[0069] The coordinates after high-precision two-way fusion positioning are matched with the location fingerprint information in the fingerprint library to obtain high-precision positioning coordinates. The coordinates of the portable electronic tag device C after two-way fusion positioning 23 For example, since the signal transmission speed is known, the signal propagation time difference and received signal power of each fingerprint in the high-precision two-way collaborative positioning information fingerprint library can be used to obtain other indicators including signal transmission distance and positioning coordinates. Therefore, in order to reduce the computational complexity, define is the coordinate C of the portable electronic tag device based on bidirectional fusion positioning 23 (x 23 ,y23 ) information and the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library i The matching degree is as follows:

[0070]

[0071] Among them, λ 23 , σ 23 are the weight factors of signal reception strength and signal propagation time difference, respectively. Respectively represent the coordinates C 23 The signal reception strength and signal propagation time difference, P ri and T ri They represent the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library. i The signal reception strength and signal propagation time difference. The larger the value is, the closer the location information of the coordinate is to the i-th location information fingerprint f in the high-precision two-way collaborative location information fingerprint library. i The higher the matching degree is. Get the maximum value of the positioning information fingerprint f i The coordinates in are the high-precision positioning coordinates of the matched portable electronic tag device. Similarly, the high-precision positioning coordinates of the final positioning base station can be obtained

[0072] Example 2

[0073] The positioning accuracy improvement method is to utilize the edge computing capability of the positioning base station device. First, the two-way collaborative positioning information that meets the matching threshold requirements is added as a supplementary fingerprint to the high-precision two-way collaborative positioning information fingerprint library, thereby avoiding the situation where the positioning information cannot be matched due to the limited sampling times of the traditional fingerprint library; secondly, in view of the problem of too many supplementary fingerprints in the high-precision two-way collaborative positioning information fingerprint library, a natural population selection algorithm is proposed to quickly and automatically cluster the positioning information fingerprints in the high-precision two-way collaborative positioning information fingerprint library, and eliminate the supplementary fingerprints that do not meet the accuracy requirements. The maximum direct subordinate fingerprint and the maximum indirect subordinate fingerprint identification method can effectively improve the accuracy of core fingerprint identification, avoid the excessive amount of storage data in the high-precision two-way collaborative positioning information fingerprint library, and the occurrence of redundancy, and at the same time provide a basis for the next high-precision positioning based on two-way collaboration. The specific steps are as follows:

[0074] S1. Two-way collaborative positioning information fingerprint supplementation based on threshold matching.

[0075] Coordinates of portable electronic tag device C based on bidirectional fusion positioning 23 For example, C 23and location information fingerprint f i Maximum matching value Supplement the fingerprint reference value for the two-way collaborative positioning information. Preset matching threshold thr m ,when When the position information f generated by the two-way collaborative high-precision positioning is i 'As the location information fingerprint in the original high-precision two-way collaborative positioning information fingerprint library i The supplementary fingerprint is added to the high-precision two-way collaborative positioning information fingerprint library;

[0076] S2. Automatic elimination of redundant positioning information fingerprints based on natural population selection.

[0077] As too many supplementary fingerprints are added, the fingerprint information in the high-precision two-way collaborative positioning information fingerprint library will become redundant. This embodiment automatically removes redundant positioning information fingerprints according to a natural population selection algorithm.

[0078] S21. Determine the preset maximum direct subordinate value. Input the supplemented high-precision two-way collaborative positioning information fingerprint library The original high-precision two-way collaborative positioning information fingerprint library location information fingerprint except the supplementary fingerprint is set as the core fingerprint. Define the direct subordinate range (0, dis], where the preset maximum direct subordinate value dis is obtained by the following formula

[0079]

[0080] Among them, T max , and are respectively the maximum allowable signal transmission time difference, the maximum allowable received signal power difference and the maximum allowable transmitted signal power difference between the two preset fingerprints; μ1, μ2 and μ3 are the direct adjustment coefficients of the preset signal transmission time difference, received signal power difference and transmitted signal power difference.

[0081] S22, direct subordinate fingerprint identification. Randomly select a core fingerprint f that has not been accessed i , get all fingerprints in the direct subordinate range (0,dis] of the core fingerprint, and define these fingerprints as f i The directly subordinate fingerprint of .

[0082] S23, determine the preset maximum indirect dependency value. Input the supplemented high-precision two-way collaborative positioning information fingerprint library Considering that the location information fingerprint of the high-precision two-way collaborative positioning information fingerprint library is related to the matching degree, and the smaller the matching degree, the closer it is to the boundary of the direct subordinate range, these fingerprints are defined as indirect subordinate fingerprints. The indirect subordinate range is also defined as (0, dis′], and the maximum indirect subordinate value dis′ is obtained by the following formula

[0083]

[0084] in, is the location information fingerprint f i and location information fingerprint f j The minimum matching value of , a is a base greater than 1, ψ4 is the positioning information fingerprint f i and location information fingerprint f j The indirect adjustment coefficient of the matching degree, T i,j , They are respectively the positioning information fingerprint f i and location information fingerprint f j The transmission time difference, received signal power difference and transmitted signal power difference of the positioning information fingerprint f are respectively i and location information fingerprint f j The indirect adjustment coefficient of the transmission time difference, the received signal power difference and the transmitted signal power difference. The larger the value is, the smaller the value of the indirect dependency value dis′ is.

[0085] S24, indirect subordinate fingerprint identification. Randomly select an unaccessed direct subordinate fingerprint f i , obtain all fingerprints of the core fingerprint in the indirect subordinate range (0, dis′], and define these fingerprints as f i The indirect subordinate fingerprints can adjust the indirect subordinate distance between fingerprints by introducing the matching degree, thereby improving the accuracy of core fingerprint identification.

[0086] S25. Repeat steps S22 and S24 until all directly subordinate fingerprints and all indirectly subordinate fingerprints in the core fingerprint are traversed.

[0087] S26, remove redundant supplementary fingerprints. All supplementary fingerprints except the core fingerprint, the directly subordinate fingerprint and the indirectly subordinate fingerprint are identified as redundant supplementary fingerprints that do not meet the positioning accuracy requirements and are removed.

[0088] S27, synchronous update of high-precision two-way collaborative positioning information fingerprint library. The supplementary high-precision two-way collaborative positioning information fingerprint library obtained after edge calculation of the positioning base station is sent to each portable electronic positioning tag device to complete the synchronous update of the high-precision two-way collaborative positioning information fingerprint library.

[0089] Example 3

[0090] This embodiment discloses a fully wireless anti-interference positioning system based on edge computing, which is adapted to the above-mentioned anti-interference positioning method, including a portable electronic positioning tag device and a fully wireless, portable positioning base station device. Please refer to Figure 2 .

[0091] The portable electronic positioning tag device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, a communication module, a storage module and a power module.

[0092] UWB positioning sensor module: The UWB positioning sensor module is responsible for sending and receiving UWB signals to obtain data such as the distance between the tag and the base station, transmission power, and reception power.

[0093] High-precision positioning module based on two-way collaboration: The high-precision positioning module based on two-way collaboration uses a high-precision positioning method based on two-way collaboration to process the received UWB positioning signal and perform two-way positioning collaborative calculations, thereby effectively reducing the problem of reduced positioning accuracy caused by external interference. On this basis, the high-precision two-way collaborative positioning information fingerprint library is used to match accurate positioning information to achieve high-precision positioning.

[0094] Communication module: The communication module is responsible for communicating with other types of devices, such as communicating with the base station to obtain the updated high-precision two-way collaborative positioning information fingerprint library and upload positioning information.

[0095] Data storage module: The data storage module is mainly composed of a flash memory unit (Flash) and a random access memory unit (RAM). The flash memory unit is used as a long-term storage module for device data, providing sufficient storage space for the collected positioning information and high-precision two-way collaborative positioning information fingerprint library; while the RAM unit is used as a memory module for the portable electronic positioning tag device, providing a basis for the high-speed operation of the high-precision positioning method based on two-way collaboration.

[0096] Power module: The power module is responsible for providing a stable voltage level to each module in the portable electronic positioning tag device and ensuring the normal operation of the device.

[0097] The fully wireless and portable positioning base station device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, an edge computing module, a communication module, a storage module and a power module. The fully wireless and portable positioning base station device adds an edge computing module on the basis of a portable electronic positioning tag device. The functions of the remaining modules are basically the same as those mentioned above. The edge computing module can effectively improve the positioning accuracy by relying on its strong computing power. It is specifically divided into the following two steps: First, the positioning information fingerprint in the high-precision two-way collaborative positioning information fingerprint library is supplemented by using the matching degree threshold, so as to avoid the situation where the positioning information cannot be matched due to the limited sampling times of the traditional fingerprint library; secondly, in response to the problem of too many supplementary fingerprints in the high-precision two-way collaborative positioning information fingerprint library, the positioning information fingerprints in the high-precision two-way collaborative positioning information fingerprint library are quickly and automatically clustered based on the natural population selection algorithm, and the supplementary fingerprints that do not meet the accuracy requirements are eliminated to avoid the high-precision two-way collaborative positioning information fingerprint library. The storage data volume is too large and redundancy occurs.

[0098] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fully wireless anti-interference positioning method based on edge computing, characterized in that: Includes steps: Constructing a high-precision two-way collaborative positioning information fingerprint library Among them, f i Represents the i-th fingerprint, which is an N-dimensional vector, where N is a positive integer. The location information of the portable electronic positioning tag device and the positioning base station device is stored, and the high-precision two-way collaborative positioning information fingerprint library is stored in the portable electronic positioning tag device and the positioning base station device respectively; The portable electronic positioning tag device can perform two-way collaborative positioning with the positioning base station device, and simultaneously perform forward positioning and reverse positioning, and obtain the base station coordinates C1 (x1, y1) evaluated by the base station side, the device coordinates C2 (x2, y2) evaluated by the base station side, the device coordinates C3 (x3, y3) evaluated by the device side, and the base station coordinates C4 (x4, y4) evaluated by the device side respectively; The obtained device coordinates C2(x2,y2), C3(x3,y3) and base station coordinates C1(x1,y1), C4(x4,y4) are collaboratively calculated to complete error correction and obtain the portable electronic positioning tag device coordinates C based on bidirectional fusion positioning. 23 (x 23 ,y 23 ) and the positioning base station device coordinates C 14 (x 14 ,y 14 ); The coordinates after high-precision bidirectional fusion positioning are matched with the location fingerprint information in the fingerprint library to obtain high-precision positioning coordinates; The location information fingerprint stored in the high-precision two-way collaborative positioning information fingerprint library includes signal transmission distance, signal reception strength, signal propagation time difference, received signal power, transmitted signal power, and positioning coordinates, and forward positioning and reverse positioning are performed simultaneously through received signal strength indication RSSI and signal arrival time difference TDOA; Building a high-precision two-way collaborative positioning information fingerprint library also includes the following steps: The two-way collaborative positioning information that meets the matching degree threshold requirement is added as a supplementary fingerprint to the high-precision two-way collaborative positioning information fingerprint library; Determine the maximum direct subordinate fingerprint and the maximum indirect subordinate fingerprint; Eliminate redundant and supplementary fingerprints; The supplementary high-precision two-way collaborative positioning information fingerprint library obtained after edge calculation of the positioning base station is sent to each portable electronic positioning tag device to complete the synchronous update of the high-precision two-way collaborative positioning information fingerprint library; The maximum directly subordinate fingerprint is: input into the supplemented high-precision two-way collaborative positioning information fingerprint library The original high-precision two-way collaborative positioning information fingerprint library location information fingerprint except the supplementary fingerprint is set as the core fingerprint, and a core fingerprint that has not been accessed is randomly selected. i , get all fingerprints in the direct subordinate range (0,dis] of the core fingerprint, and define these fingerprints as f i The directly subordinate fingerprint of The maximum indirect subordinate fingerprint is: input into the supplemented high-precision two-way collaborative positioning information fingerprint library Randomly select an unvisited direct subordinate fingerprint f i ', obtain all fingerprints of the core fingerprint in the indirect subordinate range (0, dis′], and define these fingerprints as f i ''s indirect subordinate fingerprint; Traverse the core fingerprint to obtain the direct subordinate fingerprints and indirect subordinate fingerprints of all core fingerprints.

2. According to the edge computing-based all-wireless anti-interference positioning method of claim 1, it is characterized in that: The weighted sum method is used to complete the collaborative calculation of the device coordinates and the base station coordinates, and the portable electronic positioning tag device coordinates C of the two-way fusion positioning 23 (x 23 ,y 23 ) and the positioning base station coordinates C 14 (x 14 ,y 14 ) is calculated as follows: x 23 =γ1x2+γ2x3 y 23 =ε1y2+ε2y3 x 14 =γ1x1+γ2x4 y 14 =ε1y1+ε2y4 Among them, γ1 and γ2 are respectively the preset positive and negative horizontal coordinate weight coefficients, ε1 and ε2 are respectively the preset positive and negative vertical coordinate weight coefficients, and they satisfy γ1+γ2=1, ε1+ε2=1.

3. According to the edge computing-based all-wireless anti-interference positioning method of claim 1, it is characterized in that: The method for matching the coordinates after high-precision bidirectional fusion positioning with the location fingerprint information in the fingerprint library is to define is the coordinates C of the portable electronic positioning tag device based on bidirectional fusion positioning 23 (x 23 ,y 23 ) information and the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library i The matching degree, R i 14 is the coordinates of the positioning base station device based on bidirectional fusion positioning 14 (x 14 ,y 14 ) information and the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library i The matching degree is calculated as follows: Among them, λ 23 , σ 23 are the weight factors of the signal receiving strength and signal propagation time difference of the coordinates of the portable electronic positioning tag device, λ 14 , σ 14 are the weight factors of the signal reception strength and signal propagation time difference of the positioning base station device coordinates, and λ 23 +σ 23 =1,λ 14 +σ 14 =1, Respectively represent the coordinates C 23 (x 23 ,y 23 )’s signal reception strength and signal propagation time difference, Respectively represent the coordinates C 14 (x 14 ,y 14 )’s signal reception strength and signal propagation time difference, P ri and T ri They represent the i-th positioning information fingerprint f in the high-precision two-way collaborative positioning information fingerprint library. i The signal reception strength and signal propagation time difference, when The larger the value is, the closer the location information of the coordinate is to the i-th location information fingerprint f in the high-precision two-way collaborative location information fingerprint library. i The higher the matching degree, the Get the maximum value of the positioning information fingerprint f i The coordinates in are the matching positioning coordinates of the portable electronic positioning tag device. and the base station's location coordinates 4. The all-wireless anti-interference positioning method based on edge computing according to claim 1 is characterized in that: The coordinates of the portable electronic positioning tag device based on two-way fusion positioning and the coordinates of the positioning base station device are combined with the location information fingerprint f i Maximum matching value As the complementary fingerprint reference value of the two-way collaborative positioning information, when the complementary fingerprint reference value of the two-way collaborative positioning information is greater than the preset matching degree threshold, the location information f generated after the two-way collaborative high-precision positioning is i 'As the location information fingerprint in the original high-precision two-way collaborative positioning information fingerprint library i The supplementary fingerprint is added to the high-precision two-way collaborative positioning information fingerprint library.

5. The all-wireless anti-interference positioning method based on edge computing according to claim 1 is characterized in that: The method for determining the direct subordinate range (0, dis] of the core fingerprint and the indirect subordinate range (0, dis′] of the core fingerprint is as follows: Among them, T max , P r max and P s max are respectively the maximum allowable signal transmission time difference, the maximum allowable received signal power difference and the maximum allowable transmitted signal power difference between the two preset fingerprints, μ1, μ2 and μ3 are the direct adjustment coefficients of the preset signal transmission time difference, the received signal power difference and the transmitted signal power difference; in, is the location information fingerprint f i and location information fingerprint f j The minimum matching value of , a is a base greater than 1, ψ4 is the positioning information fingerprint f i and location information fingerprint f j The indirect adjustment coefficient of the matching degree, T i,j , They are respectively the positioning information fingerprint f i and location information fingerprint f j The transmission time difference, received signal power difference and transmitted signal power difference of the positioning information fingerprint f are respectively i and location information fingerprint f j The indirect adjustment coefficient of the transmission time difference, the received signal power difference and the transmitted signal power difference.

6. The full wireless anti-interference positioning method based on edge computing according to claim 1 is characterized in that: Eliminating redundant supplementary fingerprints includes the following steps: Traverse all the direct subordinate fingerprints and all the indirect subordinate fingerprints in the core fingerprint, and add the supplemented high-precision two-way collaborative positioning information fingerprint library All supplementary fingerprints except the core fingerprint, the directly subordinate fingerprint and the indirectly subordinate fingerprint are identified as redundant supplementary fingerprints that do not meet the positioning accuracy requirements and are removed.

7. A fully wireless anti-interference positioning system based on edge computing, used to implement the fully wireless anti-interference positioning method based on edge computing according to any one of claims 1 to 6, characterized in that: It includes two parts: a portable electronic positioning tag device and a positioning base station device; The portable electronic positioning tag device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, a communication module, a storage module and a power module; the positioning base station device includes a UWB positioning sensor module, a high-precision positioning module based on two-way collaboration, an edge computing module, a communication module, a storage module and a power module; UWB positioning sensor module: used to send and receive UWB signals to obtain the distance, transmission power, and reception power data between the tag and the base station; High-precision positioning module based on two-way collaboration: uses a high-precision positioning method based on two-way collaboration to process the received UWB positioning signal and perform two-way positioning collaborative calculation; Communication module: The communication module is responsible for communicating with other devices to obtain communication information; Data storage module: including flash memory unit and random access memory unit; Power module: used to supply power to each module in the portable electronic positioning tag device; Edge computing module: used to supplement and remove positioning information fingerprints.

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