UWB tag positioning method, device, electronic device and storage medium

Abstract

The embodiments of this specification disclose a positioning method, device, electronic device and storage medium for a UWB tag. The method includes: obtaining the coordinate information of three base stations used for positioning, obtaining the distance between the target tag and the three base stations; constructing three arc lines with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, wherein the coordinates of the first base station are used as the origin of the coordinate system, the arc line of the first base station is expressed as the parametric equation of the curve, and the arc lines of the second base station and the third base station are expressed as the standard equation of the curve; the intersection of the three arc lines is solved based on the parametric equation and the standard equation to determine the position of the target tag. The technical solution of the present invention is used to improve the computing efficiency of the computer when positioning the tag, so that the positioning system can track the tag and display the tag position at a higher refresh rate, which is of great significance in industrial and mining scenarios.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a UWB tag positioning method, device, electronic device and storage medium. Background Art

[0002] UWB (UltraWideband) positioning system is widely used in industrial and mining environments. It is usually composed of hardware positioning equipment and positioning solution servers. The positioning base station and server use ToF (Time of flight), TDoA (Time Difference ofArriva), TWR (Two-Way Ranging) and other algorithms to realize real-time display of personnel location, historical track playback, personnel attendance, electronic fences, behavior analysis, multi-card identification, intelligent inspection and other functions.

[0003] The UWB positioning system needs to deploy positioning base stations in the positioning area, and the personnel or equipment to be positioned needs to be equipped with UWB tags (hereinafter referred to as tags). Through the communication between the tag and the base station, the positioning system can calculate the distance between the tag and the base station, and then determine the tag's position. In most cases, two-dimensional positioning of the tag can meet the positioning requirements. The three-point positioning method is usually used, that is, the coordinate position of the tag is solved using the known coordinates of the three base stations and the distance between the tag and the base station.

[0004] With the widespread application of UWB positioning systems, the number of UWB tags in many scenarios is increasing day by day. How to further improve the calculation efficiency and increase the update rate of tag positions when solving tag positions is an urgent problem to be solved. Summary of the invention

[0005] The present invention provides a UWB tag positioning method, device, electronic device and storage medium, which are used to solve the technical problems of low calculation efficiency and slow position update when UWB tag positioning is solved.

[0006] To solve the above technical problems, the present invention is achieved as follows:

[0007] On the one hand, this specification provides a UWB tag positioning method, including:

[0008] Acquire coordinate information of three base stations used for positioning, wherein the three base stations include a first base station, a second base station, and a third base station;

[0009] Obtaining the distance between the target tag and the three base stations;

[0010] Construct three arc lines with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, wherein the coordinates of the first base station are taken as the origin of the coordinate system, the arc line of the first base station is expressed as a parametric equation of the curve, and the arc lines of the second base station and the third base station are expressed as standard equations of the curve;

[0011] The intersection point of the three arcs is solved based on the parametric equation and the standard equation to determine the position of the target tag.

[0012] In another aspect, the present specification also provides a device for UWB tag positioning, comprising:

[0013] A coordinate module, configured to obtain coordinate information of three base stations used for positioning, wherein the three base stations include a first base station, a second base station and a third base station;

[0014] A distance measurement module is configured to obtain the distance between the target tag and the three base stations;

[0015] The modeling module is configured to construct three arc lines with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, wherein the coordinates of the first base station are used as the origin of the coordinate system, the arc line of the first base station is expressed as a parametric equation of the curve, and the arc lines of the second base station and the third base station are expressed as standard equations of the curve;

[0016] The calculation module is configured to solve the intersection of the three arcs based on the parametric equation and the standard equation to determine the position of the target tag.

[0017] Another aspect of the present specification also provides an electronic device for UWB tag positioning, including:

[0018] at least one processor; and,

[0019] a memory communicatively connected to the at least one processor; wherein,

[0020] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described above.

[0021] On the other hand, the present specification also provides a computer-readable storage medium having computer-readable instructions stored thereon, which, when executed by a processor, enables the processor to implement the method as described above.

[0022] At least one of the above technical solutions adopted in this specification can achieve the following beneficial effects: when using the positioning base station to solve the tag position, three arcs need to be constructed. The method of the present invention represents the arc by the parametric equation of the curve, and converts the unknown quantity to be solved into a parameter, which makes the calculation amount less than that of solving the ordinary equation (x p ,y p ) coordinate values, and the parametric equation can be easily expressed in vector form, which is convenient for the computer to perform parallel operations, which will significantly improve the operation efficiency. It has been verified by simulation that, under ideal conditions, the efficiency of the algorithm of the present invention is improved by more than 7 times compared with the traditional algorithm. Under actual conditions, the efficiency of the algorithm of the present invention is also significantly improved compared with the traditional algorithm. In addition, the use of parametric equations to represent curves is not affected by the coordinate system and can be applied to complex scenes. The solution process is intuitive, which is convenient for visual presentation and real-time monitoring. The technical solution of the present invention is used to improve the computer's operation efficiency when locating tags, so that the positioning system can track tags and display tag positions at a higher refresh rate, which is of great significance in industrial and mining scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0024] Figure 1 A schematic diagram of an application scenario of the UWB tag positioning method of the present invention in a mine;

[0025] Figure 2 This is a flow chart of a UWB tag positioning method according to an embodiment of the present invention;

[0026] Figure 3 This is a flowchart of synchronization between a base station and a tag in an embodiment of the present invention;

[0027] Figure 4 This is the principle diagram of the three-point positioning method;

[0028] Figure 5 The simulation results of using the method of the embodiment of the present invention to improve the computing efficiency;

[0029] Figure 6 A structural diagram of a UWB tag positioning device for implementing the method of an embodiment of the present invention. DETAILED DESCRIPTION

[0030] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0031] In the UWB positioning system, the base station used for positioning is usually fixed, that is, the coordinates of the positioning base station are fixed and known, while the tag moves with the person or equipment and can be regarded as a mobile terminal. When positioning the tag in two dimensions, a three-point positioning method is adopted, that is, the distance between the three positioning base stations and the target tag is measured respectively, and then the positions and distance measurement data of the three base stations are combined to draw three circles with the base station as the center. Ideally, the three circles intersect at one point, which is the location of the target tag.

[0032] At present, when locating UWB tags, the commonly used solution method is to solve the coordinates of the target tag through the implicit general equation f(x,y)=0, that is, the coordinates of the three base stations are known (x1,y1), (x2,y2), (x3,y3), the distances from the target tag to the three base stations are r1, r2, r3 respectively, and the coordinates of the target tag are marked as (x p ,y p ). Use implicit ordinary equations, i.e. standard equations of circles, to represent the three circles, and solve the system of simultaneous equations to find the coordinates of the intersection of the three circles.

[0033]

[0034]

[0035]

[0036] When solving the above general equation, we need to face the following problems:

[0037] 1. The solution result may have an infinite slope, which will cause the calculation process to be interrupted and reduce the calculation efficiency.

[0038] 2. Implicit representation is difficult to express through vectors or matrices. When computers process large-scale data or parallel calculations, the use of vector and matrix operations will greatly improve the computing efficiency. Therefore, implicit representation is not convenient for computer calculation processing.

[0039] 3. The curve represented by the implicit method is not easy to draw and display, which is not conducive to real-time monitoring by users through a visual interface.

[0040] It can be seen that when locating the label position, three circles need to be constructed, and the coordinates of the intersection of the three circles (x p ,y p ), the traditional algorithm needs to solve two unknown quantities by solving a set of two-variable quadratic equations.

[0041] The present invention proposes to use parametric equations to represent circular arc curves, and convert the unknown quantity to be solved into a parameter, which makes the amount of calculation less than that of solving ordinary equations (x p ,y p ) coordinate values, and the parametric equation can be easily expressed in vector form, which is convenient for the computer to perform parallel operations, which will significantly improve the operation efficiency. The simulation verification shows that under ideal conditions, the efficiency of the algorithm of the present invention is improved by more than 7 times compared with the traditional algorithm. In actual conditions, the efficiency of the algorithm of the present invention is also significantly improved compared with the traditional algorithm.

[0042] The following is a brief description of the curve representation: Generally speaking, in a plane rectangular coordinate system, if the coordinates x and y of any point on the curve are functions of a variable t, and for each allowed value of t, the point (x, y) determined by the equation group is on the curve, then this equation is called the parametric equation of the curve, and the variable t that connects the variables x and y is called the parameter, or parameter for short. Relatively speaking, the equation that directly gives the relationship between the coordinates of the points is called a general equation. For a plane curve, the general expression of an explicit general equation is y = f(x), where the x value corresponds to the y value one-to-one, and cannot represent a closed or multi-valued curve. An implicit general equation can represent a closed or multi-valued curve, and the general expression is f(x, y) = 0, but the equation evaluation process is more difficult and consumes more computing resources. The traditional UWB tag positioning solution method is to solve the implicit general equation, which has low computational efficiency.

[0043] Figure 1 The schematic diagram shows a scenario of applying the UWB tag positioning method of the present invention in a mine. It should be noted that: Figure 1 The example shown is only an application scenario of the embodiment of the present invention to help those skilled in the art understand the technical content of the present invention, but it does not mean that the UWB tag positioning method of the embodiment of the present invention cannot be applied to other scenarios.

[0044] like Figure 1 As shown, the scenario includes a positioning base station 10, a UWB tag 20 and a server 30. There are multiple positioning base stations 10, at least three, and multiple tags 20.

[0045] The positioning base station 10 is a base station supporting UWB and is pre-deployed in the underground mine environment. Multiple positioning base stations can obtain accurate positioning results of a tag by applying positioning algorithms.

[0046] Tag 20 is a UWB positioning tag. Common tags include card-type and helmet clip-on tags. Miners need to wear tags when going down the mine, so that the miners' location information can be obtained through tag positioning.

[0047] The server 30 is used to execute the positioning algorithm. The coordinate information of the positioning base station 10 can be pre-stored in the server 30 after the configuration is completed, and the distance between the tag 20 and the positioning base station 10 needs to be obtained by the ranging algorithm. Common ranging algorithms include ToF (time of flight), TWR (two-way ranging), TDoA (differential time of arrival), etc. The server 30 calculates the location of the tag through the known information and provides it to the monitoring center, which completes the corresponding management operations on personnel and equipment based on this.

[0048] exist Figure 1 In the scenario, the positioning base station 10 and the tag 20 communicate through UWB technology. The characteristic of UWB is that it transmits wireless signals encoded by pulse modulation at low power and a wide frequency band within a short distance. The operating frequency band of UWB is in the 3.1 to 10.6 GHz spectrum range, and its signal bandwidth is above 500 MHz, presenting non-sinusoidal narrow pulses in the nanosecond to microsecond range. The accuracy of UWB ranging can reach the centimeter level.

[0049] The UWB tag positioning method provided in this specification is described below through an embodiment.

[0050] Figure 2 The figure is a flow chart of a UWB tag positioning method according to an embodiment of the present invention.

[0051] like Figure 2 As shown, the method of this embodiment includes operations S210 to S240.

[0052] S210: Acquire coordinate information of three base stations used for positioning, where the three base stations include a first base station, a second base station, and a third base station.

[0053] S220: Obtain the distance between the target tag and the three base stations.

[0054] Generally, at least three base stations are required for positioning, but there can be more. The base stations and tags communicate through UWB technology to complete tag registration, synchronization, and ranging processes. Accurate synchronization between tags and three positioning base stations helps improve ranging accuracy, and NTP (Network Time Protocol) synchronization can be used. NTP is a widely used network time synchronization technology that allows computers, servers, and other devices in the network to synchronize their time through a network time server, with an accuracy of usually between 1 and 50 milliseconds.

[0055] Figure 3 The figure shows the process of precise synchronization between the base station and the tag. Figure 3 As shown in the figure, after the base station is started, it obtains the NTP time from the server and uses it as the reference clock to send a broadcast signal to the tags in the coverage area. The broadcast signal carries the synchronization clock information. The tag synchronizes the local clock according to the broadcast information. At this point, the precise clock synchronization of the NTP server, base station and tag is completed. Clock synchronization can effectively reduce the impact of clock errors on positioning results.

[0056] When the server determines that the target tag has completed NTP clock synchronization with the three base stations, it calculates the distance between the target tag and the three base stations based on the positioning request sent by the tag. The distance measurement calculation can be calculated by the ToF algorithm to obtain the distance between the target tag and the three base stations. The distance measurement calculation and positioning calculation can be performed by the computing module of the same server or by different servers. When a large number of tags need to be tracked, the latter method can further improve the tracking speed and position refresh rate of the tags, and can be configured according to specific needs during implementation.

[0057] S230: Construct three arc lines with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, wherein the coordinates of the first base station are used as the origin of the coordinate system, the arc line of the first base station is expressed as a parametric equation of the curve, and the arc lines of the second and third base stations are expressed as standard equations of the curve.

[0058] Figure 4 This is the principle diagram of the three-point positioning method, such as Figure 4 As shown in FIG. 1 , after determining the distance between the target tag and the positioning base station, three circles are drawn using the three-point positioning method, and the intersection is the position of the target tag. Without loss of generality, the three arcs in the embodiment of the present invention can be Figure 4 The closed circle shown in can also be a curve of a fitting arc, and the task to be solved is the coordinates of the intersection point P of these three arcs.

[0059] According to mathematics and geometry, the arc can be expressed by the parametric equation or standard equation of the circle. The parametric equation of the circle is: x = a + rcosθ, y = b + rsinθ, where θ∈[0, 2π), (a, b) is the coordinate of the center of the circle, r is the radius of the circle, θ is the parameter, and (x, y) is the coordinate of the passing point. The standard equation of the circle is (xa) 2 +(yb) 2 =r 2 .

[0060] The arc line can also be represented by the parametric equation of the Bezier curve, B-spline curve, or NURBS curve that fits the arc. In some implementations, the parametric equation of the third-order Bezier curve can be used to represent the arc line of the first base station, while the arc lines of the second and third base stations are represented by the standard equation of the circle. The quantity to be solved is still an unknown quantity, and the amount of calculation can be reduced.

[0061] In the embodiment of the present invention, the arc line C1 of the first base station can be expressed by the parametric equation of a circle as C1=(r1cosθ, r1sinθ), and the arc lines of the second base station and the third base station can be expressed as the standard equation of a circle (x-dx2): 2 +(y-dy2) 2 =r2 2 , (x-dx3) 2 +(y-dy3) 2 =r3 2 , where θ∈[0,2π), dx2 and dy2 are the distances between the coordinates of the second base station and the coordinates of the first base station on the x and y axes respectively, and dx3 and dy3 are the distances between the coordinates of the third base station and the coordinates of the first base station on the x and y axes respectively, such as Figure 4 shown.

[0062] S240: Solve the intersection of the three curved lines based on the parametric equation and the standard equation to determine the position of the target label.

[0063] When solving, you can first calculate the first intersection point where the arc line of the second base station intersects the arc line of the first base station; calculate the second intersection point where the arc line of the third base station intersects the arc line of the first base station; and then determine the position of the target tag based on the first intersection point and the second intersection point.

[0064] This solution method is different from the method of solving two quadratic equations simultaneously. The method of the embodiment of the present invention can be calculated in steps or in parallel, which is more suitable for computer processing, and the calculation process can also be conveniently displayed through a graphical interface.

[0065] like Figure 4As shown, ideally, there are two first intersections where the arc line of the second base station intersects with the arc line of the first base station, and there are also two second intersections where the arc line of the third base station intersects with the arc line of the first base station, and there is a point P where all three arc lines intersect. In actual situations, there may not be completely overlapping points in the first intersection and the second intersection. At this time, the point closest to the target tag position can be determined based on the Euclidean distance of these intersections. For example, a threshold area is pre-set. If there are points scattered in the threshold area between the first intersection and the second intersection, the midpoint between the two points can be determined as the position of the target tag. Therefore, the preset conditions can be set according to the test situation in the actual scenario, and the points that meet the preset conditions can be determined as the position of the target tag according to the positions of the first intersection and the second intersection. When the intersection point solved by the above method cannot meet the preset conditions, we can turn to the traditional non-parametric equation method to solve the linear equation system and use the least squares method to solve the optimal position of the label. That is, if there is no point that meets the preset conditions, a linear equation system is established based on three arcs. The position of the target label is determined by solving the linear equation system. The linear equation system is

[0066]

[0067]

[0068]

[0069] The positioning method according to the embodiment of the present invention fully utilizes the advantages of the curve parameter equation, can at least partially optimize the calculation efficiency, and improve the tracking performance of the positioning system.

[0070] A specific implementation process is described in detail below.

[0071] (1) Obtain input data, including: the ranging results r1, r2, r3 between the target tag and the three base stations, and the coordinates of the three base stations (x1, y1), (x2, y2), (x3, y3).

[0072] (2) Calculate the distance dx2 and dy2 between the coordinates of the second base station and the coordinates of the first base station on the x and y axes respectively, and calculate the distance dx3 and dy3 between the coordinates of the third base station and the coordinates of the first base station on the x and y axes respectively.

[0073] (3) Establish a coordinate system with the coordinates of the first base station (x1, y1) as the origin, and establish the parametric equation of the first base station arc C1 = (r1cosθ, r1sinθ), where θ∈[0,2π). The second base station arc can be expressed as (x-dx2) 2 +(y-dy2) 2 =r2 2 , the third base station arc is represented by (x-dx3)2 +(y-dy3) 2 =r3 2 .

[0074] (4) Calculate the cosine value cosθ of the intersection parameter of the first base station arc C1 and the second base station arc C2:

[0075] (r1cosθ-dx2) 2 +(r1sinθ-dy2) 2 =r2 2 ,

[0076] Simplifying the above formula, we can get

[0077] r1 2 -r2 2 +dx2 2 +dy2 2 =2r1dx2cosθ+2r1dy2sinθ,

[0078] make

[0079] It can be solved as follows:

[0080]

[0081] in,

[0082]

[0083] (5) Calculate the cosine value cosθ of the intersection parameter of the first base station arc C1 and the third base station arc C3:

[0084] (r1 cosθ-dx3) 2 +(r1 sinθ-dy3) 2 =r3 2 ,

[0085] Simplifying the above formula, we can get

[0086] r1 2 -r3 2 +dx3 2 +dy3 2 =2r1dx3 cosθ+2r1dy3 sinθ,

[0087] Similarly, we can get:

[0088]

[0089] in

[0090]

[0091] Take the point where the cosine value cosθ of the intersection parameter calculated in step (4) and step (5) above is the same, and obtain the horizontal coordinate x of the intersection point of the three base station arcs C1, C2, and C3 p = r1cosθ, the ordinate of the intersection is The (x p ,y p ) is then brought into step (4) and step (5) to determine the ordinate y p Finally, the coordinates of the target label to be solved are obtained, and the positioning is completed.

[0092] Figure 5 The simulation results of applying the method of the embodiment of the present invention to improve the computing efficiency are given. During the simulation, for the input of the algorithm: three ranging data r1, r2, r3, the coordinates of the three base stations (x1, y1), (x2, y2), (x3, y3), n randomly generated input data are used, and the cycle is repeated 10 times, and the average time is taken as the calculation time. Compare the calculation time of the method of the embodiment of the present invention (blue solid line) and the traditional method of solving the system of equations (red solid line) under different scales of data. According to Figure 5 It can be seen that the computational efficiency of the method of the present invention is significantly higher than that of the traditional algorithm in scenarios with a large amount of data. Specifically, when the amount of data is 5000, the computational efficiency of the method of the embodiment of the present invention is 7.6838 times that of the traditional algorithm.

[0093] According to the positioning method of the embodiment of the present invention, when the positioning base station is used to solve the tag position, the arc line is represented by the parameter equation of the curve, and the unknown quantity to be solved is converted into a parameter, which makes the calculation amount less than that of solving the ordinary equation (x p ,y p ) coordinate values, and the parametric equation can be easily expressed in vector form, which is convenient for the computer to perform parallel operations, which will significantly improve the operation efficiency. It has been verified by simulation that, under ideal conditions, the efficiency of the algorithm of the present invention is improved by more than 7 times compared with the traditional algorithm. Under actual conditions, the efficiency of the algorithm of the present invention is also significantly improved compared with the traditional algorithm. In addition, the use of parametric equations to represent curves is not affected by the coordinate system and can be applied to complex scenes. The solution process is intuitive, which is convenient for visual presentation and real-time monitoring. The technical solution of the present invention is used to improve the computer's operation efficiency when locating tags, so that the positioning system can track tags and display tag positions at a higher refresh rate, which is of great significance in industrial and mining scenarios.

[0094] like Figure 6 As shown, a UWB tag positioning device 300 for implementing the method of the embodiment of the present invention is shown. The positioning device 300 can be implemented as part or all of the electronic device through software, hardware or a combination of both.

[0095] like Figure 6 As shown, the positioning device 300 includes a coordinate module 310, a distance measurement module 320, a modeling module 330 and a calculation module 340. The positioning device 300 can execute the UWB tag positioning method described in any of the above embodiments, wherein:

[0096] The coordinate module 310 is configured to obtain coordinate information of three base stations used for positioning, wherein the three base stations include a first base station, a second base station and a third base station;

[0097] The distance measurement module 320 is configured to obtain the distance between the target tag and the three base stations;

[0098] The modeling module 330 is configured to construct three arc lines with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, wherein the coordinates of the first base station are used as the origin of the coordinate system, the arc line of the first base station is expressed as a parametric equation of the curve, and the arc lines of the second base station and the third base station are expressed as standard equations of the curve;

[0099] The calculation module 340 is configured to solve the intersection of the three arc segments based on the parametric equation and the standard equation to determine the position of the target tag.

[0100] According to the positioning device of the embodiment of the present invention, when using the positioning base station to solve the tag position, the parametric equation of the curve is used for modeling, and the unknown quantity to be solved is converted into a parameter, and can be conveniently expressed in vector form for calculation, which is convenient for the computer to perform parallel calculations and reduces the amount of calculations, and can significantly improve the calculation efficiency. The technical solution of the present invention improves the calculation efficiency of the computer when locating the tag, so that the positioning system can track the tag and display the tag position at a higher refresh rate, which is of great significance in industrial and mining scenarios.

[0101] An embodiment of the present specification also provides an electronic device for UWB tag positioning, including:

[0102] at least one processor;

[0103] as well as,

[0104] a memory communicatively coupled to the at least one processor;

[0105] in,

[0106] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor, so that the at least one processor can execute the UWB tag positioning method described in any of the above embodiments.

[0107] The embodiments of this specification also provide a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions, and when the computer-executable instructions are executed by a processor, the positioning method of the UWB tag described in any of the above embodiments is implemented.

[0108] The above is a description of a specific embodiment of the specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0109] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device, electronic device, and non-volatile computer storage medium embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0110] The apparatus, electronic device, non-volatile computer storage medium and method provided in the embodiments of this specification correspond to each other, and therefore, the apparatus, electronic device and non-volatile computer storage medium also have similar beneficial technical effects as the corresponding method. Since the beneficial technical effects of the method have been described in detail above, the beneficial technical effects of the corresponding apparatus, electronic device and non-volatile computer storage medium will not be repeated here.

[0111] In the 1990s, improvements to a technology could be clearly distinguished as hardware improvements (for example, improvements to the circuit structure of diodes, transistors, switches, etc.) or software improvements (improvements to the method flow). However, with the development of technology, many improvements to the method flow today can be regarded as direct improvements to the hardware circuit structure. Designers almost always obtain the corresponding hardware circuit structure by programming the improved method flow into the hardware circuit. Therefore, it cannot be said that an improvement in a method flow cannot be implemented using a hardware entity module. For example, a programmable logic device (PLD) (such as a field programmable gate array (FPGA)) is such an integrated circuit whose logical function is determined by the user's programming of the device. Designers can "integrate" a digital system on a PLD by programming it themselves, without having to ask a chip manufacturer to design and produce a dedicated integrated circuit chip. Moreover, nowadays, instead of manually making integrated circuit chips, this kind of programming is mostly implemented by "logic compiler" software, which is similar to the software compiler used when developing and writing programs, and the original code before compilation must also be written in a specific programming language, which is called hardware description language (HDL). There is not only one HDL, but many kinds, such as ABEL (Advanced Boolean Expression Language), AHDL (Altera Hardware Description Language), Confluence, CUPL (Cornell University Programming Language), HDCal, JHDL (Java Hardware Description Language), Lava, Lola, MyHDL, PALASM, RHDL (Ruby Hardware Description Language), etc. The most commonly used ones are VHDL (Very-High-Speed ​​Integrated Circuit Hardware Description Language) and Verilog. Those skilled in the art should also know that it is only necessary to program the method flow slightly in the above-mentioned hardware description languages ​​and program it into the integrated circuit, and then it is easy to obtain the hardware circuit that implements the logic method flow.

[0112] The controller can be implemented in any appropriate manner, for example, the controller can take the form of a microprocessor or processor and a computer-readable medium storing a computer-readable program code (such as software or firmware) that can be executed by the (micro)processor, a logic gate, a switch, an application-specific integrated circuit (ASIC), a programmable logic controller, and an embedded microcontroller. Examples of controllers include, but are not limited to, the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20, and Silicone Labs C8051F320. The memory controller can also be implemented as part of the control logic of the memory. Those skilled in the art also know that in addition to implementing the controller in a purely computer-readable program code manner, the controller can be implemented in the form of a logic gate, a switch, an application-specific integrated circuit, a programmable logic controller, and an embedded microcontroller by logically programming the method steps. Therefore, this controller can be considered as a hardware component, and the devices included therein for implementing various functions can also be regarded as structures within the hardware component. Or even, the devices for implementing various functions can be regarded as both software modules for implementing the method and structures within the hardware component.

[0113] The systems, devices, modules or units described in the above embodiments may be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0114] For the convenience of description, the above devices are described in terms of functions and are divided into various units. Of course, when implementing one or more embodiments of this specification, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0115] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Therefore, the embodiments of this specification may be in the form of complete hardware embodiments, complete software embodiments, or embodiments in combination with software and hardware. Moreover, the embodiments of this specification may be in the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0116] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data optimization device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data optimization device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0117] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data optimization device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0118] These computer program instructions may also be loaded onto a computer or other programmable data optimization device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0119] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0120] The memory may include non-permanent storage in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0121] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0122] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0123] The specification may be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices connected through a communication network. In a distributed computing environment, program modules may be located in local and remote computer storage media including storage devices.

[0124] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0125] The above is only an embodiment of this specification and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for positioning a UWB tag, characterized in that: include: Acquire coordinate information of three base stations used for positioning, wherein the three base stations include a first base station, a second base station, and a third base station; Obtaining the distance between the target tag and the three base stations; Three arc lines are constructed with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, respectively, wherein the coordinates of the first base station are used as the origin of the coordinate system, the arc line of the first base station is expressed as a parametric equation of the curve, and the arc lines of the second base station and the third base station are expressed as standard equations of the curve, including: expressing the arc line of the first base station as a parametric equation of a circle C1=(r1cosθ,r1 sinθ), expressing the arc lines of the second base station and the third base station as a standard equation of a circle (x-dx2) 2 +(y-dy2) 2 =r2 2 , (x-dx3) 2 +(y-dy3) 2 =r3 2 , where θ∈[0,2π), dx2 and dy2 are the distances between the coordinates of the second base station and the coordinates of the first base station on the x and y axes respectively, dx3 and dy3 are the distances between the coordinates of the third base station and the coordinates of the first base station on the x and y axes respectively, and r1, r2, r3 are the distances from the target tag to the first base station, the second base station and the third base station respectively; The intersection point of the three arcs is solved based on the parametric equation and the standard equation to determine the position of the target tag.

2. The method according to claim 1, characterized in that Solving the intersection of the three arcs based on the parametric equation and the standard equation to determine the position of the target tag includes: Calculate an intersection point of the arc line of the second base station and the arc line of the first base station to obtain a first intersection point; Calculate an intersection point of the arc line of the third base station and the arc line of the first base station to obtain a second intersection point; The position of the target tag is determined according to the first intersection point and the second intersection point.

3. The method according to claim 2, characterized in that The determining the position of the target tag according to the first intersection point and the second intersection point includes: According to the positions of the first intersection point and the second intersection point, a point meeting a preset condition is determined as the position of the target tag.

4. The method according to claim 3, characterized in that: The method further comprises: If there is no point that meets the preset condition, a linear equation group is established based on the three arc segments, and the position of the target tag is determined by solving the linear equation group.

5. The method according to claim 1, characterized in that The obtaining of the distance between the target tag and the three base stations comprises: Determine that the target tag completes Network Time Protocol (NTP) clock synchronization with the three base stations; The distances between the target tag and the three base stations are calculated.

6. The method according to claim 5, characterized in that The calculating the distance between the target tag and the three base stations includes: The distance between the target tag and the three base stations is calculated by using a TOF algorithm.

7. A device for UWB tag positioning, characterized in that: include: A coordinate module, configured to obtain coordinate information of three base stations used for positioning, wherein the three base stations include a first base station, a second base station and a third base station; A distance measurement module is configured to obtain the distance between the target tag and the three base stations; The modeling module is configured to construct three arc lines with the three base stations as the center and the distance between the target tag and the corresponding base station as the radius, wherein the coordinates of the first base station are used as the origin of the coordinate system, the arc line of the first base station is expressed as a parametric equation of the curve, and the arc lines of the second base station and the third base station are expressed as standard equations of the curve, including: expressing the arc line of the first base station as a parametric equation of a circle C1=(r1cosθ,r1sinθ), expressing the arc lines of the second base station and the third base station as a standard equation of a circle (x-dx2) 2 +(y-dy2) 2 =r2 2 , (x-dx3) 2 +(y-dy3) 2 =r3 2 , where θ∈[0,2π), dx2 and dy2 are the distances between the coordinates of the second base station and the coordinates of the first base station on the x and y axes respectively, dx3 and dy3 are the distances between the coordinates of the third base station and the coordinates of the first base station on the x and y axes respectively, and r1, r2, r3 are the distances from the target tag to the first base station, the second base station and the third base station respectively; The calculation module is configured to solve the intersection of the three arcs based on the parametric equation and the standard equation to determine the position of the target tag.

8. An electronic device for UWB tag positioning, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 6.

9. A computer-readable storage medium having computer-readable instructions stored thereon, wherein when the instructions are executed by a processor, the processor implements the method according to any one of claims 1 to 6.

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