A wireless positioning and tracking system based on UWB positioning

Abstract

The present invention provides a wireless positioning and tracking system based on UWB positioning, including: a target confirmation module that clearly locates and tracks the target and determines the positioning and tracking object; a signal transceiver module that sends out a UWB signal based on the tag of the positioning and tracking object, and receives the UWB signal in the base station through the wireless communication network to obtain a base station receiving signal; a first analysis module that performs preliminary positioning and tracking based on the base station receiving signal to determine the target floor; a second analysis module that performs position analysis based on the target floor and the base station receiving signal by fusing one-dimensional positioning and two-dimensional positioning to determine the location information of the positioning and tracking object. The wireless positioning and tracking system based on UWB positioning proposed by the present invention combines one-dimensional positioning technology and two-dimensional positioning technology to achieve the determination of the target positioning and tracking object, reduce the deviation of the positioning and tracking results, and improve the accuracy of the location information of the target positioning and tracking object.

Description

Technical Field

[0001] The present invention relates to the field of wireless positioning technology, and in particular to a wireless positioning tracking system based on UWB positioning. Background Art

[0002] A wireless positioning system refers to a technology that uses the straight-line constant-speed propagation characteristics of radio waves to measure the position of fixed or moving objects for positioning. It determines the distance, distance difference, direction and other positioning parameters by directly or indirectly measuring the time, phase difference, amplitude or frequency changes of the radio signal during the propagation process between a fixed point at a known position and the target positioning and tracking object, and then uses the position line to determine the position of the target positioning and tracking object. This measurement technology and method is a method of measuring the position of the target positioning and tracking object.

[0003] At present, UWB positioning technology is widely used in indoor positioning technology. However, a single positioning dimension is usually used to realize the positioning of the target positioning and tracking object. If the label of the target positioning and tracking object is outside the positioning area, it will cause a large deviation in the positioning and tracking result. Therefore, the present invention proposes a wireless positioning and tracking system based on UWB positioning, which combines one-dimensional positioning technology and two-dimensional positioning technology to realize the determination of the target positioning and tracking object, reduce the deviation of the positioning and tracking result, and improve the accuracy of the position information of the target positioning and tracking object. Summary of the invention

[0004] The purpose of the present invention is to provide a wireless positioning and tracking system based on UWB positioning to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: A wireless positioning and tracking system based on UWB positioning, comprising: a target confirmation module, a signal transceiver module, a first analysis module and a second analysis module;

[0006] The target confirmation module is used to determine the positioning and tracking target and the positioning and tracking object;

[0007] The signal transceiver module is used to send out a UWB signal based on the tag of the positioning and tracking object, and receive the UWB signal in the base station through the wireless communication network to obtain a base station receiving signal;

[0008] The first analysis module is used to perform preliminary positioning and tracking based on the base station received signal to determine the target floor;

[0009] The second analysis module is used to perform position analysis based on the target floor and the fusion of one-dimensional positioning and two-dimensional positioning according to the base station reception signal to determine the position information of the positioning and tracking object.

[0010] Preferably, the base station is divided into a first analysis base station and a second analysis base station, the first analysis base station is a base station deployed based on the indoor building as a whole, and the second analysis base station is a base station deployed based on each floor of the indoor building.

[0011] Preferably, the signal transceiver module comprises: a control center unit, a signal sending unit and a signal receiving unit;

[0012] The control center unit is used to generate a signal generation instruction for the tag of the positioning and tracking object and to generate a signal monitoring control instruction for the first analysis base station or the second analysis base station; the signal generation instruction includes: a first signal generation instruction and a second signal generation instruction, and the signal monitoring control instruction includes: a first signal monitoring control instruction and a second signal monitoring control instruction;

[0013] The signal sending unit is used to send a first UWB signal and a second UWB signal based on the tag of the positioning and tracking object according to the first signal generation instruction and the second signal generation instruction;

[0014] The signal receiving unit is used to monitor and receive UWB signals for the target base station according to the first signal monitoring control instruction or the second signal monitoring control instruction.

[0015] Preferably, when the signal sending unit sends the first UWB signal and the second UWB signal based on the tag of the positioning and tracking object according to the first signal generation instruction and the second signal generation instruction, sending the first UWB signal or the second UWB signal in the signal sending unit of the positioning and tracking object tag includes:

[0016] Identify the signal generation instruction, and determine whether the signal generation instruction is a valid instruction of the tag of the positioning and tracking object, to obtain a first identification and determination result;

[0017] According to the first recognition and judgment result, when the signal generation instruction is a valid instruction of the tag of the positioning and tracking object, analyzing whether the signal generation instruction is a first signal generation instruction or a second signal generation instruction to obtain a first analysis and judgment result;

[0018] When the first analysis and judgment result is that the signal generation instruction is a first signal generation instruction, the tag UWB signal is matched and retrieved according to the first signal generation instruction to obtain a first UWB signal; when the first analysis and judgment result is that the signal generation instruction is a second signal generation instruction, the tag UWB signal is matched and retrieved according to the second signal generation instruction to obtain a second UWB signal;

[0019] The first UWB signal or the second UWB signal is transmitted.

[0020] Preferably, when the signal receiving unit performs UWB signal monitoring and reception for the target base station according to the first signal monitoring control instruction or the second signal monitoring control instruction, UWB signal monitoring and reception are performed in the signal receiving unit of the first analysis base station or the second analysis base station according to the first signal monitoring control instruction or the second signal monitoring control instruction, including: identifying the signal monitoring control instruction and determining the target base station; in the signal receiving unit of the target base station, obtaining the first signal monitoring control instruction or the second signal monitoring control instruction, interpreting the first signal monitoring control instruction or the second signal monitoring control instruction, clarifying the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, and then suspending UWB signal monitoring according to the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, or performing UWB signal monitoring according to the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, and receiving the first UWB signal and the second UWB signal after monitoring the first UWB signal or the second UWB signal.

[0021] Preferably, when the first analysis module performs preliminary positioning and tracking based on the base station received signal, the base station received signal obtained by the first analysis of the base station receiving the UWB signal is used as the base station received first analysis signal, and the signal characteristics of the base station receiving the first analysis signal are obtained to obtain the received signal characteristics. At the same time, the signal characteristics when the UWB signal is sent are obtained to obtain the initial signal characteristics, and then the received signal characteristics and the initial signal characteristics are combined with the indoor building model for analysis to determine the floor to which the positioning and tracking object belongs, and obtain the target floor.

[0022] Preferably, the indoor building model is a model established based on indoor buildings, including:

[0023] Analyze the characteristics of indoor buildings and obtain indoor building characteristic information;

[0024] Extracting indoor building structure information from indoor building feature information, and building an indoor building framework according to the indoor building structure information to obtain an indoor building framework model;

[0025] Rendering the indoor building architecture model according to the indoor building structure material information in the indoor building structure feature information to obtain an indoor building initial model;

[0026] Internal environment monitoring is deployed for indoor buildings, and the internal environment monitoring device is associated with the initial model of the indoor building to obtain an indoor building optimization model.

[0027] Preferably, the analysis is performed based on the received signal characteristics and the initial signal characteristics in combination with the indoor building model, including:

[0028] Obtaining location information of a first analysis base station;

[0029] According to the location information of the first analysis base station, the target location is locked in the indoor building model to determine the target analysis location;

[0030] In the indoor building model, virtual simulation information is acquired based on the target analysis position to obtain model simulation information;

[0031] According to the model simulation information analysis target, the influence of the internal environment of the floor to which the location belongs on the UWB signal transmission is analyzed respectively to obtain the first influence factor. At the same time, according to the model simulation information, the influence of the internal environment of other floors on the UWB signal transmission is analyzed in turn to obtain the floor environment influence factor;

[0032] According to the model simulation information, the influence of indoor building structure material and indoor building structure on UWB signal transmission is analyzed to obtain the second influencing factor;

[0033] Analyze the position of the target analysis position on the corresponding floor, and obtain the relative position information of the target analysis position;

[0034] Analyze and predict the relative position information of the target analysis position in combination with the received signal characteristics, the first influencing factor and the second influencing factor to obtain first prediction information;

[0035] The floor analysis prediction is performed using the floor environment influence factor and the second influence factor in combination with the first prediction information, and the floor analysis prediction information is judged according to the initial signal characteristics. When the initial signal characteristic needle and the floor analysis prediction information are within a preset error range, the floor is the target floor. Otherwise, the floor analysis prediction of the next floor is continued using the floor environment influence factor and the second influence factor in combination with the current floor analysis prediction information to continue floor analysis prediction until the initial signal characteristic needle and the floor analysis prediction information are within the preset error range and the target floor is determined.

[0036] Preferably, when the second analysis module performs position analysis based on the target floor by fusing one-dimensional positioning and two-dimensional positioning according to the base station received signal, it includes:

[0037] Determine the positioning area according to the target floor;

[0038] Combined with the second analysis base station, edge limit analysis is performed on the positioning area, and combined with the base station received signal analysis, it is determined whether the positioning tracking object is at the edge of the positioning area to obtain an edge analysis judgment result;

[0039] According to the results of edge analysis, when the positioning and tracking object is not at the edge of the positioning area, two-dimensional positioning is used for position analysis to determine the position information of the positioning and tracking object. When the positioning and tracking object is at the edge of the positioning area, one-dimensional positioning is used for position analysis to determine the position information of the positioning and tracking object.

[0040] Preferably, when two-dimensional positioning is used for position analysis, the position information of the second analysis base station is determined, and the tag position of the positioning and tracking object is predicted based on the position information of the second analysis base station in combination with the base station received signal to determine the base station target positioning information, and then the base station target positioning information is integrated, and the common position information in the base station target positioning information is used as the position information of the positioning and tracking object; when one-dimensional positioning is used for position analysis, the position of the second analysis base station is obtained, and one-dimensional positioning is performed for each second analysis base station to obtain the relative position information of the tag of the positioning and tracking object and the second analysis base station to obtain the base station relative positioning information, and at the same time, the relative position relationship between the second analysis base stations is obtained, and then the base station relative positioning information is verified in combination with the relative position relationship between the second analysis base stations. When the verification passes, the position information of the positioning and tracking object is determined according to the base station relative positioning information.

[0041] The present invention combines one-dimensional positioning technology with two-dimensional positioning technology to realize the position determination of the target positioning and tracking object, so as to clarify the existence of the indoor target positioning and tracking object, clearly understand the position information of the target positioning and tracking object, improve the accuracy of the position information of the target positioning and tracking object, and reduce the deviation of the positioning and tracking results.

[0042] The present invention clarifies the object to be located and tracked through the target confirmation module, so as to better send and receive signals for the location tracking object, and then the position of the location tracking object can be determined according to the base station reception signal, and the target floor can be determined through the first analysis module, so that the accurate positioning of the location tracking object can be achieved in multi-story indoor buildings, thereby improving the application scope of the wireless location tracking system, and the one-dimensional positioning technology and the two-dimensional positioning technology are combined through the second analysis module to further determine the position of the target location tracking object, so that the label of the target location tracking object can also accurately determine the location information of the target location tracking object at the outer edge of the positioning area, thereby reducing the deviation of the location tracking result and improving the accuracy of the location information of the target location tracking object.

[0043] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0044] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0046] Figure 1 A schematic diagram of the wireless positioning and tracking system of the present invention;

[0047] Figure 2 It is a schematic diagram of a signal transceiver module in the wireless positioning and tracking system of the present invention;

[0048] Figure 3 A schematic diagram of the steps for establishing an indoor building model in the wireless positioning and tracking system of the present invention;

[0049] Figure 4 It is a schematic diagram of the process of the first analysis module in the wireless positioning and tracking system of the present invention;

[0050] Figure 5 This is a schematic diagram of the steps of the second analysis module in the wireless positioning and tracking system of the present invention. DETAILED DESCRIPTION

[0051] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0052] like Figure 1 As shown, an embodiment of the present invention provides a wireless positioning and tracking system based on UWB positioning, including: a target confirmation module, a signal transceiver module, a first analysis module and a second analysis module;

[0053] The target confirmation module is used to determine the positioning and tracking target and the positioning and tracking object;

[0054] The signal transceiver module is used to send out a UWB signal based on the tag of the positioning and tracking object, and receive the UWB signal in the base station through the wireless communication network to obtain a base station receiving signal;

[0055] The first analysis module is used to perform preliminary positioning and tracking based on the base station received signal to determine the target floor;

[0056] The second analysis module is used to perform position analysis based on the target floor and the fusion of one-dimensional positioning and two-dimensional positioning according to the base station reception signal to determine the position information of the positioning and tracking object.

[0057] In the above technical solution, a label is set on each positioning and tracking target.

[0058] In the above technical solution, the signal transceiver module is arranged in the tag and the base station.

[0059] In the above technical solution, the positioning and tracking target is a person or object existing on any floor of an indoor building.

[0060] In the above technical solution, the signal transceiver module uses a wireless communication network to transmit signals.

[0061] In the above technical solution, the target confirmation module, the signal transceiver module, the first analysis module and the second analysis module are connected in sequence, and the signal transceiver module is also connected to the second analysis module.

[0062] When the above technical solution performs positioning and tracking through a wireless positioning and tracking system, the target confirmation module is first used to clarify the positioning and tracking target and determine the positioning and tracking object. Then, the signal transceiver module sends a UWB signal based on the tag of the positioning and tracking object. The UWB signal is transmitted through the wireless communication network and then received by the base station to obtain a base station receiving signal. Then, the first analysis module performs preliminary positioning and tracking based on the base station receiving signal to determine the target floor. The second analysis module performs position analysis on the target floor determined by the second analysis module based on the base station receiving signal, and determines the location information of the positioning and tracking object.

[0063] The above technical solution combines one-dimensional positioning technology and two-dimensional positioning technology to realize the position determination of the target positioning and tracking object, so as to clarify the existence of the indoor target positioning and tracking object, clearly understand the position information of the target positioning and tracking object, improve the accuracy of the position information of the target positioning and tracking object, and reduce the deviation of the positioning and tracking result. The object to be positioned and tracked is clarified through the target confirmation module, so that the signal sending and signal receiving for the positioning and tracking object are better, and then the position determination of the positioning and tracking object can be realized according to the base station receiving signal, and the target floor is determined through the first analysis module, so that the accurate positioning and tracking object can be realized in the indoor building with multi-story structure, and the application scope of the wireless positioning and tracking system is improved. Moreover, the one-dimensional positioning technology and the two-dimensional positioning technology are combined through the second analysis module to further determine the position of the target positioning and tracking object, so that the label of the target positioning and tracking object can also accurately determine the position information of the target positioning and tracking object at the outer edge of the positioning area, reduce the deviation of the positioning and tracking result, and improve the accuracy of the position information of the target positioning and tracking object.

[0064] In an embodiment provided by the present invention, the base station is divided into a first analysis base station and a second analysis base station, the first analysis base station is a base station deployed based on the entire indoor building, and the second analysis base station is a base station deployed based on each floor of the indoor building.

[0065] In the above technical solution, the indoor building is a multi-story building.

[0066] In the above technical solution, when base stations are deployed on each floor of an indoor building, the number of base stations on each floor of the indoor building is the same.

[0067] The first analysis module of the above technical solution realizes preliminary positioning through the first analysis base station, so that it can preliminarily understand the target floor where the target positioning and tracking object is located, and then further analysis and positioning can be performed through the second analysis module. Moreover, in the second analysis module, the corresponding second analysis base station can be used for each floor of the indoor building to realize the position reference of the target positioning and tracking object, so as to obtain the precise positioning of the target positioning and tracking object.

[0068] like Figure 2 As shown, in one embodiment provided by the present invention, the signal transceiver module includes: a control center unit, a signal sending unit and a signal receiving unit;

[0069] The control center unit is used to generate a signal generation instruction for the tag of the positioning and tracking object and to generate a signal monitoring control instruction for the first analysis base station or the second analysis base station; the signal generation instruction includes: a first signal generation instruction and a second signal generation instruction, and the signal monitoring control instruction includes: a first signal monitoring control instruction and a second signal monitoring control instruction;

[0070] The signal sending unit is used to send a first UWB signal and a second UWB signal based on the tag of the positioning and tracking object according to the first signal generation instruction and the second signal generation instruction;

[0071] The signal receiving unit is used to monitor and receive UWB signals for the target base station according to the first signal monitoring control instruction or the second signal monitoring control instruction.

[0072] In the above technical solution, the control center unit is controlled and connected with the signal sending unit and the signal receiving unit, and the signal sending unit and the signal receiving unit are wirelessly connected via UWB signals.

[0073] In the above technical solution, the signal generation instruction and the signal monitoring control instruction are matched, the first signal generation instruction and the first signal monitoring control instruction are generated in pairs in the control center unit, and the second signal generation instruction and the second signal monitoring control instruction are generated in pairs in the control center unit.

[0074] In the above technical solution, when the control center unit generates a signal generation instruction for the tag of the positioning and tracking object, it locks the tag of the positioning and tracking object according to the positioning and tracking object, obtains the identification information of the tag of the positioning and tracking object, and then generates a signal generation instruction based on the identification information of the tag of the positioning and tracking object.

[0075] In the above technical solution, when the control center unit generates a signal monitoring control instruction for the first analysis base station or the second analysis base station, it generates a first signal monitoring control instruction or a second signal monitoring control instruction according to the signal generation instruction.

[0076] In the above technical solution, the signal sending unit is arranged in the tag of the positioning and tracking object, and the signal receiving unit is arranged in the base station.

[0077] In the above technical solution, the first UWB signal is a UWB signal that can be effectively received by the first analysis base station, and the second UWB signal is a UWB signal that can be effectively received by the second analysis base station.

[0078] In the above technical solution, the first signal monitoring control instruction is a monitoring control instruction for the first analysis base station, and the second signal monitoring control instruction is a monitoring control instruction for the second analysis base station.

[0079] The above technical solution enables the signal transceiver module to orderly transmit and receive UWB signals through the signal sending unit and the signal receiving unit through the control center unit, and then orderly perform base station signal analysis through the first analysis module and the second analysis module to ensure the implementation of the wireless positioning and tracking system.

[0080] In one embodiment of the present invention, when the signal sending unit sends the first UWB signal and the second UWB signal based on the tag of the positioning and tracking object according to the first signal generation instruction and the second signal generation instruction, sending the first UWB signal or the second UWB signal in the signal sending unit of the positioning and tracking object tag includes:

[0081] Identify the signal generation instruction, and determine whether the signal generation instruction is a valid instruction of the tag of the positioning and tracking object, to obtain a first identification and determination result;

[0082] According to the first recognition and judgment result, when the signal generation instruction is a valid instruction of the tag of the positioning and tracking object, analyzing whether the signal generation instruction is a first signal generation instruction or a second signal generation instruction to obtain a first analysis and judgment result;

[0083] When the first analysis and judgment result is that the signal generation instruction is a first signal generation instruction, the tag UWB signal is matched and retrieved according to the first signal generation instruction to obtain a first UWB signal; when the first analysis and judgment result is that the signal generation instruction is a second signal generation instruction, the tag UWB signal is matched and retrieved according to the second signal generation instruction to obtain a second UWB signal;

[0084] The first UWB signal or the second UWB signal is transmitted.

[0085] In the above technical solution, the tag of the positioning and tracking object pre-stores the first UWB signal and the second UWB signal obtained based on the identification information of the tag of the positioning and tracking object.

[0086] In the above technical solution, when transmitting the first UWB signal or the second UWB signal, the first UWB signal or the second UWB signal is sent to the base station through the wireless communication network.

[0087] In the above technical solution, when the first identification result shows that the signal generation instruction is not a valid instruction of the tag of the positioning and tracking object, no response is required in the signal sending unit corresponding to the tag of the positioning and tracking object.

[0088] In the above technical solution, when analyzing whether the signal generating instruction is the first signal generating instruction or the second signal generating instruction, the signal generating instruction is parsed and the attribute information of the signal generating instruction is analyzed, wherein the attribute information includes: time, instruction characteristics, etc. Then, according to the attribute information, when the signal generating instruction appears for the first time or the instruction characteristic is floor positioning, the signal generating instruction is the first signal generating instruction.

[0089] In the above technical solution, when transmitting the first UWB signal or the second UWB signal, the first UWB signal or the second UWB signal is stored in the unit to be transmitted, and then the transmission configuration is performed based on the unit to be transmitted in combination with the first UWB signal or the second UWB signal, the transmission characteristics of the first UWB signal or the second UWB signal are determined, and whether the transmission characteristics are compatible with the communication state is analyzed, and when the transmission characteristics are not compatible with the communication state, the transmission adjustment is performed on the first UWB signal or the second UWB signal, and the transmission power is configured for the adjusted unit to be transmitted, so as to perform wireless transmission for the unit to be transmitted according to the configured transmission power. Among them, the transmission characteristics include: stable transmission or fluctuating transmission and the transmission limit communication volume, etc. The communication state includes the maximum allowed communication volume and the minimum allowed communication volume of the communication volume that can be sent.

[0090] The above technical solution obtains the first identification and judgment result so that the signal sending unit can effectively send UWB signals according to the tag of the positioning and tracking object, so that only the tag of the positioning and tracking object in the indoor building sends UWB signals, avoiding confusion in UWB signal transmission in the signal sending unit, reducing interference from irrelevant signals in the wireless positioning and tracking system, reducing the degree of confusion in the wireless positioning and tracking system, and ensuring the effectiveness of the UWB signal of the wireless positioning and tracking system.

[0091] In one embodiment provided by the present invention, when the signal receiving unit performs UWB signal monitoring and reception for a target base station according to a first signal monitoring control instruction or a second signal monitoring control instruction, UWB signal monitoring and reception are performed in a signal receiving unit of a first analysis base station or a second analysis base station according to the first signal monitoring control instruction or the second signal monitoring control instruction, including: identifying the signal monitoring control instruction and determining the target base station; in the signal receiving unit of the target base station, obtaining the first signal monitoring control instruction or the second signal monitoring control instruction, interpreting the first signal monitoring control instruction or the second signal monitoring control instruction, clarifying the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, and then suspending UWB signal monitoring according to the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, or performing UWB signal monitoring according to the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, and receiving the first UWB signal and the second UWB signal after monitoring the first UWB signal or the second UWB signal.

[0092] In the above technical solution, when identifying the signal monitoring control instruction and determining the target base station, the signal receiving units corresponding to the first analysis base station and the second analysis base station analyze and determine whether the signal monitoring instruction is adapted. When the signal monitoring instruction is adapted, the corresponding first analysis base station or second analysis base station is the target base station.

[0093] In the above technical solution, the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction includes: starting monitoring and pausing monitoring.

[0094] The above technical solution identifies the target base station by identifying the signal monitoring control instruction, so that the first signal monitoring control instruction or the second signal monitoring control instruction response is performed only in the signal receiving unit of the target base station, reducing the invalid processing of irrelevant base stations, and can also reduce the interference of the base station receiving signal obtained by the irrelevant base station receiving UWB signals, thereby reducing the interference to the first analysis module and the second analysis module, thereby reducing the error probability of the wireless positioning and tracking system and ensuring the accuracy of the wireless positioning and tracking system.

[0095] In one embodiment provided by the present invention, when the first analysis module performs preliminary positioning and tracking based on the base station received signal, the base station received signal obtained by the first analysis of the base station received UWB signal is used as the base station received first analysis signal, and the signal characteristics of the base station received the first analysis signal are obtained to obtain the received signal characteristics. At the same time, the signal characteristics when the UWB signal is sent are obtained to obtain the initial signal characteristics, and then the received signal characteristics and the initial signal characteristics are combined with the indoor building model for analysis to determine the floor to which the positioning and tracking object belongs, and obtain the target floor.

[0096] In the above technical solution, the signal characteristics include: receiving time or sending time, signal strength, signal characteristics, etc.

[0097] In the above technical solution, the indoor building model is obtained by modeling and associating the indoor building.

[0098] The above technical solution determines the target floor by receiving the first analysis signal and the UWB signal through the base station and combining it with the indoor building model, fully considering the loss of the UWB signal by the indoor building itself, improving the accuracy of the initial positioning and tracking, and effectively reducing the error of the target floor, thereby ensuring the accuracy of the wireless positioning and tracking system.

[0099] like Figure 3 As shown, in one embodiment provided by the present invention, the indoor building model is a model established based on the indoor building, including:

[0100] A1. Analyze the characteristics of indoor buildings and obtain indoor building characteristic information;

[0101] A2. extracting indoor building structure information from the indoor building feature information, and building an indoor building framework according to the indoor building structure information to obtain an indoor building framework model;

[0102] A3, rendering the indoor building architecture model according to the indoor building structure material information in the indoor building structure feature information to obtain an indoor building initial model;

[0103] A4. Deploy internal environment monitoring for indoor buildings, and associate the internal environment monitoring device with the initial model of the indoor building to obtain an optimized model of the indoor building.

[0104] In the above technical solution, the indoor building characteristic information includes: indoor building structure information, indoor building structure material information, etc.

[0105] In the above technical solution, when the internal environment monitoring device is associated with the initial model of the indoor building, the internal environment monitoring device performs internal environment monitoring on the indoor building, obtains real-time internal environment monitoring information of the indoor building, and synchronizes the real-time internal environment monitoring information of the indoor building to the initial model of the indoor building, so that the initial model of the indoor building can be dynamically adjusted according to the real-time internal environment monitoring information of the indoor building to form the internal virtual environment of the building model.

[0106] The above technical solution analyzes the characteristics of indoor buildings and establishes an indoor building model that is the same as the indoor building based on the indoor building feature information, so that the characteristics of the indoor building can be combined for analysis during preliminary positioning and tracking, thereby reducing the error between the preliminary positioning and tracking analysis and the actual scenario and improving the accuracy of the target floor. Moreover, by associating the internal environment monitoring device with the initial model of the indoor building, the indoor building model is always synchronized with the scene of the indoor building, and the dynamic adjustment of the indoor building optimization model is realized, which ensures that the indoor building optimization model is always consistent with the indoor building scene, so that the indoor building optimization model perfectly conforms to the indoor building scene.

[0107] like Figure 4 As shown, in one embodiment provided by the present invention, analysis is performed based on the received signal characteristics and the initial signal characteristics in combination with the indoor building model, including:

[0108] Obtaining location information of a first analysis base station;

[0109] According to the location information of the first analysis base station, the target location is locked in the indoor building model to determine the target analysis location;

[0110] In the indoor building model, virtual simulation information is acquired based on the target analysis position to obtain model simulation information;

[0111] According to the model simulation information analysis target, the influence of the internal environment of the floor to which the location belongs on the UWB signal transmission is analyzed respectively to obtain the first influence factor. At the same time, according to the model simulation information, the influence of the internal environment of other floors on the UWB signal transmission is analyzed in turn to obtain the floor environment influence factor;

[0112] According to the model simulation information, the influence of indoor building structure material and indoor building structure on UWB signal transmission is analyzed to obtain the second influencing factor;

[0113] Analyze the position of the target analysis position on the corresponding floor, and obtain the relative position information of the target analysis position;

[0114] Analyze and predict the relative position information of the target analysis position in combination with the received signal characteristics, the first influencing factor and the second influencing factor to obtain first prediction information;

[0115] The floor analysis prediction is performed using the floor environment influence factor and the second influence factor in combination with the first prediction information, and the floor analysis prediction information is judged according to the initial signal characteristics. When the initial signal characteristic needle and the floor analysis prediction information are within a preset error range, the floor is the target floor. Otherwise, the floor analysis prediction of the next floor is continued using the floor environment influence factor and the second influence factor in combination with the current floor analysis prediction information to continue floor analysis prediction until the initial signal characteristic needle and the floor analysis prediction information are within the preset error range and the target floor is determined.

[0116] In the above technical scheme, when the relative position information of the target analysis position is combined with the received signal characteristics, the first influencing factor and the second influencing factor for analysis and prediction, the analysis and prediction direction is determined, and the distance in the analysis and prediction direction is determined according to the relative position information of the target analysis position to obtain the target analysis distance. Then, the correction factor is obtained according to the target analysis distance combined with the size of the target analysis position on the corresponding floor. Then, the correction factor is used to correct the first influencing factor to determine the first influencing correction factor. Then, the first influencing correction factor and the second influencing factor are combined with the received signal characteristics for analysis and prediction.

[0117] In the above technical scheme, the number of the first analysis base stations can be one or more. When the number of the first analysis base stations is one, the target floor obtained is the final target floor. When the number of the first analysis base stations is more than one, multiple target floors can be obtained. It is analyzed whether the multiple target floors obtained are the same. When the multiple target floors obtained are the same, the target floor at this time is the final target floor. When the multiple target floors obtained are not the same, an analysis prediction error analysis is performed based on the first analysis base station, and the target floor determined when the error is smaller is used as the final target floor according to the analysis prediction error analysis result.

[0118] In the above technical solution, the relative position information of the target analysis position is the relative position information of the target analysis position relative to the floor to which it belongs.

[0119] The above technical scheme fully takes into account the influence of the environment and the walls in the indoor building structure on the UWB signal transmission in the preliminary positioning and tracking process by determining the first influencing factor, the second influencing factor and the floor environment influencing factor, thereby reducing the error of the preliminary positioning and tracking process and improving the accuracy of the target floor. Moreover, by analyzing the position of the target analysis position on its corresponding floor, the relative position information of the target analysis position is obtained, so that when analyzing the target analysis position on its corresponding floor, appropriate adjustments can be made according to the relative position information of the target analysis position, thereby optimizing the process of analyzing and predicting the target analysis position on its corresponding floor and improving the accuracy of the first prediction information.

[0120] like Figure 5As shown, in one embodiment provided by the present invention, when the second analysis module performs position analysis based on the target floor by fusing one-dimensional positioning and two-dimensional positioning according to the base station received signal, it includes:

[0121] S1. Determine the positioning area according to the target floor;

[0122] S2, combining with the second analysis base station to perform edge limit analysis on the positioning area, and combining with the base station receiving signal analysis to determine whether the positioning tracking object is at the edge of the positioning area, and obtain an edge analysis judgment result;

[0123] S3. According to the edge analysis judgment result, when the positioning and tracking object is not at the edge of the positioning area, two-dimensional positioning is used to perform position analysis to determine the position information of the positioning and tracking object; when the positioning and tracking object is at the edge of the positioning area, one-dimensional positioning is used to perform position analysis to determine the position information of the positioning and tracking object.

[0124] In the above technical scheme, when the edge limit analysis is performed on the positioning area in combination with the second analysis base station, the edge position is determined in the positioning area, and the edge position signal simulation is performed based on the edge position in combination with the second analysis base station to obtain the edge limit simulation signal, and then the edge limit simulation signal is compared and analyzed with the base station received signal to determine whether there is a close signal between the edge limit simulation signal and the base station received signal. When there is a close signal between the edge limit simulation signal and the base station received signal, the edge analysis judgment result is that the positioning and tracking object is at the edge position of the positioning area. When there is no close signal between the edge limit simulation signal and the base station received signal, the edge analysis judgment result is that the positioning and tracking object is not at the edge position of the positioning area.

[0125] In the above technical scheme, when edge position signal simulation is performed based on the edge position in combination with the second analysis base station, the environmental information of the target floor is obtained, and then it is analyzed whether the environmental information of the target floor has an impact on the UWB signal transmission on the target floor. When the environmental information of the target floor has an impact on the UWB signal transmission on the target floor, the environmental factors that affect the UWB signal transmission in the environmental information of the target floor are screened out, and the influencing factors of the environmental factors are determined in the screening results. Then, the UWB signal transmission process is corrected using the influencing factors to obtain an edge limit simulation signal.

[0126] The above technical solution combines the second analysis base station to perform edge limit analysis on the positioning area, so as to clarify whether the positioning and tracking object in the target floor is at the edge of the positioning area, so that one-dimensional positioning and two-dimensional positioning can be used for position analysis according to the specific situation, avoiding the disadvantages of single position analysis by one-dimensional positioning or two-dimensional positioning, so that the label of the target positioning and tracking object can also accurately determine the position information of the target positioning and tracking object at the outer edge of the positioning area, reduce the deviation of the positioning and tracking results, and improve the accuracy of the position information of the target positioning and tracking object.

[0127] In one embodiment provided by the present invention, when two-dimensional positioning is used for position analysis, the position information of the second analysis base station is determined, and the tag position of the positioning and tracking object is predicted based on the position information of the second analysis base station in combination with the base station received signal to determine the base station target positioning information, and then the base station target positioning information is integrated, and the common position information in the base station target positioning information is used as the position information of the positioning and tracking object; when one-dimensional positioning is used for position analysis, the position of the second analysis base station is obtained, and one-dimensional positioning is performed for each second analysis base station to obtain the relative position information of the tag of the positioning and tracking object and the second analysis base station, and the base station relative positioning information is obtained, and the relative position relationship between the second analysis base stations is obtained, and then the base station relative positioning information is verified in combination with the relative position relationship between the second analysis base stations. When the verification passes, the position information of the positioning and tracking object is determined according to the base station relative positioning information.

[0128] In the above technical solution, the number of the second analysis base stations is not unique.

[0129] In the above technical solution, one second analysis base station corresponds to one base station target positioning information.

[0130] In the above technical solution, the base station target positioning information is an arc centered on the second analysis base station.

[0131] In the above technical solution, when the common location information in the base station target positioning information is used as the location information of the positioning and tracking object, the base station target positioning information is screened for effective information according to the positioning area, and then the effective base station target positioning information is cross-analyzed to determine the common location information obtained by cross-analysis in the effective base station target positioning information.

[0132] In the above technical solution, when two-dimensional positioning is used for position analysis, the position information of the second analysis base station is determined by obtaining the position information based on a two-dimensional coordinate system, wherein the two-dimensional coordinate system is established for the positioning area.

[0133] In the above technical solution, when one-dimensional positioning is used for position analysis, the position of the second analysis base station is obtained by obtaining position information based on a one-dimensional coordinate system, wherein the one-dimensional coordinate system is established according to the distribution of the first analysis base station.

[0134] The above technical solution realizes a comprehensive analysis of the tag position of the positioning and tracking object in the positioning area through one-dimensional positioning and two-dimensional positioning. It can not only accurately obtain the position information of the positioning and tracking object when the tag position of the positioning and tracking object is at the edge of the positioning area, but also verify it in combination with the base station relative positioning information of each second analysis base station when using one-dimensional positioning, thereby improving the accuracy of one-dimensional positioning and further improving the accuracy of the wireless positioning and tracking system.

[0135] Those skilled in the art should understand that the first and second in the present invention merely refer to different application stages.

[0136] Other embodiments of the present disclosure will be readily apparent to those skilled in the art after considering the specification and practicing the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0137] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A wireless positioning and tracking system based on UWB positioning, characterized in that: include: A target confirmation module, a signal transceiver module, a first analysis module and a second analysis module; The target confirmation module is used to determine the positioning and tracking target and the positioning and tracking object; The signal transceiver module is used to send out a UWB signal based on the tag of the positioning and tracking object, and receive the UWB signal in the base station through the wireless communication network to obtain the base station reception signal; wherein, the base station is divided into a first analysis base station and a second analysis base station, the first analysis base station is a base station deployed based on the indoor building as a whole, and the second analysis base station is a base station deployed based on each floor of the indoor building; the signal transceiver module includes: a control center unit, a signal sending unit and a signal receiving unit; the control center unit is used to generate a signal generation instruction for the tag of the positioning and tracking object and a signal monitoring control instruction for the first analysis base station or the second analysis base station; the signal generation instruction includes: a first signal generation instruction and a second signal generation instruction, and the signal monitoring control instruction includes: a first signal monitoring control instruction and a second signal monitoring control instruction; the signal sending unit is used to send out a first UWB signal and a second UWB signal based on the tag of the positioning and tracking object according to the first signal generation instruction and the second signal generation instruction; the signal receiving unit is used to monitor and receive UWB signals for the target base station according to the first signal monitoring control instruction or the second signal monitoring control instruction; The first analysis module is used to perform preliminary positioning and tracking based on the base station received signal to determine the target floor; The second analysis module is used to perform position analysis based on the target floor and the fusion of one-dimensional positioning and two-dimensional positioning according to the base station reception signal to determine the position information of the positioning and tracking object.

2. The wireless positioning and tracking system according to claim 1, characterized in that: When the signal sending unit sends the first UWB signal and the second UWB signal based on the tag of the positioning and tracking object according to the first signal generation instruction and the second signal generation instruction, sending the first UWB signal or the second UWB signal in the signal sending unit of the positioning and tracking object tag includes: Identify the signal generation instruction, and determine whether the signal generation instruction is a valid instruction of the tag of the positioning and tracking object, to obtain a first identification and determination result; According to the first recognition and judgment result, when the signal generation instruction is a valid instruction of the tag of the positioning and tracking object, analyzing whether the signal generation instruction is a first signal generation instruction or a second signal generation instruction to obtain a first analysis and judgment result; When the first analysis and judgment result is that the signal generation instruction is a first signal generation instruction, the tag UWB signal is matched and retrieved according to the first signal generation instruction to obtain a first UWB signal; when the first analysis and judgment result is that the signal generation instruction is a second signal generation instruction, the tag UWB signal is matched and retrieved according to the second signal generation instruction to obtain a second UWB signal; The first UWB signal or the second UWB signal is transmitted.

3. The wireless positioning and tracking system according to claim 1, characterized in that: When the signal receiving unit performs UWB signal monitoring and reception for the target base station according to the first signal monitoring control instruction or the second signal monitoring control instruction, UWB signal monitoring and reception are performed in the signal receiving unit of the first analysis base station or the second analysis base station according to the first signal monitoring control instruction or the second signal monitoring control instruction, including: identifying the signal monitoring control instruction and determining the target base station; in the signal receiving unit of the target base station, obtaining the first signal monitoring control instruction or the second signal monitoring control instruction, interpreting the first signal monitoring control instruction or the second signal monitoring control instruction, clarifying the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, and then suspending UWB signal monitoring according to the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, or performing UWB signal monitoring according to the purpose of the first signal monitoring control instruction or the second signal monitoring control instruction, and receiving the first UWB signal and the second UWB signal after monitoring the first UWB signal or the second UWB signal.

4. The wireless positioning and tracking system according to claim 1, characterized in that: When the first analysis module performs preliminary positioning and tracking based on the base station received signal, the base station received signal obtained by the first analysis base station receiving the UWB signal is used as the first analysis signal received by the base station, and the signal characteristics of the first analysis signal received by the base station are obtained to obtain the received signal characteristics. At the same time, the signal characteristics when the UWB signal is sent are obtained to obtain the initial signal characteristics. Then, the received signal characteristics and the initial signal characteristics are combined with the indoor building model for analysis to determine the floor to which the positioning and tracking object belongs, and obtain the target floor.

5. The wireless positioning and tracking system according to claim 4, characterized in that: The indoor building model is a model established based on indoor buildings, including: Analyze the characteristics of indoor buildings and obtain indoor building characteristic information; Extracting indoor building structure information from indoor building feature information, and building an indoor building framework according to the indoor building structure information to obtain an indoor building framework model; Rendering the indoor building architecture model according to the indoor building structure material information in the indoor building structure feature information to obtain an indoor building initial model; Internal environment monitoring is deployed for indoor buildings, and the internal environment monitoring device is associated with the initial model of the indoor building to obtain an indoor building optimization model.

6. The wireless positioning and tracking system according to claim 4, characterized in that: The analysis is performed based on the received signal characteristics and initial signal characteristics combined with the indoor building model, including: Obtaining location information of a first analysis base station; According to the location information of the first analysis base station, the target location is locked in the indoor building model to determine the target analysis location; In the indoor building model, virtual simulation information is acquired based on the target analysis position to obtain model simulation information; According to the model simulation information analysis target, the influence of the internal environment of the floor to which the location belongs on the UWB signal transmission is analyzed respectively to obtain the first influence factor. At the same time, according to the model simulation information, the influence of the internal environment of other floors on the UWB signal transmission is analyzed in turn to obtain the floor environment influence factor; According to the model simulation information, the influence of indoor building structure material and indoor building structure on UWB signal transmission is analyzed to obtain the second influencing factor; Analyze the position of the target analysis position on the corresponding floor, and obtain the relative position information of the target analysis position; Analyze and predict the relative position information of the target analysis position in combination with the received signal characteristics, the first influencing factor and the second influencing factor to obtain first prediction information; The floor analysis prediction is performed using the floor environment influence factor and the second influence factor in combination with the first prediction information, and the floor analysis prediction information is judged according to the initial signal characteristics. When the initial signal characteristic needle and the floor analysis prediction information are within a preset error range, the floor is the target floor. Otherwise, the floor analysis prediction of the next floor is continued using the floor environment influence factor and the second influence factor in combination with the current floor analysis prediction information to continue floor analysis prediction until the initial signal characteristic needle and the floor analysis prediction information are within the preset error range and the target floor is determined.

7. The wireless positioning and tracking system according to claim 1, characterized in that: When the second analysis module performs position analysis based on the target floor by fusing the one-dimensional positioning and the two-dimensional positioning according to the base station receiving signal, it includes: Determine the positioning area according to the target floor; Combined with the second analysis base station, edge limit analysis is performed on the positioning area, and combined with the base station received signal analysis, it is determined whether the positioning tracking object is at the edge of the positioning area to obtain an edge analysis judgment result; According to the results of edge analysis, when the positioning and tracking object is not at the edge of the positioning area, two-dimensional positioning is used for position analysis to determine the position information of the positioning and tracking object. When the positioning and tracking object is at the edge of the positioning area, one-dimensional positioning is used for position analysis to determine the position information of the positioning and tracking object.

8. The wireless positioning and tracking system according to claim 7, characterized in that: When two-dimensional positioning is used for position analysis, the position information of the second analysis base station is determined, and the tag position of the positioning and tracking object is predicted based on the position information of the second analysis base station combined with the base station receiving signal to determine the base station target positioning information, and then the base station target positioning information is integrated, and the common position information in the base station target positioning information is used as the position information of the positioning and tracking object; When one-dimensional positioning is used for position analysis, the position of the second analysis base station is obtained, and one-dimensional positioning is performed for each second analysis base station to obtain the relative position information between the label of the positioning and tracking object and the second analysis base station, and the base station relative positioning information is obtained. At the same time, the relative position relationship between the second analysis base stations is obtained, and then the base station relative positioning information is verified in combination with the relative position relationship between the second analysis base stations. When the verification passes, the position information of the positioning and tracking object is determined according to the base station relative positioning information.

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