UWB auxiliary positioning method and device and positioning system

Abstract

The invention provides a UWB auxiliary positioning method and device and a positioning system, and the method comprises the steps: obtaining a plurality of positioning data of a to-be-positioned label, the positioning data being the distance between a base station and the to-be-positioned label detected by the base station through employing a UWB communication function; determining first stable positioning data according to the plurality of positioning data; when the number of the first stable positioning data is less than 3, acquiring auxiliary positioning data sent to the base station by a plurality of auxiliary base stations; determining second stable positioning data according to the plurality of auxiliary positioning data; and if the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3, determining that the positioning data is stable. And calculating the position of the to-be-positioned label according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data and the position of the auxiliary base station corresponding to the second stable positioning data. The problem of high cost caused by setting a large number of base stations to realize accurate positioning is solved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a UWB-assisted positioning method, device, computer-readable storage medium, computer program product and positioning system. Background Art

[0002] UWB positioning uses broadband pulse communication technology, which has strong anti-interference ability and reduces positioning error. It has the advantages of insensitivity to channel fading, low power spectrum density of transmitted signals, low interception capability, low system complexity and high accuracy.

[0003] However, in the actual positioning process, due to the complex conditions in the use environment, the electromagnetic waves themselves will be reflected by objects such as walls and metals, generating multipath signals. Therefore, whether the receiving end can accurately receive the direct path signal of the transmitting end often leads to poor precision and accuracy of UWB positioning. In order to improve the positioning accuracy, it is generally necessary to increase the density of positioning base stations, or to use a large number of algorithms to screen or compensate and correct the positioning data. These methods are often costly and difficult to implement, so they are often difficult to implement. Summary of the invention

[0004] The main purpose of the present application is to provide a UWB-assisted positioning method, device, computer-readable storage medium, computer program product and positioning system to at least solve the problem of high cost caused by setting a large number of base stations to achieve accurate positioning in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a UWB-assisted positioning method is provided, comprising: obtaining multiple positioning data of a tag to be positioned, the positioning data being the distance between the base station and the tag to be positioned detected by the base station using a UWB communication function; determining first stable positioning data according to the multiple positioning data, the first stable positioning data being the positioning data having a first maximum fluctuation less than a predetermined threshold, the first maximum fluctuation being the maximum value of the difference between any two of the multiple detection results of the positioning data; when the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the auxiliary positioning data detected by the auxiliary base station using the UWB communication function The distance between the auxiliary base station and the tag to be located, the auxiliary base station is a located tag with UWB communication function; the second stable positioning data is determined according to the multiple auxiliary positioning data, the second stable positioning data is the auxiliary positioning data with a second maximum fluctuation less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the multiple detection results of the auxiliary positioning data; when the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3, the position of the tag to be located is calculated according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data.

[0006] Optionally, obtaining multiple positioning data of the tag to be located includes: when the base station and the tag to be located establish a UWB communication connection, controlling each of the base stations to send a positioning signal to the tag to be located and receiving a feedback signal of the tag to be located in response to the positioning signal; obtaining multiple sending times and corresponding multiple receiving times, the sending time being the time when the base station sends the positioning signal, and the receiving time being the time when the base station receives the feedback signal; calculating multiple sending durations based on each of the sending times and the corresponding receiving times, the sending duration being the time when the base station sends the positioning signal to the tag to be located; and calculating multiple positioning data based on the multiple sending durations and the electromagnetic signal sending speed.

[0007] Optionally, determining the first stable positioning data based on multiple positioning data includes: a first control step, controlling the base station corresponding to the positioning data to repeatedly detect the distance between the base station and the tag to be located for multiple times to obtain multiple verification positioning data; a first determination step, determining that the positioning data is the first stable positioning data when the absolute value of the difference between all the verification positioning data and the corresponding positioning data is less than the predetermined threshold; repeating the first control step and the first determination step in sequence at least once until 3 first stable positioning data are obtained or all the positioning data are determined to be completed.

[0008] Optionally, determining the second stable positioning data based on multiple auxiliary positioning data includes: a second control step, controlling the auxiliary base station corresponding to the auxiliary positioning data to repeatedly detect the distance between the auxiliary base station and the tag to be positioned multiple times to obtain multiple verified auxiliary positioning data; a second determination step, determining that the auxiliary positioning data is the second stable positioning data when the absolute value of the difference between all the verified auxiliary positioning data and the corresponding auxiliary positioning data is less than the predetermined threshold; repeating the second control step and the second determination step at least once in sequence until 3 second stable positioning data are obtained or all the auxiliary positioning data are determined to be completed.

[0009] Optionally, calculating the position of the tag to be located according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data includes: establishing a world coordinate system, where the world coordinate system is a three-dimensional coordinate system with the coordinates of the base station as the origin; and The coordinates (X0, Y0) of the position of the tag to be located are calculated, wherein (X1, Y1), (X2, Y2) and (X3, Y3) are respectively the coordinates of the position of the base station corresponding to the first stable positioning data and one of the position coordinates of the auxiliary base station corresponding to the second stable positioning data, and vt1, vt2 and vt3 are respectively one of the first stable positioning data and the second stable positioning data.

[0010] Optionally, after determining the first stable positioning data based on multiple positioning data, the method further includes: when the number of the first stable positioning data is greater than or equal to 3, calculating the position of the tag to be located based on the 3 first stable positioning data and the positions of the base stations corresponding to the 3 first stable positioning data.

[0011] According to another aspect of the present application, a UWB-assisted positioning device is provided, comprising: a first acquisition unit, used to acquire multiple positioning data of a tag to be located, wherein the positioning data is the distance between the base station and the tag to be located detected by the base station using the UWB communication function; a first determination unit, used to determine first stable positioning data based on the multiple positioning data, wherein the first stable positioning data is the positioning data with a first maximum fluctuation less than a predetermined threshold, wherein the first maximum fluctuation is the maximum value of the difference between any two of the multiple detection results of the positioning data; and a second acquisition unit, used to acquire, when the number of the first stable positioning data is less than 3, the auxiliary positioning data sent to the base station by multiple auxiliary base stations, wherein the auxiliary positioning data is the auxiliary positioning data detected by the auxiliary base station using the UWB communication function. a distance between an auxiliary base station and the tag to be located, the auxiliary base station being a located tag and having a UWB communication function; a second determining unit, used to determine second stable positioning data according to a plurality of the auxiliary positioning data, the second stable positioning data being the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation being the maximum value of the difference between any two of the multiple detection results of the auxiliary positioning data; a first calculating unit, used to calculate the position of the tag to be located according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data, when the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3.

[0012] According to another aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute any one of the methods described.

[0013] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, any one of the methods described above is implemented.

[0014] According to another aspect of the present application, a positioning system is provided, comprising: multiple base stations, multiple auxiliary base stations, one or more processors, a memory, and one or more programs, wherein the auxiliary base station is a located tag and has a UWB communication function, the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the methods described.

[0015] By applying the technical solution of the present application, in the above-mentioned UWB assisted positioning method, a plurality of base stations are used to locate the tag to be located, and a plurality of positioning data are obtained. Since the positioning signal is reflected due to the obstruction of obstacles, the positioning data will have large fluctuations. The first stable positioning data is determined by multiple detections of the positioning data with small fluctuations. If the number of the first stable positioning data is less than 3, positioning is impossible. A tag that has been located and has a UWB communication function is used as an auxiliary base station to locate the tag to be located, and a plurality of auxiliary positioning data are obtained. Similarly, the second stable positioning data is determined by multiple detections of the auxiliary positioning data with small fluctuations. If the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3, positioning can be performed, the influence of obstacles can be overcome, and the position of the tag to be located can be accurately located. Using an auxiliary base station instead of a base station for positioning can greatly reduce the number of base stations set up, greatly reduce the cost, and solve the problem of high cost caused by setting a large number of base stations to achieve accurate positioning in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A hardware structure block diagram of a mobile terminal for executing a UWB-assisted positioning method provided in an embodiment of the present application is shown;

[0017] Figure 2 A schematic diagram of a flow chart of a UWB assisted positioning method provided according to an embodiment of the present application is shown;

[0018] Figure 3 A schematic diagram of base station positioning provided according to an embodiment of the present application is shown;

[0019] Figure 4 A schematic diagram of positioning a base station and an auxiliary base station provided according to an embodiment of the present application is shown;

[0020] Figure 5 A schematic diagram of a flow chart of another UWB assisted positioning method provided according to an embodiment of the present application is shown;

[0021] Figure 6 A structural block diagram of a UWB assisted positioning device provided according to an embodiment of the present application is shown.

[0022] The above drawings include the following reference numerals:

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input and output device; 01. Obstacle; 10. Tag to be located; 20. Base station; 30. Auxiliary base station. DETAILED DESCRIPTION

[0024] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0025] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] As introduced in the background technology, in the prior art, a large number of base stations are set up to achieve precise positioning, which results in high costs. To solve this technical problem, the embodiments of the present application provide a UWB-assisted positioning method, device, computer-readable storage medium, computer program product and positioning system.

[0028] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0029] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 FIG. 1 is a hardware structure block diagram of a mobile terminal of a UWB assisted positioning method according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0030] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the UWB assisted positioning method in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific network examples may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0031] In this embodiment, a UWB-assisted positioning method running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0032] Figure 2 : is a flow chart of a UWB assisted positioning method according to an embodiment of the present application. Figure 2 As shown, the method comprises the following steps:

[0033] Step S201, obtaining a plurality of positioning data of the tag to be located, wherein the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function;

[0034] Step S202, determining first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the positioning data;

[0035] Step S203, when the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located obtained by the auxiliary base station using the UWB communication function, and the auxiliary base station is a located tag and has the UWB communication function;

[0036] Step S204, determining second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data;

[0037] Step S205, when the sum of the number of the above-mentioned first stable positioning data and the number of the above-mentioned second stable positioning data is greater than or equal to 3, the position of the above-mentioned tag to be located is calculated according to the above-mentioned first stable positioning data, the position of the above-mentioned base station corresponding to the above-mentioned first stable positioning data, the above-mentioned second stable positioning data and the position of the above-mentioned auxiliary base station corresponding to the above-mentioned second stable positioning data.

[0038] In the above-mentioned UWB assisted positioning method, multiple base stations are used to locate the tag to be located, and multiple positioning data are obtained. The positioning signal is reflected due to the obstruction of obstacles, which will cause large fluctuations in the positioning data. Multiple detections are performed to determine the positioning data with small fluctuations to determine the first stable positioning data. If the number of the first stable positioning data is less than 3, positioning is impossible. A tag that has been located and has a UWB communication function is used as an auxiliary base station to locate the tag to be located, and multiple auxiliary positioning data are obtained. Similarly, multiple detections are performed to determine the auxiliary positioning data with small fluctuations to determine the second stable positioning data. If the sum of the number of the first stable positioning data and the second stable positioning data is greater than or equal to 3, positioning can be performed, the influence of obstacles can be overcome, and the position of the tag to be located can be accurately located. Using an auxiliary base station instead of a base station for positioning can greatly reduce the number of base stations set up, greatly reduce costs, and solve the problem of high costs caused by setting a large number of base stations to achieve accurate positioning in the prior art.

[0039] In order to calculate the positioning data, in an optional implementation manner, the above step S201 includes:

[0040] Step S2011, when the base station and the tag to be located establish a UWB communication connection, control each of the base stations to send a positioning signal to the tag to be located and receive a feedback signal from the tag to be located in response to the positioning signal;

[0041] Step S2012, obtaining a plurality of sending times and corresponding plurality of receiving times, wherein the sending time is the time when the base station sends the positioning signal, and the receiving time is the time when the base station receives the feedback signal;

[0042] Step S2013, calculating a plurality of transmission durations according to each of the transmission times and the corresponding receiving times, wherein the transmission duration is the duration for the base station to send the positioning signal to the tag to be positioned;

[0043] Step S2014, calculating and obtaining the plurality of positioning data according to the plurality of transmission durations and electromagnetic signal transmission speeds.

[0044] In the above implementation, the base station sends a positioning signal to the tag to be located and receives a feedback signal from the tag to be located in response to the positioning signal, and records the sending time of the positioning signal and the receiving time of the feedback signal, thereby obtaining the transmission duration. Half of the transmission duration is the one-way sending duration. The distance between the base station and the tag to be located, i.e., the positioning data, is calculated based on the sending duration and the electromagnetic signal sending speed.

[0045] Similarly, the auxiliary base station communicates with the tag to be located, and the auxiliary positioning data can be calculated in the same way.

[0046] In order to verify the communication stability of the base station, in an optional implementation manner, the above step S202 includes:

[0047] Step S2021, a first control step, controlling the base station corresponding to the positioning data to repeatedly detect the distance between the base station and the tag to be located for multiple times to obtain multiple verification positioning data;

[0048] Step S2022, a first determination step, in which, when the absolute value of the difference between all the verification positioning data and the corresponding positioning data is less than the predetermined threshold, the positioning data is determined to be the first stable positioning data;

[0049] Step S2023, repeat the first control step and the first determination step at least once in sequence until three of the first stable positioning data are obtained or all of the positioning data are determined to be completed.

[0050] In the above implementation mode, the base station corresponding to the positioning data is controlled to repeatedly detect the distance between the base station and the tag to be located for multiple times to obtain multiple verification positioning data. The difference between the verification positioning data and the corresponding positioning data represents the fluctuation amplitude of the positioning data. All fluctuation amplitudes are less than the above predetermined threshold value, indicating that the communication between the base station and the tag to be located is stable and there is no obstacle interference. The positioning data can be determined to be the first stable positioning data. The end is found when three base stations with stable communication are found, that is, three first stable positioning data are obtained, or all base stations are detected, that is, all the positioning data are determined to be completed.

[0051] In order to verify the communication stability of the auxiliary base station, in an optional implementation manner, the above step S204 includes:

[0052] Step S2041, a second control step, controlling the auxiliary base station corresponding to the auxiliary positioning data to repeatedly detect the distance between the auxiliary base station and the tag to be located for multiple times to obtain multiple verified auxiliary positioning data;

[0053] Step S2042, a second determination step, in which, when the absolute value of the difference between all the verified auxiliary positioning data and the corresponding auxiliary positioning data is less than the predetermined threshold, the auxiliary positioning data is determined to be the second stable positioning data;

[0054] Step S2043, repeat the second control step and the second determination step at least once in sequence until three of the second stable positioning data are obtained or all of the auxiliary positioning data are determined to be completed.

[0055] In the above implementation mode, the auxiliary base station corresponding to the auxiliary positioning data is controlled to repeatedly detect the distance between the auxiliary base station and the tag to be located for multiple times to obtain multiple verified auxiliary positioning data. The difference between the verified auxiliary positioning data and the corresponding auxiliary positioning data is the fluctuation amplitude of the auxiliary positioning data. All the fluctuation amplitudes are less than the predetermined threshold, indicating that the communication between the auxiliary base station and the tag to be located is stable and there is no obstacle interference. The auxiliary positioning data can be determined to be the second stable positioning data. The end is found when three auxiliary base stations with stable communication are found, that is, three second stable positioning data are obtained, or all the auxiliary base stations are detected, that is, all the auxiliary positioning data are determined to be completed.

[0056] In order to achieve accurate positioning, in an optional implementation, the above step S205 includes:

[0057] Step S2051, establishing a world coordinate system, wherein the world coordinate system is a three-dimensional coordinate system with the coordinates of the base station as the origin;

[0058] Step S2052, according to and The coordinates (X0, Y0) of the position of the tag to be located are calculated, wherein (X1, Y1), (X2, Y2) and (X3, Y3) are respectively the coordinates of the position of the base station corresponding to the first stable positioning data and one of the position coordinates of the auxiliary base station corresponding to the second stable positioning data, and vt1, vt2 and vt3 are respectively one of the first stable positioning data and the second stable positioning data.

[0059] In the above implementation, if Figure 3 As shown, two base stations 20 are blocked by obstacle 01, and there is no blockage between the other two base stations 20 and the tag 10 to be located. There is no blockage between the three auxiliary base stations 30 and the tag 10 to be located. The coordinates of the two base stations 20 are X1, Y1) and (X2, Y2) respectively. The coordinates of the auxiliary base station 20 closest to the tag 10 to be located are (X3, Y3). The closer the auxiliary base station is to the tag 10 to be located, the less likely it is to be blocked and interfered. Thus, through the formula and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0060] In order to achieve accurate positioning, in an optional implementation manner, after determining the first stable positioning data according to the plurality of the positioning data, the method further includes:

[0061] Step S301: When the number of the first stable positioning data is greater than or equal to 3, the position of the tag to be located is calculated based on the three first stable positioning data and the positions of the base stations corresponding to the three first stable positioning data.

[0062] In the above implementation, if Figure 4 As shown, there is no obstruction between the three base stations 20 and the tag to be located 10, that is, the number of first stable positioning data is greater than or equal to 3, the coordinates of base station 1 are (X1, Y1), the coordinates of base station 2 are (X2, Y2), and the coordinates of base station 3 are (X3, Y3). The first first stable positioning data is vt1, that is, the distance between base station 1 and the tag to be located, the second first stable positioning data is vt2, that is, the distance between base station 2 and the tag to be located, and the third first stable positioning data is vt3, that is, the distance between base station 3 and the tag to be located. Therefore, it can also be calculated by formula and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0063] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the UWB assisted positioning method of the present application will be described in detail below in combination with specific embodiments.

[0064] This embodiment relates to a specific UWB assisted positioning method, such as Figure 5 As shown, the following steps are included:

[0065] When the base station detects that a new tag has entered the positioning area, each base station will receive the positioning data of the new tag. If there are three stable data of direct communication paths, it will be determined as valid positioning data, and the base station will upload the data to the server to complete the positioning. If the communication is blocked, the data will fluctuate greatly. The base station starts to search for the mark signal of the previous auxiliary base station. If the mark verification passes (indicating that the tag corresponding to the mark signal has been located), it will receive the positioning data of the auxiliary base station that has passed the verification, and then filter the positioning data of the auxiliary base station, and upload the most stable one or two positioning data according to the amount of data that the server lacks for positioning, and together with the data of the base station, it will meet the three data required for positioning. For example: when a new tag enters the positioning area, there is only one stable data (X1, Y1) communicating with the base station, and the other two data are determined to be blocked data due to instability. Then the auxiliary base station starts to locate with the new tag after verification. The auxiliary base station that can be stably located will transmit the positioning data back to the base station. After the base station passes the screening (retaining the data with a relatively close relative position), it retains the positioning data of the two auxiliary base stations (X2', Y2') (X3', Y3'), and transmits it back to the server together with the data of the base station itself to complete the positioning.

[0066] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0067] The embodiment of the present application also provides a UWB assisted positioning device. It should be noted that the UWB assisted positioning device of the embodiment of the present application can be used to execute the UWB assisted positioning method provided by the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can implement a combination of software and / or hardware for a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0068] The following is an introduction to the UWB assisted positioning device provided in the embodiments of the present application.

[0069] Figure 6 is a structural block diagram of a UWB assisted positioning device according to an embodiment of the present application. Figure 6 As shown, the device comprises:

[0070] The first acquisition unit 100 is used to acquire a plurality of positioning data of the tag to be located, wherein the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function;

[0071] A first determining unit 200 is used to determine first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the positioning data;

[0072] The second acquisition unit 300 is used to acquire the auxiliary positioning data sent by multiple auxiliary base stations to the above-mentioned base station when the number of the above-mentioned first stable positioning data is less than 3, the above-mentioned auxiliary positioning data is the distance between the above-mentioned auxiliary base station and the above-mentioned tag to be located obtained by the above-mentioned auxiliary base station using the UWB communication function, and the above-mentioned auxiliary base station is a located tag and has the UWB communication function;

[0073] A second determining unit 400 is used to determine second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data;

[0074] The first calculation unit 500 is used to calculate the position of the tag to be located according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data when the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3.

[0075] In the above-mentioned UWB auxiliary positioning device, multiple base stations are used to locate the tag to be located, and multiple positioning data are obtained. The positioning signal is reflected due to the obstruction of obstacles, which will cause large fluctuations in the positioning data. Multiple detections are performed to determine the positioning data with small fluctuations to determine the first stable positioning data. If the number of the first stable positioning data is less than 3, positioning is impossible. A tag that has been located and has a UWB communication function is used as an auxiliary base station to locate the tag to be located, and multiple auxiliary positioning data are obtained. Similarly, multiple detections are performed to determine the auxiliary positioning data with small fluctuations to determine the second stable positioning data. If the sum of the number of the first stable positioning data and the second stable positioning data is greater than or equal to 3, positioning can be performed, the influence of obstacles can be overcome, and the position of the tag to be located can be accurately located. Using an auxiliary base station instead of a base station for positioning can greatly reduce the number of base stations set up, greatly reduce costs, and solve the problem of high costs caused by setting a large number of base stations to achieve accurate positioning in the prior art.

[0076] In order to calculate the positioning data, in an optional implementation manner, the first acquisition unit includes:

[0077] A first control module is used to control each of the above base stations to send a positioning signal to the above tag to be located and receive a feedback signal from the above tag to be located in response to the above positioning signal when the above base station and the above tag to be located establish a UWB communication connection;

[0078] An acquisition module, used to acquire multiple sending times and corresponding multiple receiving times, the sending time being the time when the base station sends the positioning signal, and the receiving time being the time when the base station receives the feedback signal;

[0079] A first calculation module is used to calculate a plurality of transmission durations according to each of the above transmission times and the corresponding reception times, where the above transmission duration is the duration for the above base station to send the positioning signal to the above tag to be located;

[0080] The second calculation module is used to calculate the multiple positioning data according to the multiple sending time lengths and electromagnetic signal sending speeds.

[0081] In the above implementation, the base station sends a positioning signal to the tag to be located and receives a feedback signal from the tag to be located in response to the positioning signal, and records the sending time of the positioning signal and the receiving time of the feedback signal, thereby obtaining the transmission duration. Half of the transmission duration is the one-way sending duration. The distance between the base station and the tag to be located, i.e., the positioning data, is calculated based on the sending duration and the electromagnetic signal sending speed.

[0082] Similarly, the auxiliary base station communicates with the tag to be located, and the auxiliary positioning data can be calculated in the same way.

[0083] In order to verify the communication stability of the base station, in an optional implementation manner, the first determining unit includes:

[0084] A second control module, used in the first control step, controls the base station corresponding to the positioning data to repeatedly detect the distance between the base station and the tag to be positioned multiple times to obtain multiple verification positioning data;

[0085] A first determination module, used in a first determination step, to determine that the positioning data is the first stable positioning data when the absolute value of the difference between all the verification positioning data and the corresponding positioning data is less than the predetermined threshold;

[0086] The first repetition module is used to sequentially repeat the first control step and the first determination step at least once until the three first stable positioning data are obtained or all the positioning data are determined to be completed.

[0087] In the above implementation mode, the base station corresponding to the positioning data is controlled to repeatedly detect the distance between the base station and the tag to be located for multiple times to obtain multiple verification positioning data. The difference between the verification positioning data and the corresponding positioning data represents the fluctuation amplitude of the positioning data. All fluctuation amplitudes are less than the above predetermined threshold value, indicating that the communication between the base station and the tag to be located is stable and there is no obstacle interference. The positioning data can be determined to be the first stable positioning data. The end is found when three base stations with stable communication are found, that is, three first stable positioning data are obtained, or all base stations are detected, that is, all the positioning data are determined to be completed.

[0088] In order to verify the communication stability of the auxiliary base station, in an optional implementation manner, the second determining unit includes:

[0089] A third control module is used in the second control step to control the auxiliary base station corresponding to the auxiliary positioning data to repeatedly detect the distance between the auxiliary base station and the tag to be located multiple times to obtain multiple verified auxiliary positioning data;

[0090] A second determination module, used in the second determination step, to determine that the auxiliary positioning data is the second stable positioning data when the absolute value of the difference between all the verification auxiliary positioning data and the corresponding auxiliary positioning data is less than the predetermined threshold;

[0091] The second repetition module is used to repeat the second control step and the second determination step in sequence at least once until three of the second stable positioning data are obtained or all of the auxiliary positioning data are determined to be completed.

[0092] In the above implementation mode, the auxiliary base station corresponding to the auxiliary positioning data is controlled to repeatedly detect the distance between the auxiliary base station and the tag to be located for multiple times to obtain multiple verified auxiliary positioning data. The difference between the verified auxiliary positioning data and the corresponding auxiliary positioning data is the fluctuation amplitude of the auxiliary positioning data. All the fluctuation amplitudes are less than the predetermined threshold, indicating that the communication between the auxiliary base station and the tag to be located is stable and there is no obstacle interference. The auxiliary positioning data can be determined to be the second stable positioning data. The end is found when three auxiliary base stations with stable communication are found, that is, three second stable positioning data are obtained, or all the auxiliary base stations are detected, that is, all the auxiliary positioning data are determined to be completed.

[0093] In order to achieve accurate positioning, in an optional implementation manner, the first calculation unit includes:

[0094] An establishing module, used for establishing a world coordinate system, wherein the world coordinate system is a three-dimensional coordinate system with the coordinates of the base station as the origin;

[0095] The third calculation module is used to calculate and The coordinates (X0, Y0) of the position of the tag to be located are calculated, wherein (X1, Y1), (X2, Y2) and (X3, Y3) are respectively the coordinates of the position of the base station corresponding to the first stable positioning data and one of the position coordinates of the auxiliary base station corresponding to the second stable positioning data, and vt1, vt2 and vt3 are respectively one of the first stable positioning data and the second stable positioning data.

[0096] In the above implementation, if Figure 3 As shown, two base stations 20 are blocked by obstacle 01, and there is no blockage between the other two base stations 20 and the tag 10 to be located. There is no blockage between the three auxiliary base stations 30 and the tag 10 to be located. The coordinates of the two base stations 20 are X1, Y1) and (X2, Y2) respectively. The coordinates of the auxiliary base station 20 closest to the tag 10 to be located are (X3, Y3). The closer the auxiliary base station is to the tag 10 to be located, the less likely it is to be blocked and interfered. Thus, through the formula and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0097] In order to achieve accurate positioning, in an optional implementation manner, the above device further includes:

[0098] The second calculation unit is used to calculate the position of the tag to be located based on the three first stable positioning data and the positions of the base stations corresponding to the three first stable positioning data after determining the first stable positioning data based on the multiple positioning data, when the number of the first stable positioning data is greater than or equal to three.

[0099] In the above implementation, if Figure 4 As shown, there is no obstruction between the three base stations 20 and the tag to be located 10, that is, the number of first stable positioning data is greater than or equal to 3, the coordinates of base station 1 are (X1, Y1), the coordinates of base station 2 are (X2, Y2), and the coordinates of base station 3 are (X3, Y3). The first first stable positioning data is vt1, that is, the distance between base station 1 and the tag to be located, the second first stable positioning data is vt2, that is, the distance between base station 2 and the tag to be located, and the third first stable positioning data is vt3, that is, the distance between base station 3 and the tag to be located. Therefore, it can also be calculated by formula and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0100] The above-mentioned UWB auxiliary positioning device includes a processor and a memory, and the above-mentioned first acquisition unit, first determination unit, second acquisition unit, second determination unit and first calculation unit are all stored in the memory as program units, and the processor executes the above-mentioned program units stored in the memory to realize corresponding functions. The above-mentioned modules are all located in the same processor; or, the above-mentioned modules are located in different processors in the form of any combination.

[0101] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of high cost caused by setting a large number of base stations to achieve accurate positioning in the prior art can be solved by adjusting kernel parameters.

[0102] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0103] An embodiment of the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the UWB-assisted positioning method.

[0104] Specifically, the UWB assisted positioning method includes:

[0105] Step S201, obtaining a plurality of positioning data of the tag to be located, wherein the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function;

[0106] Step S202, determining first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the positioning data;

[0107] Step S203, when the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located obtained by the auxiliary base station using the UWB communication function, and the auxiliary base station is a located tag and has the UWB communication function;

[0108] Step S204, determining second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data;

[0109] Step S205, when the sum of the number of the above-mentioned first stable positioning data and the number of the above-mentioned second stable positioning data is greater than or equal to 3, the position of the above-mentioned tag to be located is calculated according to the above-mentioned first stable positioning data, the position of the above-mentioned base station corresponding to the above-mentioned first stable positioning data, the above-mentioned second stable positioning data and the position of the above-mentioned auxiliary base station corresponding to the above-mentioned second stable positioning data.

[0110] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the UWB assisted positioning method is executed when the program is run.

[0111] Specifically, the UWB assisted positioning method includes:

[0112] Step S201, obtaining a plurality of positioning data of the tag to be located, wherein the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function;

[0113] Step S202, determining first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the positioning data;

[0114] Step S203, when the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located obtained by the auxiliary base station using the UWB communication function, and the auxiliary base station is a located tag and has the UWB communication function;

[0115] Step S204, determining second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data;

[0116] Step S205, when the sum of the number of the above-mentioned first stable positioning data and the number of the above-mentioned second stable positioning data is greater than or equal to 3, the position of the above-mentioned tag to be located is calculated according to the above-mentioned first stable positioning data, the position of the above-mentioned base station corresponding to the above-mentioned first stable positioning data, the above-mentioned second stable positioning data and the position of the above-mentioned auxiliary base station corresponding to the above-mentioned second stable positioning data.

[0117] An embodiment of the present invention provides a positioning system, which includes multiple base stations, multiple auxiliary base stations, a processor, a memory, and a program stored in the memory and executable on the processor, wherein the auxiliary base station is a located tag and has a UWB communication function, and when the processor executes the program, at least the following steps are implemented:

[0118] Step S201, obtaining a plurality of positioning data of the tag to be located, wherein the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function;

[0119] Step S202, determining first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the positioning data;

[0120] Step S203, when the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located obtained by the auxiliary base station using the UWB communication function, and the auxiliary base station is a located tag and has the UWB communication function;

[0121] Step S204, determining second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data;

[0122] Step S205, when the sum of the number of the above-mentioned first stable positioning data and the number of the above-mentioned second stable positioning data is greater than or equal to 3, the position of the above-mentioned tag to be located is calculated according to the above-mentioned first stable positioning data, the position of the above-mentioned base station corresponding to the above-mentioned first stable positioning data, the above-mentioned second stable positioning data and the position of the above-mentioned auxiliary base station corresponding to the above-mentioned second stable positioning data.

[0123] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program for initializing at least the following method steps:

[0124] Step S201, obtaining a plurality of positioning data of the tag to be located, wherein the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function;

[0125] Step S202, determining first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the positioning data;

[0126] Step S203, when the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located obtained by the auxiliary base station using the UWB communication function, and the auxiliary base station is a located tag and has the UWB communication function;

[0127] Step S204, determining second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data;

[0128] Step S205, when the sum of the number of the above-mentioned first stable positioning data and the number of the above-mentioned second stable positioning data is greater than or equal to 3, the position of the above-mentioned tag to be located is calculated according to the above-mentioned first stable positioning data, the position of the above-mentioned base station corresponding to the above-mentioned first stable positioning data, the above-mentioned second stable positioning data and the position of the above-mentioned auxiliary base station corresponding to the above-mentioned second stable positioning data.

[0129] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0130] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt 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 include computer-usable program code.

[0131] The present application 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 the present application. 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 processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing 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.

[0132] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.

[0133] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0135] The memory may include non-permanent memory 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.

[0136] 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 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.

[0137] 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.

[0138] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0139] 1) In the UWB assisted positioning method of the present application, multiple base stations are used to locate the tag to be located, and multiple positioning data are obtained. The positioning signal is reflected due to the obstruction of obstacles, which will cause large fluctuations in the positioning data. Multiple detections are performed to determine the positioning data with small fluctuations to determine the first stable positioning data. If the number of the first stable positioning data is less than 3, positioning cannot be performed. A tag that has been located and has a UWB communication function is used as an auxiliary base station to locate the tag to be located, and multiple auxiliary positioning data are obtained. Similarly, multiple detections are performed to determine the auxiliary positioning data with small fluctuations to determine the second stable positioning data. The sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3, and positioning can be performed, which can overcome the influence of obstacles and realize the accurate positioning of the position of the tag to be located. Using an auxiliary base station instead of a base station for positioning can greatly reduce the number of base stations set up, greatly reduce the cost, and solve the problem of high cost caused by setting a large number of base stations to achieve accurate positioning in the prior art.

[0140] 2) In the above-mentioned UWB auxiliary positioning device of the present application, multiple base stations are used to locate the tag to be located, and multiple positioning data are obtained. The positioning signal is reflected due to the obstruction of obstacles, which will cause large fluctuations in the positioning data. Multiple detections are performed to determine the positioning data with small fluctuations to determine the first stable positioning data. If the number of the first stable positioning data is less than 3, positioning cannot be performed. A tag that has been located and has a UWB communication function is used as an auxiliary base station to locate the tag to be located, and multiple auxiliary positioning data are obtained. Similarly, multiple detections are performed to determine the auxiliary positioning data with small fluctuations to determine the second stable positioning data. The sum of the number of the first stable positioning data and the second stable positioning data is greater than or equal to 3, and positioning can be performed, which can overcome the influence of obstacles and realize the accurate positioning of the position of the tag to be located. Using an auxiliary base station instead of a base station for positioning can greatly reduce the number of base stations set up, greatly reduce the cost, and solve the problem of high cost caused by setting a large number of base stations to achieve accurate positioning in the prior art.

[0141] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A UWB-assisted positioning method, characterized in that: include: Acquire multiple positioning data of the tag to be located, where the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function; Determine first stable positioning data according to the plurality of positioning data, the first stable positioning data being the positioning data having a first maximum fluctuation less than a predetermined threshold, the first maximum fluctuation being the maximum value of a difference between any two of the plurality of detection results of the positioning data; When the number of the first stable positioning data is less than 3, obtaining auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located detected by the auxiliary base station using the UWB communication function, and the auxiliary base station is a located tag and has the UWB communication function; Determine second stable positioning data according to the plurality of auxiliary positioning data, the second stable positioning data being the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, the second maximum fluctuation being the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data; When the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3, the position of the tag to be located is calculated based on the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data.

2. The method according to claim 1, characterized in that: Get multiple positioning data of the tag to be positioned, including: When the base station and the tag to be located establish a UWB communication connection, control each of the base stations to send a positioning signal to the tag to be located and receive a feedback signal from the tag to be located in response to the positioning signal; Acquire multiple sending times and corresponding multiple receiving times, the sending time being the time when the base station sends the positioning signal, and the receiving time being the time when the base station receives the feedback signal; A plurality of transmission durations are calculated according to each of the transmission times and the corresponding receiving times, wherein the transmission duration is the duration for the base station to send the positioning signal to the tag to be positioned; The plurality of positioning data are calculated based on the plurality of transmission time lengths and electromagnetic signal transmission speeds.

3. The method according to claim 1, characterized in that Determining first stable positioning data according to the plurality of positioning data comprises: A first control step is to control the base station corresponding to the positioning data to repeatedly detect the distance between the base station and the tag to be located multiple times to obtain multiple verification positioning data; A first determination step, determining that the positioning data is the first stable positioning data when the absolute value of the difference between all the verification positioning data and the corresponding positioning data is less than the predetermined threshold; Repeat the first control step and the first determination step at least once in sequence until three first stable positioning data are obtained or all the positioning data are determined to be completed.

4. The method according to claim 1, characterized in that: Determining second stable positioning data according to the plurality of auxiliary positioning data comprises: A second control step is to control the auxiliary base station corresponding to the auxiliary positioning data to repeatedly detect the distance between the auxiliary base station and the tag to be located for multiple times to obtain multiple verified auxiliary positioning data; A second determination step, determining that the auxiliary positioning data is the second stable positioning data when the absolute value of the difference between all the verified auxiliary positioning data and the corresponding auxiliary positioning data is less than the predetermined threshold; Repeat the second control step and the second determination step at least once in sequence until three second stable positioning data are obtained or all the auxiliary positioning data are determined to be completed.

5. The method according to claim 1, characterized in that The position of the tag to be located is calculated according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data, including: Establishing a world coordinate system, wherein the world coordinate system is a three-dimensional coordinate system with the coordinates of the base station as the origin; According to √(X0-X1) 2 +(Y0-Y1) 2 =vt1,√(X0-X2) 2 +(Y0-Y2) 2 =vt2 and√(X0-X3) 2 +(Y0-Y3) 2 =vt3 calculates the coordinates (X0, Y0) of the position of the tag to be located, wherein (X1, Y1), (X2, Y2) and (X3, Y3) are respectively the coordinates of the position of the base station corresponding to the first stable positioning data and one of the position coordinates of the auxiliary base station corresponding to the second stable positioning data, and vt1, vt2 and vt3 are respectively one of the first stable positioning data and the second stable positioning data.

6. The method according to claim 1, characterized in that After determining the first stable positioning data according to the plurality of positioning data, the method further comprises: When the number of the first stable positioning data is greater than or equal to 3, the position of the tag to be located is calculated according to the three first stable positioning data and the positions of the base stations corresponding to the three first stable positioning data.

7. A UWB assisted positioning device, characterized in that: include: A first acquisition unit is used to acquire multiple positioning data of the tag to be located, where the positioning data is the distance between the base station and the tag to be located obtained by the base station using the UWB communication function; a first determining unit, configured to determine first stable positioning data according to the plurality of positioning data, wherein the first stable positioning data is the positioning data having a first maximum fluctuation less than a predetermined threshold, and the first maximum fluctuation is the maximum value of a difference between any two of the plurality of detection results of the positioning data; A second acquisition unit is configured to acquire, when the number of the first stable positioning data is less than 3, the auxiliary positioning data sent to the base station by multiple auxiliary base stations, the auxiliary positioning data being the distance between the auxiliary base station and the tag to be located detected by the auxiliary base station using a UWB communication function, and the auxiliary base station is a located tag and has a UWB communication function; a second determining unit, configured to determine second stable positioning data according to the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data whose second maximum fluctuation is less than a predetermined threshold, and the second maximum fluctuation is the maximum value of the difference between any two of the plurality of detection results of the auxiliary positioning data; The first calculation unit is used to calculate the position of the tag to be located according to the first stable positioning data, the position of the base station corresponding to the first stable positioning data, the second stable positioning data, and the position of the auxiliary base station corresponding to the second stable positioning data when the sum of the number of the first stable positioning data and the number of the second stable positioning data is greater than or equal to 3.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 6.

9. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

10. A positioning system, characterized in that: include: A plurality of base stations, a plurality of auxiliary base stations, one or more processors, a memory, and one or more programs, wherein the auxiliary base station is a located tag and has a UWB communication function, the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of claims 1 to 6.

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