UWB assisted positioning method, device and positioning system

Abstract

The present application provides a UWB-assisted positioning method, device and positioning system, the method comprising: obtaining multiple positioning data of a tag to be positioned, the positioning data being the distance between a base station and the tag to be positioned, detected by the base station using a UWB communication function; determining first stable positioning data based on the multiple 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; determining second stable positioning data based on the multiple 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, calculating the position of the tag to be positioned 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, thereby solving the problem of high cost caused by setting up a large number of base stations to achieve precise positioning.

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 capabilities and reduces positioning errors. It has the advantages of being insensitive to channel fading, low power spectrum density of transmitted signals, low interception capability, low system complexity, and high accuracy.

[0003] However, in actual positioning, due to the complexities of the operating environment, electromagnetic waves are often reflected by objects such as walls and metal, generating multipath signals. Therefore, the receiver cannot accurately receive the direct path signal from the transmitter, often resulting in poor precision and accuracy in UWB positioning. To improve positioning accuracy, methods typically involve increasing the density of positioning base stations or using a variety of algorithms to filter, compensate, and correct positioning data. These methods are often costly and difficult to implement, making them 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 in the prior art of high cost caused by setting up a large number of base stations to achieve accurate positioning.

[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, wherein the positioning data is the distance between the base station and the tag to be positioned obtained by detection by the base station using the UWB communication function; determining 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, and the first maximum fluctuation is 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, wherein the auxiliary positioning data is the auxiliary positioning data obtained by detection 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 being a located tag and having a UWB communication function; determining the second stable positioning data based on 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; 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.

[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 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 at least once in sequence 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, the world coordinate system being a three-dimensional coordinate system with the coordinates of the base station as the origin; and calculating the position of the tag to be located according 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. and The coordinates (X0, Y0) of the position of the tag to be located are calculated, where (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, configured to acquire multiple positioning data of a tag to be positioned, wherein the positioning data is the distance between the base station and the tag to be positioned, which is detected by the base station using the UWB communication function; a first determination unit, configured to determine first stable positioning data based on the multiple positioning data, wherein the first stable positioning data is the positioning data whose first maximum fluctuation is less than a predetermined threshold, and 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, configured to, when the number of the first stable positioning data is less than 3, acquire 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. the distance between the 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 determination unit, configured to determine second stable positioning data based on 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 calculation unit, configured to calculate the position of the tag to be located 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, 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 stations are located tags and have UWB communication capabilities, 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 positioned, and a plurality of positioning data are obtained. The positioning signal is reflected due to the obstruction of obstacles, which will cause large fluctuations in the positioning data. The positioning data with small fluctuations are detected multiple times to determine the first stable positioning data. If the number of the first stable positioning data is less than 3, positioning cannot be achieved. The positioned tag with UWB communication function is used as an auxiliary base station to locate the tag to be positioned, and a plurality of auxiliary positioning data are obtained. Similarly, the auxiliary positioning data with small fluctuations are detected multiple times to determine the second stable positioning data. 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, and the influence of obstacles can be overcome to achieve accurate positioning of the position of the tag to be positioned. 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 UWB-assisted positioning method according to an embodiment of the present application is shown;

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

[0019] Figure 4 A schematic diagram of positioning of 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 The figure shows a structural block diagram of a UWB assisted positioning device provided according to an embodiment of the present application.

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

[0023] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / 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 of the embodiments in this 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 present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this 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 sequential order. 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 that includes 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, resulting 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 with reference to 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 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) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will 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 than shown, or with Figure 1 Different configurations shown.

[0030] The memory 104 can be used to store computer programs, such as 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 programs stored in the memory 104, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication 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 FIG. 1 is a flow chart of a UWB assisted positioning method according to an embodiment of the present application. Figure 2 As shown, the method includes 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, which is detected by the base station using the UWB communication function;

[0034] Step S202: determining first stable positioning data based on 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, detected by the auxiliary base station using the UWB communication function. The auxiliary base station is a located tag and has the UWB communication function.

[0036] Step S204: determining second stable positioning data based on the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data having 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 plurality of detection results of the auxiliary positioning data;

[0037] Step S205: 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.

[0038] In the above-mentioned UWB assisted positioning method, multiple base stations are used to locate the tag to be positioned, 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 achieved. A tag that has been positioned and has UWB communication function is used as an auxiliary base station to locate the tag to be positioned, 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 number of the second stable positioning data is greater than or equal to 3, positioning can be performed, and the influence of obstacles can be overcome to achieve accurate positioning of the position of the tag to be positioned. 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.

[0039] In order to calculate the positioning data, in an optional implementation, 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: Acquire multiple sending times and corresponding multiple receiving times, where 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: Calculate multiple transmission durations based on each of the transmission times and the corresponding reception times, where the transmission duration is the duration for the base station to transmit the positioning signal to the tag to be located.

[0043] Step S2014: Calculate and obtain the plurality of positioning data according to the plurality of transmission durations and electromagnetic signal transmission speeds.

[0044] In the above embodiment, 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, 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 multiple times to obtain multiple verification positioning data;

[0048] Step S2022, a first determination step, determining the positioning data as 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;

[0049] Step S2023, repeating 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 complete.

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

[0051] In order to verify the communication stability of the secondary base station, in an optional implementation, 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 multiple times to obtain multiple verified auxiliary positioning data;

[0053] Step S2042, 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 verification auxiliary positioning data and the corresponding auxiliary positioning data is less than the predetermined threshold;

[0054] Step S2043, repeating 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 embodiment, 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 multiple times to obtain multiple verified auxiliary positioning data. The difference between the verified auxiliary positioning data and the corresponding auxiliary positioning data represents the fluctuation amplitude of the auxiliary positioning data. All 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 process ends when three auxiliary base stations with stable communication are found, that is, three of the second stable positioning data are obtained, or all auxiliary base stations are detected, that is, all of the auxiliary positioning data are determined to be completed.

[0056] In order to achieve precise 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 embodiment, 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 or interfered. Therefore, through the formula and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0060] In order to achieve precise positioning, in an optional implementation manner, after determining the first stable positioning data based on the plurality of 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 embodiment, 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 the 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, the formula can also be used 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 with reference to 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 a base station detects a new tag entering the positioning area, each base station receives positioning data for the new tag. If three stable data paths are found with direct communication, the data is considered valid and uploaded to the server to complete the positioning. If communication is obstructed, the data will fluctuate significantly. The base station then searches for the marker signal of the previous auxiliary base station. If the marker verification passes (indicating that the tag corresponding to the marker signal has been located), it receives the positioning data from the auxiliary base station that has passed the verification. The base station then filters the positioning data from the auxiliary base station and, based on the amount of positioning data missing from the server, uploads the most stable one or two data points. Together with the base station data, it meets the three required data points for positioning. For example, when a new tag enters the positioning area, only one stable data point (X1, Y1) is found with stable communication with the base station. The other two data points are unstable and are considered obstructed. After verification, the auxiliary base station begins positioning with the new tag. The auxiliary base station that can stably locate the new tag transmits the positioning data back to the base station. After filtering (retaining data with relatively close positioning), the base station retains the positioning data from two auxiliary base stations (X2', Y2') and (X3', Y3') and transmits them back to the server along with its own data 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 embodiments of the present application also provide a UWB assisted positioning device. It should be noted that the UWB assisted positioning device of the embodiments of the present application can be used to execute the UWB assisted positioning method provided in the embodiments 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 be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceived.

[0068] The following introduces the UWB assisted positioning device provided in the embodiments of the present application.

[0069] Figure 6 FIG 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 includes:

[0070] The first acquisition unit 100 is configured 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, which is detected by the base station using the UWB communication function;

[0071] A first determining unit 200 is configured to determine first stable positioning data based on 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;

[0072] A second acquiring unit 300 is configured to acquire, when the number of the first stable positioning data is less than 3, 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, the auxiliary base station being a located tag and having a UWB communication function;

[0073] a second determining unit 400, configured to determine second stable positioning data based on the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data having a second maximum fluctuation less than a predetermined threshold, and the second maximum fluctuation is the maximum value of a 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 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 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, the tag to be positioned is positioned by multiple base stations to obtain multiple positioning data. The positioning signal is reflected due to the obstruction of obstacles, which will cause large fluctuations in the positioning data. The positioning data with small fluctuations are detected multiple times to determine the first stable positioning data. If the number of the first stable positioning data is less than 3, positioning cannot be achieved. The positioned tag with UWB communication function is used as an auxiliary base station to position the tag to be positioned and obtain multiple auxiliary positioning data. Similarly, the auxiliary positioning data with small fluctuations are detected multiple times 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 positioned can be accurately positioned. Using auxiliary base stations instead of base stations 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 acquiring unit includes:

[0077] A first control module is configured 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 positioning signal when the above base stations and the above tag to be located establish a UWB communication connection;

[0078] an acquisition module, configured to acquire a plurality of sending times and corresponding 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;

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

[0080] The second calculation module is used to calculate the above-mentioned positioning data based on the above-mentioned multiple transmission time lengths and electromagnetic signal transmission speeds.

[0081] In the above embodiment, 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 is used in the first control step 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;

[0085] a first determining module, configured to determine, in a first determining step, that the positioning data is the first stable positioning data if 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 repeat the first control step and the first determination step in sequence 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 embodiment, the base station corresponding to the above positioning data is controlled to repeatedly detect the distance between the above base station and the above tag to be located multiple times to obtain multiple verification positioning data. The difference between the verification positioning data and the corresponding positioning data, that is, the fluctuation amplitude of the positioning data, is characterized. All fluctuation amplitudes are less than the above predetermined threshold, indicating that the communication between the base station and the tag to be located is stable and there is no obstacle interference. The above positioning data can be determined to be the above first stable positioning data. The process ends when three base stations with stable communication are found, that is, three of the above first stable positioning data are obtained, or all base stations are detected, that is, all of the above positioning data are determined to be completed.

[0088] In order to verify the communication stability of the secondary 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 determining module, configured to determine, in a second determining step, if 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, that the auxiliary positioning data is the second stable positioning data;

[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 embodiment, 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 multiple times to obtain multiple verified auxiliary positioning data. The difference between the verified auxiliary positioning data and the corresponding auxiliary positioning data represents the fluctuation amplitude of the auxiliary positioning data. All 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 process ends when three auxiliary base stations with stable communication are found, that is, three of the second stable positioning data are obtained, or all auxiliary base stations are detected, that is, all of the auxiliary positioning data are determined to be completed.

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

[0094] An establishment module, configured to establish 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 the 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 embodiment, 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 or interfered. Therefore, through the formula and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0097] In order to achieve precise positioning, in an optional embodiment, the above-mentioned device further includes:

[0098] The second calculation unit is used to determine the first stable positioning data based on multiple positioning data, and when the number of the first stable positioning data is greater than or equal to 3, calculate 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.

[0099] In the above embodiment, 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 the 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, the formula can also be used and The coordinates (X0, Y0) of the position of the tag to be located are calculated.

[0100] The UWB-assisted positioning device includes a processor and a memory. The first acquisition unit, first determination unit, second acquisition unit, second determination unit, and first calculation unit are all stored as program units in the memory. The processor executes the program units stored in the memory to implement the corresponding functions. The above modules are all located in the same processor; alternatively, the above modules can be located in different processors in any combination.

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

[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, which includes a stored program. 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, which is detected by the base station using the UWB communication function;

[0106] Step S202: determining first stable positioning data based on 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, detected by the auxiliary base station using the UWB communication function. The auxiliary base station is a located tag and has the UWB communication function.

[0108] Step S204: determining second stable positioning data based on the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data having 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 plurality of detection results of the auxiliary positioning data;

[0109] Step S205: 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.

[0110] An embodiment of the present invention provides a processor, which 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, which is detected by the base station using the UWB communication function;

[0113] Step S202: determining first stable positioning data based on 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, detected by the auxiliary base station using the UWB communication function. The auxiliary base station is a located tag and has the UWB communication function.

[0115] Step S204: determining second stable positioning data based on the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data having 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 plurality of detection results of the auxiliary positioning data;

[0116] Step S205: 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.

[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 stations are located tags and have UWB communication capabilities. 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, which is detected by the base station using the UWB communication function;

[0119] Step S202: determining first stable positioning data based on 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, detected by the auxiliary base station using the UWB communication function. The auxiliary base station is a located tag and has the UWB communication function.

[0121] Step S204: determining second stable positioning data based on the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data having 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 plurality of detection results of the auxiliary positioning data;

[0122] Step S205: 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.

[0123] The present application also provides a computer program product, which, when executed on a data processing device, is adapted to execute 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, which is detected by the base station using the UWB communication function;

[0125] Step S202: determining first stable positioning data based on 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, detected by the auxiliary base station using the UWB communication function. The auxiliary base station is a located tag and has the UWB communication function.

[0127] Step S204: determining second stable positioning data based on the plurality of auxiliary positioning data, wherein the second stable positioning data is the auxiliary positioning data having 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 plurality of detection results of the auxiliary positioning data;

[0128] Step S205: 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.

[0129] Obviously, those skilled in the art will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0130] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0134] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0137] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[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 obstruction by 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 achieved. A tag that has been located and has 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 number of the second stable positioning data is greater than or equal to 3, positioning can be performed, and the influence of obstacles can be overcome to achieve 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 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.

[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 obstruction by 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 achieved. A tag that has been located and has 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 number of the second stable positioning data is greater than or equal to 3, positioning can be performed, and the influence of obstacles can be overcome to achieve 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 merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection 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, detected by the base station using the UWB communication function; determining first stable positioning data based on 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, where the auxiliary positioning data is 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; determining second stable positioning data based on the plurality of auxiliary positioning data, the second stable positioning data being the auxiliary positioning data having a second maximum fluctuation less than a predetermined threshold, the second maximum fluctuation being the maximum value of a 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 located, including: When the base station and the tag to be located establish a UWB communication connection, control each base station 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, where 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; Calculating multiple sending durations according to each sending time and the corresponding receiving time, where the sending duration is the duration for the base station to send the positioning signal to the tag to be located; The plurality of positioning data are calculated based on the plurality of sending durations and electromagnetic signal sending speeds.

3. The method according to claim 1, characterized in that Determining first stable positioning data according to the plurality of positioning data includes: 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 determining 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.

4. The method according to claim 1, wherein 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 multiple times to obtain multiple verified auxiliary positioning data; a second determining step, determining that the auxiliary positioning data is the second stable positioning data when the absolute values ​​of the differences between all the verified auxiliary positioning data and the corresponding auxiliary positioning data are 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, wherein 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, 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 first stable positioning data according to the plurality of positioning data, the method further includes: 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.

7. A UWB assisted positioning device, characterized in that: include: A first acquiring unit is configured to acquire a plurality of positioning data of a tag to be located, wherein the positioning data is a distance between the base station and the tag to be located, which is detected by the base station using a UWB communication function; a first determining unit, configured to determine first stable positioning data based on 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; a second acquiring unit, configured to acquire, when the number of the first stable positioning data is less than 3, 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, the auxiliary base station being a located tag and having a UWB communication function; a second determining unit, configured to determine second stable positioning data based on the plurality of auxiliary positioning data, the second stable positioning data being the auxiliary positioning data having a second maximum fluctuation less than a predetermined threshold, the second maximum fluctuation being a maximum value of a difference between any two of the plurality of detection results of the auxiliary positioning data; A first calculation unit is configured to calculate the position of the tag to be located 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, 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: 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 a method for executing any one of claims 1 to 6.

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