Method for improving UWB complex construction environment positioning accuracy

Abstract

A method for improving UWB complex construction environment positioning accuracy relates to the technical field of indoor positioning, and is characterized in that at least four positioning base stations and two detection base stations are arranged, a DTOF-based UWB positioning algorithm is adopted, and a clock deviation calibration algorithm, an obstacle deviation calibration algorithm, a gradient descent optimization algorithm and the like are introduced. The inaccurate ranging and positioning factors caused by inconsistent clocks due to inconsistent starting time of a positioning base station single chip microcomputer are reduced, and the inaccurate ranging and positioning factors caused by base station electromagnetic wave penetration efficiency factors caused by cement, reinforcing steel bars and other building materials stacked on a construction site and multiple indoor walls are reduced.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and in particular to a method for improving UWB positioning accuracy in a complex construction environment. Background Art

[0002] When terminal devices in indoor environments need to be positioned, UWB positioning systems are generally used. In UWB positioning systems, the targets that need to be positioned (such as people or objects) usually carry positioning tags. These tags send pulse signals at a certain frequency and continuously measure the distance with the positioning base station at a known location. The positioning base station receives the signal sent by the tag and calculates the flight time of the signal to determine the distance between the tag and the base station. Through the collaborative work of multiple base stations, the location of the tag can be accurately calculated. However, due to the complex environment of the construction site, there is a large error in positioning accuracy. Summary of the invention

[0003] In order to overcome the deficiencies of the above technologies, the present invention provides a method for improving the positioning accuracy of UWB in complex construction environments with high precision, small error and low upgrade cost.

[0004] The technical solution adopted by the present invention to overcome the technical problems is:

[0005] A method for improving UWB positioning accuracy in complex construction environments, comprising:

[0006] S1. Deploy UWB coordinate base station A, UWB coordinate base station B, UWB coordinate base station C, and UWB coordinate base station D in a rectangular indoor area;

[0007] S2. Deploy clock detection base station E and obstacle detection base station G in the indoor area;

[0008] S3. Set tag F on the terminal device and calculate the distance R from tag F to UWB coordinate base station A A , calculate the distance R between tag F and UWB coordinate base station B B , calculate the distance R between tag F and UWB coordinate base station C C , calculate the distance R between tag F and UWB coordinate base station D D ;

[0009] S4. Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station A A , calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station B B , calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station C C , calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station D D ;

[0010] S5. Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station A A , calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station B B , calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station C C , calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station D D ;

[0011] S6. Calculate the corrected distance R′ from tag F to UWB coordinate base station A A , calculate the corrected distance R′ between tag F and UWB coordinate base station B B , calculate the corrected distance R′ between tag F and UWB coordinate base station C C , calculate the corrected distance R′ between tag F and UWB coordinate base station D D ;

[0012] S7. Calculate the X-axis coordinate of label F in the three-dimensional coordinate system as x new , the Y-axis coordinate is y new , Z axis coordinate is z new .

[0013] Furthermore, the X-axis coordinate of the UWB coordinate base station A in the three-dimensional coordinate system is x a , the Y-axis coordinate is y a , Z axis coordinate is z a , the X-axis coordinate of UWB base station B in the three-dimensional coordinate system is x b , the Y-axis coordinate is y b , Z axis coordinate is z b , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is x c , the Y-axis coordinate is y c , Z axis coordinate is z c , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is x d , the Y-axis coordinate is y d , Z axis coordinate is z d .

[0014] Furthermore, the X-axis coordinate of the clock detection base station E in the three-dimensional coordinate system is x e , the Y-axis coordinate is y e , Z axis coordinate is z e , the X-axis coordinate of the obstacle detection base station G in the three-dimensional coordinate system is x g , the Y-axis coordinate is y g , Z axis coordinate is z g .

[0015] Further, step S3 includes the following steps:

[0016] S3-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as T 1A , when tag F sends a signal, UWB coordinate base station A records the time as T 2A When UWB coordinate base station A receives the signal from tag F, it replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as T 3A When tag F receives the reply signal, UWB coordinate base station A records the time as T 4A , through the formula R A =c*△T A Calculate the distance R from tag F to UWB coordinate base station A A , where c is the speed of light, △T A is the time difference between tag F and UWB coordinate base station A,

[0017]

[0018] S3-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time as T 1B , when tag F sends a signal, UWB coordinate base station B records the time as T 2B When UWB coordinate base station B receives the signal from tag F, it replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as T 3B When tag F receives the reply signal, UWB coordinate base station B records the time as T 4B , through the formula R B =c*△T B Calculate the distance R from tag F to UWB coordinate base station B B , where △T B is the time difference between tag F and UWB coordinate base station B, S3-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as T 1C , when tag F sends a signal, the UWB coordinate base station C records the time as T 2C When the UWB coordinate base station C receives the signal from the tag F, the UWB coordinate base station C replies with a signal. When the reply signal is sent, the UWB coordinate base station C records the time as T 3C When tag F receives the reply signal, the UWB coordinate base station C records the time as T 4C , through the formula R C =c*△T C Calculate the distance R from tag F to UWB coordinate base station C C, where △T C is the time difference between tag F and UWB coordinate base station C, S3-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as T 1D , when tag F sends a signal, the UWB coordinate base station D records the time as T 2D When the UWB coordinate base station D receives the signal from the tag F, the UWB coordinate base station D replies with a signal. When the reply signal is sent, the UWB coordinate base station D records the time as T 3D When tag F receives the reply signal, UWB coordinate base station D records the time as T 4D , through the formula R D =c*△T D Calculate the distance R from tag F to UWB coordinate base station D D , where △T D is the time difference between tag F and UWB coordinate base station C, Further, step S4 includes the following steps:

[0019] S4-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as ET 1A , when the clock detection base station E sends a signal, the UWB coordinate base station A records the time as ET 2A When UWB coordinate base station A receives the signal from clock detection base station E, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as ET. 3A When the clock detection base station E receives the reply signal, the UWB coordinate base station A records the time as ET 4A , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station A Where, △ET A is the time difference between the clock detection base station E and the UWB coordinate base station A, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station A A , where The distance from the clock detection base station E to the UWB coordinate base station A is measured manually;

[0020] S4-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time as ET 1B When the clock detection base station E sends a signal, the UWB coordinate base station B records the time as ET 2BWhen UWB coordinate base station B receives the signal from clock detection base station E, UWB coordinate base station B replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as ET. 3B When the clock detection base station E receives the reply signal, the UWB coordinate base station B records the time as ET 4B , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station B Where, △ET B is the time difference between the clock detection base station E and the UWB coordinate base station B, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station B B , where The distance from the clock detection base station E to the UWB coordinate base station B is measured manually;

[0021] S4-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as ET 1C , when the clock detection base station E sends a signal, the UWB coordinate base station C records the time as ET 2C When UWB coordinate base station C receives the signal from clock detection base station E, UWB coordinate base station C replies with a signal. When the reply signal is sent, UWB coordinate base station C records the time as ET 3C When the clock detection base station E receives the reply signal, the UWB coordinate base station C records the time as ET 4C , through the formula Calculate the distance from the clock detection base station E to the UWB coordinate base station C Where, △ET C is the time difference between the clock detection base station E and the UWB coordinate base station C, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station C C , where The distance from the clock detection base station E to the UWB coordinate base station C is measured manually;

[0022] S4-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as ET 1D When the clock detection base station E sends a signal, the UWB coordinate base station D records the time as ET 2D When UWB coordinate base station D receives the signal from clock detection base station E, UWB coordinate base station D replies with a signal. When the reply signal is sent, UWB coordinate base station D records the time as ET. 3DWhen the clock detection base station E receives the reply signal, the UWB coordinate base station D records the time as ET 4D , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station D Where, △ET D is the time difference between the clock detection base station E and the UWB coordinate base station D, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station D D , where The distance from the clock detection base station E to the UWB coordinate base station D is manually measured. Further, step S5 includes the following steps:

[0023] S5-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as GT 1A When the obstacle detection base station G sends a signal, the UWB coordinate base station A records the time as GT 2A When UWB coordinate base station A receives the signal from obstacle detection base station G, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as GT 3A When the obstacle detection base station G receives the reply signal, the UWB coordinate base station A records the time as GT 4A , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station A In the formula, △GT A is the time difference between the obstacle detection base station G and the UWB coordinate base station A, By formula Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station A A , where The distance from the obstacle detection base station G to the UWB coordinate base station A is manually measured; S5-2. When the UWB coordinate base station B sends a signal, the UWB coordinate base station B records the time as GT 1B When the obstacle detection base station G sends a signal, the UWB coordinate base station B records the time as GT 2B When UWB coordinate base station B receives the signal from obstacle detection base station G, UWB coordinate base station B replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as GT 3B When the obstacle detection base station G receives the reply signal, the UWB coordinate base station B records the time as GT 4B , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station B In the formula, △GTB is the time difference between the obstacle detection base station G and the UWB coordinate base station B, By formula Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station B B , where The distance from the obstacle detection base station G to the UWB coordinate base station B is manually measured; S5-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as GT 1C When the obstacle detection base station G sends a signal, the UWB coordinate base station C records the time as GT 2C When UWB coordinate base station C receives the signal from obstacle detection base station G, UWB coordinate base station C replies with a signal. When the reply signal is sent, UWB coordinate base station C records the time as GT 3C When the obstacle detection base station G receives the reply signal, the UWB coordinate base station C records the time as GT 4C , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station C In the formula, △GT C is the time difference between the obstacle detection base station G and the UWB coordinate base station C, By formula Calculate the clock difference △gt from the obstacle detection base station G to the UWB coordinate base station C C , where The distance from the obstacle detection base station G to the UWB coordinate base station C is manually measured; S5-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as GT 1D When the obstacle detection base station G sends a signal, the UWB coordinate base station D records the time as GT 2D When the UWB coordinate base station D receives the signal from the obstacle detection base station G, the UWB coordinate base station D replies with a signal. When the reply signal is sent, the UWB coordinate base station D records the time as GT 3D When the obstacle detection base station G receives the reply signal, the UWB coordinate base station D records the time as GT 4D , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station D In the formula, △GT D is the time difference between the obstacle detection base station G and the UWB coordinate base station D, By formula Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station D D , where The distance from the obstacle detection base station G to the UWB coordinate base station D is manually measured.

[0024] Further, step S6 includes the following steps:

[0025] S6-1. By formula R′ A =R A -c*△gt A -c△et A Calculate the corrected distance R′ from tag F to UWB coordinate base station A A , where c is the speed of light;

[0026] S6-2. By formula R′ B =R B -c*△gt B -c△et B Calculate the corrected distance R′ from tag F to UWB coordinate base station B B ;

[0027] S6-3. By formula R′ C =R C -c*△gt C -c△et C Calculate the corrected distance R′ from tag F to UWB coordinate base station C C ;

[0028] S6-2. By formula R′ D =R D -c*△gt D -c△et D Calculate the corrected distance R′ from tag F to the UWB coordinate base station D D .

[0029] Further, step S7 includes the following steps:

[0030] S7-1. Manually measure the distance from tag F to UWB coordinate base station A Manually measure the distance from tag F to UWB coordinate base station B Manually measure the distance from tag F to UWB coordinate base station C Manually measure the distance from tag F to UWB coordinate base station D S7-2. By formula The calculated X-axis coordinate of label F in the three-dimensional coordinate system is x new , where x old is the X-axis coordinate of the center point of the rectangular plane where the indoor area is located, N is the number of iterations, a is the control parameter, and x is the X-axis coordinate of the tag F with the coordinate of the UWB coordinate base station A as the origin;

[0031] S7-3. By formula The Y-axis coordinate of label F in the three-dimensional coordinate system is calculated to be y new , where y old is the Y-axis coordinate of the center point of the rectangular plane where the indoor area is located, and y is the Y-axis coordinate of the tag F with the coordinate of the UWB coordinate base station A as the origin;

[0032] S7-4. By formula The calculated Z-axis coordinate of label F in the three-dimensional coordinate system is z new , where z old is the Z-axis coordinate of the center point of the rectangular plane where the indoor area is located, and z is the Z-axis coordinate of tag F with the coordinate of the UWB coordinate base station A as the origin.

[0033] Preferably, the value of a is greater than 0 and less than 1.

[0034] Furthermore, the clock detection base station E is located 20 meters above the center point of the rectangular plane where the indoor area is located, and the obstacle detection base station G is located in a circular area with a radius of 5 meters and the coordinate point where the UWB coordinate base station A is located as the center.

[0035] The beneficial effects of the present invention are: by setting up at least 4 positioning base stations + 2 detection base stations, based on the existing DTOF (direct time of flight) UWB positioning algorithm, introducing clock deviation calibration algorithm, obstacle deviation calibration algorithm, gradient descent optimization algorithm, etc., the inaccurate factors of ranging and positioning caused by clock inconsistency caused by inconsistent startup time of positioning base station microcontrollers are reduced, and the factors of ranging and positioning inaccuracy caused by the electromagnetic wave penetration efficiency of base stations caused by cement, steel bars, and other building materials piled on the construction site and multiple walls indoors are reduced. This method can be used in other similar scenarios (such as mining, equipment maintenance, construction, etc.) BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 The figure is a flow chart of the positioning method of the present invention. DETAILED DESCRIPTION

[0037] The following is combined with Figure 1 The present invention is further described.

[0038] A method for improving UWB positioning accuracy in complex construction environments, comprising:

[0039] S1. Deploy UWB coordinate base station A, UWB coordinate base station B, UWB coordinate base station C, and UWB coordinate base station D in a rectangular indoor area.

[0040] S2. Deploy clock detection base station E and obstacle detection base station G in the indoor area. The distance from obstacle detection base station G to UWB coordinate base station A is the shortest and the distances from UWB coordinate base station B, UWB coordinate base station C, and UWB coordinate base station D cannot be unequal.

[0041] S3. Set tag F on the terminal device and calculate the distance R from tag F to UWB coordinate base station A A , calculate the distance R between tag F and UWB coordinate base station B B , calculate the distance R between tag F and UWB coordinate base station C C , calculate the distance R between tag F and UWB coordinate base station D D .

[0042] S4. Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station A A , calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station B B , calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station C C , calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station D D .

[0043] S5. Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station A A , calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station B B , calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station C C , calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station D D .

[0044] S6. Calculate the corrected distance R′ from tag F to UWB coordinate base station A A , calculate the corrected distance R′ between tag F and UWB coordinate base station B B , calculate the corrected distance R′ between tag F and UWB coordinate base station C C , calculate the corrected distance R′ between tag F and UWB coordinate base station D D .

[0045] S7. Calculate the X-axis coordinate of label F in the three-dimensional coordinate system as x new , the Y-axis coordinate is y new , Z axis coordinate is z new .

[0046] The core of the present invention is to improve accuracy and reduce errors by optimizing algorithms, introducing clock and obstacle calibration factors, and to improve accurate positioning in complex indoor environments by adding calibration base stations, introducing clock calibration algorithms, obstacle error algorithms, and gradient reduction algorithm optimization. It has the advantages of high accuracy, small errors, simple implementation, and low upgrade costs.

[0047] In one embodiment of the present invention, the X-axis coordinate of the UWB coordinate base station A in the three-dimensional coordinate system is x a , the Y-axis coordinate is y a , Z axis coordinate is z a , the X-axis coordinate of UWB base station B in the three-dimensional coordinate system is x b , the Y-axis coordinate is y b , Z axis coordinate is z b , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is x c , the Y-axis coordinate is y c , Z axis coordinate is z c , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is x d , the Y-axis coordinate is y d , Z axis coordinate is z d .

[0048] In one embodiment of the present invention, the X-axis coordinate of the clock detection base station E in the three-dimensional coordinate system is x e , the Y-axis coordinate is y e , Z axis coordinate is z e , the X-axis coordinate of the obstacle detection base station G in the three-dimensional coordinate system is x g , the Y-axis coordinate is y g , Z axis coordinate is z g .

[0049] In one embodiment of the present invention, step S3 includes the following steps:

[0050] S3-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as T 1A , when tag F sends a signal, UWB coordinate base station A records the time as T 2A When UWB coordinate base station A receives the signal from tag F, it replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as T 3A When tag F receives the reply signal, UWB coordinate base station A records the time as T 4A , through the formula R A =c*△T A Calculate the distance R from tag F to UWB coordinate base station A A , where c is the speed of light, △TA is the time difference between tag F and UWB coordinate base station A,

[0051]

[0052] S3-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time as T 1B , when tag F sends a signal, UWB coordinate base station B records the time as T 2B When UWB coordinate base station B receives the signal from tag F, it replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as T 3B When tag F receives the reply signal, UWB coordinate base station B records the time as T 4B , through the formula R B =c*△T B Calculate the distance R from tag F to UWB coordinate base station B B , where △T B is the time difference between tag F and UWB coordinate base station B, S3-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as T 1C , when tag F sends a signal, the UWB coordinate base station C records the time as T 2C When the UWB coordinate base station C receives the signal from the tag F, the UWB coordinate base station C replies with a signal. When the reply signal is sent, the UWB coordinate base station C records the time as T 3C When tag F receives the reply signal, the UWB coordinate base station C records the time as T 4C , through the formula R C =c*△T C Calculate the distance R from tag F to UWB coordinate base station C C , where △T C is the time difference between tag F and UWB coordinate base station C, S3-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as T 1D , when tag F sends a signal, the UWB coordinate base station D records the time as T 2D When the UWB coordinate base station D receives the signal from the tag F, the UWB coordinate base station D replies with a signal. When the reply signal is sent, the UWB coordinate base station D records the time as T 3D When tag F receives the reply signal, UWB coordinate base station D records the time as T 4D , through the formula R D =c*△T D Calculate the distance R from tag F to UWB coordinate base station D D, where △T D is the time difference between tag F and UWB coordinate base station C, In one embodiment of the present invention, since it is difficult for device clocks to remain consistent in actual applications and obstacles will inevitably affect the measurement results, it is necessary to remove the error caused by the clock deviation, so step S4 includes the following steps:

[0053] S4-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as ET 1A , when the clock detection base station E sends a signal, the UWB coordinate base station A records the time as ET 2A When UWB coordinate base station A receives the signal from clock detection base station E, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as ET. 3A When the clock detection base station E receives the reply signal, the UWB coordinate base station A records the time as ET 4A , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station A Where, △ET A is the time difference between the clock detection base station E and the UWB coordinate base station A, When the clocks of the detection base station E and the coordinate base station are synchronized, accurate positioning can be achieved directly. However, in practical applications, it is difficult to synchronize the clocks of the transmitter and the receiver. Therefore, the formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station A A , where The distance from the clock detection base station E to the UWB coordinate base station A is measured manually.

[0054] S4-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time as ET 1B When the clock detection base station E sends a signal, the UWB coordinate base station B records the time as ET 2B When UWB coordinate base station B receives the signal from clock detection base station E, UWB coordinate base station B replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as ET. 3B When the clock detection base station E receives the reply signal, the UWB coordinate base station B records the time as ET 4B , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station B Where, △ET B is the time difference between the clock detection base station E and the UWB coordinate base station B, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station B B , where The distance from the clock detection base station E to the UWB coordinate base station B is manually measured. S4-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as ET 1C , when the clock detection base station E sends a signal, the UWB coordinate base station C records the time as ET 2C When UWB coordinate base station C receives the signal from clock detection base station E, UWB coordinate base station C replies with a signal. When the reply signal is sent, UWB coordinate base station C records the time as ET 3C When the clock detection base station E receives the reply signal, the UWB coordinate base station C records the time as ET 4C , through the formula Calculate the distance from the clock detection base station E to the UWB coordinate base station C Where, △ET C is the time difference between the clock detection base station E and the UWB coordinate base station C, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station C C , where The distance from the clock detection base station E to the UWB coordinate base station C is manually measured. S4-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as ET 1D When the clock detection base station E sends a signal, the UWB coordinate base station D records the time as ET 2D When UWB coordinate base station D receives the signal from clock detection base station E, UWB coordinate base station D replies with a signal. When the reply signal is sent, UWB coordinate base station D records the time as ET. 3D When the clock detection base station E receives the reply signal, the UWB coordinate base station D records the time as ET 4D , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station D Where, △ET D is the time difference between the clock detection base station E and the UWB coordinate base station D, By formula Calculate the clock difference △et from the clock detection base station E to the UWB coordinate base station D D , where is the manually measured distance from the clock detection base station E to the UWB coordinate base station D. The above calculation method takes into account the round-trip time, where (ET 4i -ET 1i)(i=A, B, C, D) is the total time from the transmitter to the receiver and back to the transmitter, (ET 3i -ET 2i )(i=A, B, C, D) is the time taken by the receiving end to receive and reply the signal. In one embodiment of the present invention, in an ideal environment without obstacles, accurate positioning can be achieved by removing the measurement error. However, in an actual environment, it is bound to be affected by obstacles. At this time, it is necessary to introduce an obstacle deviation calculation formula to remove the measurement deviation of the obstacle. Specifically, step S5 includes the following steps:

[0055] S5-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as GT 1A When the obstacle detection base station G sends a signal, the UWB coordinate base station A records the time as GT 2A When UWB coordinate base station A receives the signal from obstacle detection base station G, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as GT 3A When the obstacle detection base station G receives the reply signal, the UWB coordinate base station A records the time as GT 4A , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station A In the formula, △GT A is the time difference between the obstacle detection base station G and the UWB coordinate base station A, By formula Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station A A , where The distance from the obstacle detection base station G to the UWB coordinate base station A is manually measured. S5-2. When the UWB coordinate base station B sends a signal, the UWB coordinate base station B records the time as GT 1B When the obstacle detection base station G sends a signal, the UWB coordinate base station B records the time as GT 2B When UWB coordinate base station B receives the signal from obstacle detection base station G, UWB coordinate base station B replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as GT 3B When the obstacle detection base station G receives the reply signal, the UWB coordinate base station B records the time as GT 4B , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station B In the formula, △GT B is the time difference between the obstacle detection base station G and the UWB coordinate base station B, By formula Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station B B , where is the manually measured distance from obstacle detection base station G to UWB coordinate base station B. S5-3. When UWB coordinate base station C sends a signal, UWB coordinate base station C records the time as GT 1C When the obstacle detection base station G sends a signal, the UWB coordinate base station C records the time as GT 2C When UWB coordinate base station C receives the signal from obstacle detection base station G, UWB coordinate base station C replies with a signal. When the reply signal is sent, UWB coordinate base station C records the time as GT 3C When the obstacle detection base station G receives the reply signal, the UWB coordinate base station C records the time as GT 4C , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station C In the formula, △GT C is the time difference between the obstacle detection base station G and the UWB coordinate base station C, By formula Calculate the clock difference △gt from the obstacle detection base station G to the UWB coordinate base station C C , where The distance from the obstacle detection base station G to the UWB coordinate base station C is manually measured; S5-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as GT 1D When the obstacle detection base station G sends a signal, the UWB coordinate base station D records the time as GT 2D When the UWB coordinate base station D receives the signal from the obstacle detection base station G, the UWB coordinate base station D replies with a signal. When the reply signal is sent, the UWB coordinate base station D records the time as GT 3D When the obstacle detection base station G receives the reply signal, the UWB coordinate base station D records the time as GT 4D , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station D In the formula, △GT D is the time difference between the obstacle detection base station G and the UWB coordinate base station D, By formula Calculate the clock difference △gt from obstacle detection base station G to UWB coordinate base station D D , where The distance from the obstacle detection base station G to the UWB coordinate base station D is manually measured.

[0056] The above calculation method takes into account the round trip time, where (GT 4i -GT1i )(i=A, B, C, D) is the total time from the transmitter to the receiver and back to the transmitter, (GT 3i -GT 2i )(i=A, B, C, D) is the time when the receiving end receives and replies to the signal. In one embodiment of the present invention, step S6 includes the following steps:

[0057] S6-1. By formula R′ A =R A -c*△gt A -c△et A Calculate the corrected distance R′ from tag F to UWB coordinate base station A A , where c is the speed of light.

[0058] S6-2. By formula R′ B =R B -c*△gt B -c△et B Calculate the corrected distance R′ from tag F to UWB coordinate base station B B .

[0059] S6-3. By formula R′ C =R C -c*△gt C -c△et C Calculate the corrected distance R′ from tag F to UWB coordinate base station C C .

[0060] S6-2. By formula R′ D =R D -c*△gt D -c△et D Calculate the corrected distance R′ from tag F to the UWB coordinate base station D D .

[0061] In one embodiment of the present invention, step S7 includes the following steps:

[0062] S7-1. Manually measure the distance from tag F to UWB coordinate base station A Manually measure the distance from tag F to UWB coordinate base station B Manually measure the distance from tag F to UWB coordinate base station C Manually measure the distance from tag F to UWB coordinate base station D S7-2. By formula The calculated X-axis coordinate of label F in the three-dimensional coordinate system is x new , where x oldis the X-axis coordinate of the center point of the rectangular plane where the indoor area is located, N is the number of iterations, a is the control parameter, and x is the X-axis coordinate of the tag F with the coordinate of the UWB coordinate base station A as the origin.

[0063] S7-3. By formula The Y-axis coordinate of label F in the three-dimensional coordinate system is calculated to be y new , where y old is the Y-axis coordinate of the center point of the rectangular plane where the indoor area is located, and y is the Y-axis coordinate of tag F with the coordinate of the UWB coordinate base station A as the origin.

[0064] S7-4. By formula The calculated Z-axis coordinate of label F in the three-dimensional coordinate system is z new , where z old is the Z-axis coordinate of the center point of the rectangular plane where the indoor area is located, and z is the Z-axis coordinate of the tag F with the coordinate of the UWB coordinate base station A as the origin. Finally, the position of the tag F in the three-dimensional coordinate system is obtained, F(x new ,y new ,z new ). In this embodiment, preferably, a has a value greater than 0 and less than 1.

[0065] In one embodiment of the present invention, the clock detection base station E is located 20 meters above the center point of the rectangular plane where the indoor area is located, and the obstacle detection base station G is located in a circular area with a radius of 5 meters and the coordinate point of the UWB coordinate base station A as the center.

[0066] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for improving the positioning accuracy of UWB in complex construction environments, characterized in that: include: S1. Deploy UWB coordinate base station A, UWB coordinate base station B, UWB coordinate base station C, and UWB coordinate base station D in a rectangular indoor area; S2. Deploy clock detection base station E and obstacle detection base station G in the indoor area; S3. Set tag F on the terminal device and calculate the distance R from tag F to UWB coordinate base station A A , calculate the distance R between tag F and UWB coordinate base station B B , calculate the distance R between tag F and UWB coordinate base station C C , calculate the distance R between tag F and UWB coordinate base station D D ; S4. Calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station A A , calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station B B , calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station C C , calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station D D ; S5. Calculate the clock difference Δgt from obstacle detection base station G to UWB coordinate base station A A , calculate the clock difference Δgt from obstacle detection base station G to UWB coordinate base station B B , calculate the clock difference Δgt from obstacle detection base station G to UWB coordinate base station C C , calculate the clock difference Δgt from obstacle detection base station G to UWB coordinate base station D D ; S6. Calculate the corrected distance R′ from tag F to UWB coordinate base station A A , calculate the corrected distance R′ between tag F and UWB coordinate base station B B , calculate the corrected distance R′ between tag F and UWB coordinate base station C C , calculate the corrected distance R′ between tag F and UWB coordinate base station D D ; S7. Calculate the X-axis coordinate of label F in the three-dimensional coordinate system as x new , the Y-axis coordinate is y new , Z axis coordinate is z new .

2. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 1, characterized in that: The X-axis coordinate of UWB base station A in the three-dimensional coordinate system is x a , the Y-axis coordinate is y a , Z axis coordinate is z a , the X-axis coordinate of UWB base station B in the three-dimensional coordinate system is x b , the Y-axis coordinate is y b , Z axis coordinate is z b , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is x c , the Y-axis coordinate is y c , Z axis coordinate is z c , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is x d , the Y-axis coordinate is y d , Z axis coordinate is z d .

3. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 1, characterized in that: The X-axis coordinate of the clock detection base station E in the three-dimensional coordinate system is x e , the Y-axis coordinate is y e , Z axis coordinate is z e , the X-axis coordinate of the obstacle detection base station G in the three-dimensional coordinate system is x g , the Y-axis coordinate is y g , Z axis coordinate is z g .

4. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 1, characterized in that: Step S3 includes the following steps: S3-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as T 1A , when tag F sends a signal, UWB coordinate base station A records the time as T 2A When UWB coordinate base station A receives the signal from tag F, it replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as T 3A When tag F receives the reply signal, UWB coordinate base station A records the time as T 4A , through the formula R A =c*ΔT A Calculate the distance R from tag F to UWB coordinate base station A A , where c is the speed of light, ΔT A is the time difference between tag F and UWB coordinate base station A, S3-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time as T 1B , when tag F sends a signal, UWB coordinate base station B records the time as T 2B When UWB coordinate base station B receives the signal from tag F, it replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as T 3B When tag F receives the reply signal, UWB coordinate base station B records the time as T 4B , through the formula R B =c*ΔT B Calculate the distance R from tag F to UWB coordinate base station B B , where ΔT B is the time difference between tag F and UWB coordinate base station B, S3-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as T 1C , when tag F sends a signal, the UWB coordinate base station C records the time as T 2C When the UWB coordinate base station C receives the signal from the tag F, the UWB coordinate base station C replies with a signal. When the reply signal is sent, the UWB coordinate base station C records the time as T 3C When tag F receives the reply signal, the UWB coordinate base station C records the time as T 4C , through the formula R C =c*ΔT C Calculate the distance R from tag F to UWB coordinate base station C C , where ΔT C is the time difference between tag F and UWB coordinate base station C, S3-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as T 1D , when tag F sends a signal, the UWB coordinate base station D records the time as T 2D When the UWB coordinate base station D receives the signal from the tag F, the UWB coordinate base station D replies with a signal. When the reply signal is sent, the UWB coordinate base station D records the time as T 3D When tag F receives the reply signal, UWB coordinate base station D records the time as T 4D , through the formula R D =c*ΔT D Calculate the distance R from tag F to UWB coordinate base station D D , where ΔT D is the time difference between tag F and UWB coordinate base station C, 5. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 3, characterized in that: Step S4 includes the following steps: S4-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as ET 1A , when the clock detection base station E sends a signal, the UWB coordinate base station A records the time as ET 2A When UWB coordinate base station A receives the signal from clock detection base station E, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as ET. 3A When the clock detection base station E receives the reply signal, the UWB coordinate base station A records the time as ET 4A , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station A Where, ΔET A is the time difference between the clock detection base station E and the UWB coordinate base station A, By formula Calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station A A , where The distance from the clock detection base station E to the UWB coordinate base station A is manually measured; S4-2. When the UWB coordinate base station B sends a signal, the UWB coordinate base station B records the time as ET 1B When the clock detection base station E sends a signal, the UWB coordinate base station B records the time as ET 2B When UWB coordinate base station B receives the signal from clock detection base station E, UWB coordinate base station B replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as ET. 3B When the clock detection base station E receives the reply signal, the UWB coordinate base station B records the time as ET 4B , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station B Where, ΔET B is the time difference between the clock detection base station E and the UWB coordinate base station B, By formula Calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station B B , where The distance from the clock detection base station E to the UWB coordinate base station B is measured manually; S4-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as ET 1C , when the clock detection base station E sends a signal, the UWB coordinate base station C records the time as ET 2C When UWB coordinate base station C receives the signal from clock detection base station E, UWB coordinate base station C replies with a signal. When the reply signal is sent, UWB coordinate base station C records the time as ET 3C When the clock detection base station E receives the reply signal, the UWB coordinate base station C records the time as ET 4C , through the formula Calculate the distance from the clock detection base station E to the UWB coordinate base station C Where, ΔET C is the time difference between the clock detection base station E and the UWB coordinate base station C, By formula Calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station C C , where The distance from the clock detection base station E to the UWB coordinate base station C is measured manually; S4-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as ET 1D When the clock detection base station E sends a signal, the UWB coordinate base station D records the time as ET 2D When UWB coordinate base station D receives the signal from clock detection base station E, UWB coordinate base station D replies with a signal. When the reply signal is sent, UWB coordinate base station D records the time as ET. 3D When the clock detection base station E receives the reply signal, the UWB coordinate base station D records the time as ET 4D , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station D Where, ΔET D is the time difference between the clock detection base station E and the UWB coordinate base station D, By formula Calculate the clock difference Δet from the clock detection base station E to the UWB coordinate base station D D , where The distance from the clock detection base station E to the UWB coordinate base station D is measured manually.

6. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 3, characterized in that: Step S5 includes the following steps: S5-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time as GT 1A When the obstacle detection base station G sends a signal, the UWB coordinate base station A records the time as GT 2A When UWB coordinate base station A receives the signal from obstacle detection base station G, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as GT 3A When the obstacle detection base station G receives the reply signal, the UWB coordinate base station A records the time as GT 4A , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station A In the formula, ΔGT A is the time difference between the obstacle detection base station G and the UWB coordinate base station A, By formula Calculate the clock difference Δgt from the obstacle detection base station G to the UWB coordinate base station A A , where The distance from the obstacle detection base station G to the UWB coordinate base station A is manually measured; S5-2. When the UWB coordinate base station B sends a signal, the UWB coordinate base station B records the time as GT 1B When the obstacle detection base station G sends a signal, the UWB coordinate base station B records the time as GT 2B When UWB coordinate base station B receives the signal from obstacle detection base station G, UWB coordinate base station B replies with a signal. When the reply signal is sent, UWB coordinate base station B records the time as GT 3B When the obstacle detection base station G receives the reply signal, the UWB coordinate base station B records the time as GT 4B , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station B In the formula, ΔGT B is the time difference between the obstacle detection base station G and the UWB coordinate base station B, By formula Calculate the clock difference Δgt from obstacle detection base station G to UWB coordinate base station B B , where The distance from the obstacle detection base station G to the UWB coordinate base station B is manually measured; S5-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time as GT 1C When the obstacle detection base station G sends a signal, the UWB coordinate base station C records the time as GT 2C When UWB coordinate base station C receives the signal from obstacle detection base station G, UWB coordinate base station C replies with a signal. When the reply signal is sent, UWB coordinate base station C records the time as GT 3C When the obstacle detection base station G receives the reply signal, the UWB coordinate base station C records the time as GT 4C , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station C In the formula, ΔGT C is the time difference between the obstacle detection base station G and the UWB coordinate base station C, By formula Calculate the clock difference Δgt from the obstacle detection base station G to the UWB coordinate base station C C , where The distance from the obstacle detection base station G to the UWB coordinate base station C is manually measured; S5-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time as GT 1D When the obstacle detection base station G sends a signal, the UWB coordinate base station D records the time as GT 2D When the UWB coordinate base station D receives the signal from the obstacle detection base station G, the UWB coordinate base station D replies with a signal. When the reply signal is sent, the UWB coordinate base station D records the time as GT 3D When the obstacle detection base station G receives the reply signal, the UWB coordinate base station D records the time as GT 4D , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station D In the formula, ΔGT D is the time difference between the obstacle detection base station G and the UWB coordinate base station D, By formula Calculate the clock difference Δgt from the obstacle detection base station G to the UWB coordinate base station D D , where The distance from the obstacle detection base station G to the UWB coordinate base station D is manually measured.

7. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 1, characterized in that: Step S6 includes the following steps: S6-1. By formula R′ A =R A -c*Δgt A -cΔet A Calculate the corrected distance R′ from tag F to UWB coordinate base station A A , where c is the speed of light; S6-2. By formula R′ B =R B -c*Δgt B -cΔet B Calculate the corrected distance R′ from tag F to UWB coordinate base station B B ; S6-3. By formula R′ C =R C -c*Δgt C -cΔet C Calculate the corrected distance R′ from tag F to UWB coordinate base station C C ; S6-2. By formula R′ D =R D -c*Δgt D -cΔet D Calculate the corrected distance R′ from tag F to the UWB coordinate base station D D .

8. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 2, characterized in that: Step S7 includes the following steps: S7-1. Manually measure the distance from tag F to UWB coordinate base station A Manually measure the distance from tag F to UWB coordinate base station B Manually measure the distance from tag F to UWB coordinate base station C Manually measure the distance from tag F to UWB coordinate base station D S7-2. By formula The calculated X-axis coordinate of label F in the three-dimensional coordinate system is x new , where x old is the X-axis coordinate of the center point of the rectangular plane where the indoor area is located, N is the number of iterations, a is the control parameter, and x is the X-axis coordinate of the tag F with the coordinate of the UWB coordinate base station A as the origin; S7-3. By formula The Y-axis coordinate of label F in the three-dimensional coordinate system is calculated to be y new , where y old is the Y-axis coordinate of the center point of the rectangular plane where the indoor area is located, and y is the Y-axis coordinate of the tag F with the coordinate of the UWB coordinate base station A as the origin; S7-4. By formula The calculated Z-axis coordinate of label F in the three-dimensional coordinate system is z new , where z old is the Z-axis coordinate of the center point of the rectangular plane where the indoor area is located, and z is the Z-axis coordinate of tag F with the coordinate of the UWB coordinate base station A as the origin.

9. The method for improving the positioning accuracy of UWB in complex construction environments according to claim 8, characterized in that: The value of a is greater than 0 and less than 1.

10. The method for improving UWB complex construction environment positioning accuracy according to claim 1, characterized in that: The clock detection base station E is located 20 meters above the center point of the rectangular plane where the indoor area is located, and the obstacle detection base station G is located in a circular area with a radius of 5 meters and the coordinate point where the UWB coordinate base station A is located as the center.

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