A method to improve UWB positioning accuracy in complex construction environments

Abstract

A method for improving UWB positioning accuracy in complex construction environments relates to the field of indoor positioning technology. By setting up at least four positioning base stations and two detection base stations, a DTOF-based UWB positioning algorithm is introduced, and a clock deviation calibration algorithm, an obstacle deviation calibration algorithm, a gradient descent optimization algorithm, etc. are introduced to reduce the factors of ranging and positioning inaccuracies caused by clock inconsistencies due to inconsistent startup times of positioning base station single-chip computers, and reduce the factors of ranging and positioning inaccuracies caused by factors such as cement, steel bars, and other building materials piled on the construction site and the base station electromagnetic wave penetration efficiency caused by multiple indoor walls.

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 complex construction environments. Background Art

[0002] When terminal devices in indoor environments need to locate their location, they typically use a UWB positioning system. In this system, the target (such as a person or object) to be located typically carries a positioning tag. These tags transmit pulse signals at a certain frequency and continuously measure the distance to a positioning base station at a known location. The positioning base station receives the signal from the tag and calculates the signal's time of flight to determine the distance between the tag and the base station. By working together, multiple base stations can accurately calculate the tag's location. However, due to the complex environment of construction sites, positioning accuracy can vary significantly. Summary of the Invention

[0003] In order to overcome the shortcomings 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 from tag F to UWB coordinate base station A , calculate the distance between tag F and UWB coordinate base station B , calculate the distance between tag F and UWB coordinate base station C , calculate the distance between tag F and UWB coordinate base station D ;

[0009] S4. Calculate the clock difference between the clock detection base station E and the UWB coordinate base station A , calculate the clock difference between the clock detection base station E and the UWB coordinate base station B , calculate the clock difference between the clock detection base station E and the UWB coordinate base station C , calculate the clock difference between the clock detection base station E and the UWB coordinate base station D ;

[0010] S5. Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station A , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station B , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station C , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station D ;

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

[0012] S7. Calculate the X-axis coordinate of label F in the three-dimensional coordinate system: , the Y-axis coordinate is , the Z-axis coordinate is .

[0013] Furthermore, the X-axis coordinate of the UWB base station A in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station B in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is .

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

[0015] Furthermore, 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 , when tag F sends a signal, the UWB coordinate base station A records the time as When UWB coordinate base station A receives the signal from tag F, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as , when tag F receives the reply signal, UWB coordinate base station A records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station A , where is the speed of light, is the time difference between tag F and UWB coordinate base station A, ;

[0017] S3-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when tag F sends a signal, the UWB coordinate base station B records the time as When the UWB coordinate base station B receives the signal from the tag F, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when tag F receives the reply signal, UWB coordinate base station B records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station B , where is the time difference between tag F and UWB coordinate base station B, ;

[0018] S3-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time , when tag F sends a signal, the UWB coordinate base station C records the time 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 , when tag F receives the reply signal, the UWB coordinate base station C records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station C , where is the time difference between tag F and UWB coordinate base station C, ;

[0019] S3-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time , when tag F sends a signal, the UWB coordinate base station D records the time 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 , when tag F receives the reply signal, the UWB coordinate base station D records the time , through the formula Calculate the distance between tag F and UWB coordinate base station D , where is the time difference between tag F and UWB coordinate base station C, .

[0020] Furthermore, step S4 includes the following steps:

[0021] S4-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time , when the clock detection base station E sends a signal, the UWB coordinate base station A records the time as 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 When the clock detection base station E receives the reply signal, the UWB coordinate base station A records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station A , where is the time difference between the clock detection base station E and the UWB coordinate base station A, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station A , where The distance from the clock detection base station E to the UWB coordinate base station A is measured manually;

[0022] S4-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when the clock detection base station E sends a signal, the UWB coordinate base station B records the time as When the UWB coordinate base station B receives the signal from the clock detection base station E, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when the clock detection base station E receives the reply signal, the UWB coordinate base station B records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station B , where is the time difference between the clock detection base station E and the UWB coordinate base station B, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station B , where The distance from the clock detection base station E to the UWB coordinate base station B is manually measured;

[0023] S4-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time , when the clock detection base station E sends a signal, the UWB coordinate base station C records the time as When the UWB coordinate base station C receives the signal from the clock detection base station E, 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 , when the clock detection base station E receives the reply signal, the UWB coordinate base station C records the time as , through the formula Calculate the distance from the clock detection base station E to the UWB coordinate base station C , where is the time difference between the clock detection base station E and the UWB coordinate base station C, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station C , where The distance from the clock detection base station E to the UWB coordinate base station C is measured manually;

[0024] S4-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time , when the clock detection base station E sends a signal, the UWB coordinate base station D records the time as When the UWB coordinate base station D receives the signal from the clock detection base station E, 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 , when the clock detection base station E receives the reply signal, the UWB coordinate base station D records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station D , where is the time difference between the clock detection base station E and the UWB coordinate base station D, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station D , where The distance from the clock detection base station E to the UWB coordinate base station D is manually measured.

[0025] Furthermore, step S5 includes the following steps:

[0026] S5-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station A records the time 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station A records the time , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station A , where is the time difference between the obstacle detection base station G and the UWB coordinate base station A, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station A , where The manually measured distance between the obstacle detection base station G and the UWB coordinate base station A;

[0027] S5-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station B records the time When the UWB coordinate base station B receives the signal from the obstacle detection base station G, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station B records the time , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station B , where is the time difference between the obstacle detection base station G and the UWB coordinate base station B, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station B , where The distance between the obstacle detection base station G and the UWB coordinate base station B is manually measured;

[0028] S5-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station C records the time When the UWB coordinate base station C receives the signal from the obstacle detection base station G, 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station C records the time , through the formula Calculate the distance from the obstacle detection base station G to the UWB coordinate base station C , where is the time difference between the obstacle detection base station G and the UWB coordinate base station C, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station C , where The distance between the obstacle detection base station G and the UWB coordinate base station C is manually measured;

[0029] S5-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station D records the time 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station D records the time , through the formula Calculate the distance from the obstacle detection base station G to the UWB coordinate base station D , where is the time difference between the obstacle detection base station G and the UWB coordinate base station D, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station D , where The distance from the obstacle detection base station G to the UWB coordinate base station D is manually measured.

[0030] Furthermore, step S6 includes the following steps:

[0031] S6-1. Through the formula Calculate the corrected distance from tag F to UWB coordinate base station A , where is the speed of light;

[0032] S6-2. Through the formula Calculate the corrected distance from tag F to UWB coordinate base station B ;

[0033] S6-3. Through the formula Calculate the corrected distance from tag F to the UWB coordinate base station C ;

[0034] S6-2. Through the formula Calculate the corrected distance from tag F to the UWB coordinate base station D .

[0035] Furthermore, step S7 includes the following steps:

[0036] S7-1. Manually measure the distance between tag F and 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 ;

[0037] S7-2. Through the formula The calculated X-axis coordinate of label F in the three-dimensional coordinate system is , where is the X-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the number of iterations, For the control parameters, is the X-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin;

[0038] S7-3. Through the formula The Y-axis coordinate of the label F in the three-dimensional coordinate system is calculated as follows: , where is the Y-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the Y-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin;

[0039] S7-4. Through the formula The calculated Z-axis coordinate of label F in the three-dimensional coordinate system is: , where is the Z-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the Z-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin.

[0040] Preferably, The value is greater than 0 and less than 1.

[0041] 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 of the UWB coordinate base station A as the center.

[0042] The beneficial effects of the present invention are: by setting up a minimum of four positioning base stations and two detection base stations, based on the existing DTOF (direct time of flight) UWB positioning algorithm, introducing clock deviation calibration algorithms, obstacle deviation calibration algorithms, gradient descent optimization algorithms, etc., it reduces the factors of ranging and positioning inaccuracies caused by clock inconsistencies caused by inconsistent startup times of positioning base station microcontrollers, and reduces the factors of ranging and positioning inaccuracies caused by factors such as the electromagnetic wave penetration efficiency of base stations caused by cement, steel bars, and other building materials piled on construction sites, as well as multiple walls indoors. This method can be used in other similar scenarios (such as mining, equipment maintenance, construction, etc.) BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 This is a flow chart of the positioning method of the present invention. DETAILED DESCRIPTION

[0044] The following is combined with Figure 1 The present invention is further described.

[0045] A method for improving UWB positioning accuracy in complex construction environments, comprising:

[0046] S1. Deploy UWB coordinate base stations A, B, C, and D in a rectangular indoor area.

[0047] S2. Deploy clock detection base station E and obstacle detection base station G in the indoor area. Obstacle detection base station G must be the shortest distance from UWB coordinate base station A and its distances from UWB coordinate base stations B, C, and D must not be unequal.

[0048] S3. Set tag F on the terminal device and calculate the distance from tag F to UWB coordinate base station A , calculate the distance between tag F and UWB coordinate base station B , calculate the distance between tag F and UWB coordinate base station C , calculate the distance between tag F and UWB coordinate base station D .

[0049] S4. Calculate the clock difference between the clock detection base station E and the UWB coordinate base station A , calculate the clock difference between the clock detection base station E and the UWB coordinate base station B , calculate the clock difference between the clock detection base station E and the UWB coordinate base station C , calculate the clock difference between the clock detection base station E and the UWB coordinate base station D .

[0050] S5. Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station A , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station B , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station C , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station D .

[0051] S6. Calculate the corrected distance from tag F to UWB coordinate base station A , calculate the corrected distance between tag F and UWB coordinate base station B , calculate the corrected distance between tag F and UWB coordinate base station C , calculate the corrected distance between tag F and UWB coordinate base station D .

[0052] S7. Calculate the X-axis coordinate of label F in the three-dimensional coordinate system: , the Y-axis coordinate is , the Z-axis coordinate is .

[0053] The core of this invention is to improve accuracy and reduce error by optimizing algorithms and introducing clock and obstacle calibration factors. By adding calibration base stations and introducing clock calibration algorithms, obstacle error algorithms, and gradient reduction optimization algorithms, it achieves improved precision positioning in complex indoor environments. This method offers the advantages of high accuracy, low error, simple implementation, and low upgrade costs.

[0054] 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 , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station B in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is .

[0055] 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 , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the obstacle detection base station G in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is .

[0056] In one embodiment of the present invention, step S3 includes the following steps:

[0057] S3-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time , when tag F sends a signal, the UWB coordinate base station A records the time as When UWB coordinate base station A receives the signal from tag F, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as , when tag F receives the reply signal, UWB coordinate base station A records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station A , where is the speed of light, is the time difference between tag F and UWB coordinate base station A, .

[0058] S3-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when tag F sends a signal, the UWB coordinate base station B records the time as When the UWB coordinate base station B receives the signal from the tag F, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when tag F receives the reply signal, UWB coordinate base station B records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station B , where is the time difference between tag F and UWB coordinate base station B, .

[0059] S3-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time , when tag F sends a signal, the UWB coordinate base station C records the time 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 , when tag F receives the reply signal, the UWB coordinate base station C records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station C , where is the time difference between tag F and UWB coordinate base station C, .

[0060] S3-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time , when tag F sends a signal, the UWB coordinate base station D records the time 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 , when tag F receives the reply signal, the UWB coordinate base station D records the time , through the formula Calculate the distance between tag F and UWB coordinate base station D , where is the time difference between tag F and UWB coordinate base station C, .

[0061] 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 clock deviation. Therefore, step S4 includes the following steps:

[0062] S4-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time , when the clock detection base station E sends a signal, the UWB coordinate base station A records the time as 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 When the clock detection base station E receives the reply signal, the UWB coordinate base station A records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station A , where 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 receiver. Therefore, the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station A , where The distance from the clock detection base station E to the UWB coordinate base station A is manually measured.

[0063] S4-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when the clock detection base station E sends a signal, the UWB coordinate base station B records the time as When the UWB coordinate base station B receives the signal from the clock detection base station E, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when the clock detection base station E receives the reply signal, the UWB coordinate base station B records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station B , where is the time difference between the clock detection base station E and the UWB coordinate base station B, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station B , where The distance from the clock detection base station E to the UWB coordinate base station B is manually measured.

[0064] S4-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time , when the clock detection base station E sends a signal, the UWB coordinate base station C records the time as When the UWB coordinate base station C receives the signal from the clock detection base station E, 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 , when the clock detection base station E receives the reply signal, the UWB coordinate base station C records the time as , through the formula Calculate the distance from the clock detection base station E to the UWB coordinate base station C , where is the time difference between the clock detection base station E and the UWB coordinate base station C, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station C , where The distance from the clock detection base station E to the UWB coordinate base station C is manually measured.

[0065] S4-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time , when the clock detection base station E sends a signal, the UWB coordinate base station D records the time as When the UWB coordinate base station D receives the signal from the clock detection base station E, 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 , when the clock detection base station E receives the reply signal, the UWB coordinate base station D records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station D , where is the time difference between the clock detection base station E and the UWB coordinate base station D, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station D , where The distance from the clock detection base station E to the UWB coordinate base station D is manually measured.

[0066] The above calculation method takes into account the round trip time, where is the total time from the transmitter to the receiver and back to the transmitter. It is the time it takes for the receiver to receive and reply to the signal.

[0067] In one embodiment of the present invention, in an ideal obstacle-free environment, accurate positioning can be achieved by removing the measurement error. However, in a real environment, obstacles will inevitably affect the positioning. In this case, an obstacle deviation calculation formula needs to be introduced to remove the obstacle measurement deviation. Specifically, step S5 includes the following steps:

[0068] S5-1. When UWB coordinate base station A sends a signal, UWB coordinate base station A records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station A records the time 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station A records the time , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station A , where is the time difference between the obstacle detection base station G and the UWB coordinate base station A, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station A , where The distance from the obstacle detection base station G to the UWB coordinate base station A is manually measured.

[0069] S5-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station B records the time When the UWB coordinate base station B receives the signal from the obstacle detection base station G, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station B records the time , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station B , where is the time difference between the obstacle detection base station G and the UWB coordinate base station B, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station B , where The distance from the obstacle detection base station G to the UWB coordinate base station B is manually measured.

[0070] S5-3. When the UWB coordinate base station C sends a signal, the UWB coordinate base station C records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station C records the time When the UWB coordinate base station C receives the signal from the obstacle detection base station G, 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station C records the time , through the formula Calculate the distance from the obstacle detection base station G to the UWB coordinate base station C , where is the time difference between the obstacle detection base station G and the UWB coordinate base station C, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station C , where The distance between the obstacle detection base station G and the UWB coordinate base station C is manually measured;

[0071] S5-4. When the UWB coordinate base station D sends a signal, the UWB coordinate base station D records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station D records the time 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station D records the time , through the formula Calculate the distance from the obstacle detection base station G to the UWB coordinate base station D , where is the time difference between the obstacle detection base station G and the UWB coordinate base station D, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station D , where The distance from the obstacle detection base station G to the UWB coordinate base station D is manually measured.

[0072] The above calculation method takes into account the round trip time, where is the total time from the transmitter to the receiver and back to the transmitter. It is the time it takes for the receiver to receive and reply to the signal.

[0073] In one embodiment of the present invention, step S6 includes the following steps:

[0074] S6-1. Through the formula Calculate the corrected distance from tag F to UWB coordinate base station A , where The speed of light.

[0075] S6-2. Through the formula Calculate the corrected distance from tag F to UWB coordinate base station B .

[0076] S6-3. Through the formula Calculate the corrected distance from tag F to the UWB coordinate base station C .

[0077] S6-2. Through the formula Calculate the corrected distance from tag F to the UWB coordinate base station D .

[0078] In one embodiment of the present invention, step S7 includes the following steps:

[0079] S7-1. Manually measure the distance between tag F and 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 .

[0080] S7-2. Through the formula The calculated X-axis coordinate of label F in the three-dimensional coordinate system is , where is the X-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the number of iterations, For the control parameters, is the X-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin.

[0081] S7-3. Through the formula The Y-axis coordinate of the label F in the three-dimensional coordinate system is calculated as follows: , where is the Y-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the Y-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin.

[0082] S7-4. Through the formula The calculated Z-axis coordinate of label F in the three-dimensional coordinate system is: , where is the Z-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the Z-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin. Finally, the position of tag F in the three-dimensional coordinate system is obtained. .

[0083] In this embodiment, preferably, The value is greater than 0 and less than 1.

[0084] 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.

[0085] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are 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 will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalents for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A method for improving UWB positioning accuracy 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 from tag F to UWB coordinate base station A , calculate the distance between tag F and UWB coordinate base station B , calculate the distance between tag F and UWB coordinate base station C , calculate the distance between tag F and UWB coordinate base station D ; S4. Calculate the clock difference between the clock detection base station E and the UWB coordinate base station A , calculate the clock difference between the clock detection base station E and the UWB coordinate base station B , calculate the clock difference between the clock detection base station E and the UWB coordinate base station C , calculate the clock difference between the clock detection base station E and the UWB coordinate base station D ; S5. Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station A , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station B , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station C , calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station D ; S6. Calculate the corrected distance from tag F to UWB coordinate base station A , calculate the corrected distance between tag F and UWB coordinate base station B , calculate the corrected distance between tag F and UWB coordinate base station C , calculate the corrected distance between tag F and UWB coordinate base station D ; S7. Calculate the X-axis coordinate of the label F in the three-dimensional coordinate system: , the Y-axis coordinate is , the Z-axis coordinate is ; Step S6 includes the following steps: S6-1. Through the formula Calculate the corrected distance from tag F to UWB coordinate base station A , where is the speed of light; S6-2. Through the formula Calculate the corrected distance from tag F to UWB coordinate base station B ; S6-3. Through the formula Calculate the corrected distance from tag F to the UWB coordinate base station C ; S6-2. Through the formula Calculate the corrected distance from tag F to the UWB coordinate base station D ; Step S7 includes the following steps: S7-1. Manually measure the distance between tag F and 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. Through the formula The calculated X-axis coordinate of label F in the three-dimensional coordinate system is , where is the X-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the number of iterations, is the control parameter, is the X-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin. The X-axis coordinate of UWB coordinate base station A in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station B in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is ; S7-3. Through the formula The Y-axis coordinate of the label F in the three-dimensional coordinate system is calculated as follows: , where is the Y-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the Y-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin; S7-4. Through the formula The calculated Z-axis coordinate of label F in the three-dimensional coordinate system is: , where is the Z-axis coordinate of the center point of the rectangular plane where the indoor area is located, is the Z-axis coordinate of tag F with the coordinate of UWB coordinate base station A as the origin.

2. The method for improving UWB positioning accuracy 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 , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station B in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station C in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the UWB base station D in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is .

3. The method for improving UWB positioning accuracy 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 , the Y-axis coordinate is , the Z-axis coordinate is , the X-axis coordinate of the obstacle detection base station G in the three-dimensional coordinate system is , the Y-axis coordinate is , the Z-axis coordinate is .

4. The method for improving UWB positioning accuracy 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 , when tag F sends a signal, the UWB coordinate base station A records the time as When UWB coordinate base station A receives the signal from tag F, UWB coordinate base station A replies with a signal. When the reply signal is sent, UWB coordinate base station A records the time as , when tag F receives the reply signal, UWB coordinate base station A records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station A , where is the speed of light, 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 , when tag F sends a signal, the UWB coordinate base station B records the time as When the UWB coordinate base station B receives the signal from the tag F, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when tag F receives the reply signal, UWB coordinate base station B records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station B , where 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 , when tag F sends a signal, the UWB coordinate base station C records the time 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 , when tag F receives the reply signal, the UWB coordinate base station C records the time as , through the formula Calculate the distance between tag F and UWB coordinate base station C , where 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 , when tag F sends a signal, the UWB coordinate base station D records the time 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 , when tag F receives the reply signal, the UWB coordinate base station D records the time , through the formula Calculate the distance between tag F and UWB coordinate base station D , where is the time difference between tag F and UWB coordinate base station C, .

5. The method for improving UWB positioning accuracy 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 , when the clock detection base station E sends a signal, the UWB coordinate base station A records the time as 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 When the clock detection base station E receives the reply signal, the UWB coordinate base station A records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station A , where is the time difference between the clock detection base station E and the UWB coordinate base station A, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station A , where The distance from the clock detection base station E to the UWB coordinate base station A is measured manually; S4-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when the clock detection base station E sends a signal, the UWB coordinate base station B records the time as When the UWB coordinate base station B receives the signal from the clock detection base station E, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when the clock detection base station E receives the reply signal, the UWB coordinate base station B records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station B , where is the time difference between the clock detection base station E and the UWB coordinate base station B, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station 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 , when the clock detection base station E sends a signal, the UWB coordinate base station C records the time as When the UWB coordinate base station C receives the signal from the clock detection base station E, 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 , when the clock detection base station E receives the reply signal, the UWB coordinate base station C records the time as , through the formula Calculate the distance from the clock detection base station E to the UWB coordinate base station C , where is the time difference between the clock detection base station E and the UWB coordinate base station C, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station 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 , when the clock detection base station E sends a signal, the UWB coordinate base station D records the time as When the UWB coordinate base station D receives the signal from the clock detection base station E, 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 , when the clock detection base station E receives the reply signal, the UWB coordinate base station D records the time as , through the formula Calculate the distance from clock detection base station E to UWB coordinate base station D , where is the time difference between the clock detection base station E and the UWB coordinate base station D, , through the formula Calculate the clock difference between the clock detection base station E and the UWB coordinate base station D , where The distance from the clock detection base station E to the UWB coordinate base station D is manually measured.

6. The method for improving UWB positioning accuracy 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 , when the obstacle detection base station G sends a signal, the UWB coordinate base station A records the time When the UWB coordinate base station A receives the signal from the obstacle detection base station G, the UWB coordinate base station A replies with a signal. When the reply signal is sent, the UWB coordinate base station A records the time as , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station A records the time , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station A , where is the time difference between the obstacle detection base station G and the UWB coordinate base station A, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station A , where The manually measured distance between the obstacle detection base station G and the UWB coordinate base station A; S5-2. When UWB coordinate base station B sends a signal, UWB coordinate base station B records the time , when the obstacle detection base station G sends a signal, the UWB coordinate base station B records the time When the UWB coordinate base station B receives the signal from the obstacle detection base station G, the UWB coordinate base station B replies with a signal. When the reply signal is sent, the UWB coordinate base station B records the time as , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station B records the time , through the formula Calculate the distance from obstacle detection base station G to UWB coordinate base station B , where is the time difference between the obstacle detection base station G and the UWB coordinate base station B, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station B , where The distance between the obstacle detection base station G and 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 , when the obstacle detection base station G sends a signal, the UWB coordinate base station C records the time When the UWB coordinate base station C receives the signal from the obstacle detection base station G, 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station C records the time , through the formula Calculate the distance from the obstacle detection base station G to the UWB coordinate base station C , where is the time difference between the obstacle detection base station G and the UWB coordinate base station C, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station C , where The distance between the obstacle detection base station G and 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 , when the obstacle detection base station G sends a signal, the UWB coordinate base station D records the time 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 , when the obstacle detection base station G receives the reply signal, the UWB coordinate base station D records the time , through the formula Calculate the distance from the obstacle detection base station G to the UWB coordinate base station D , where is the time difference between the obstacle detection base station G and the UWB coordinate base station D, , through the formula Calculate the clock difference between the obstacle detection base station G and the UWB coordinate base station 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 UWB positioning accuracy in complex construction environments according to claim 1, characterized in that: The value is greater than 0 and less than 1.

8. The method for improving UWB positioning accuracy in complex construction environments 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 of the UWB coordinate base station A as the center.

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