Positioning method and device, nonvolatile storage medium and computer equipment

Abstract

The invention discloses a positioning method and device, a nonvolatile storage medium and computer equipment. The method comprises the following steps: receiving ultra-wideband signals respectively sent by a plurality of ultra-wideband base stations; generating an initial calculation value of a current position coordinate of the to-be-positioned object according to the ultra-wideband signals sent by the plurality of ultra-wideband base stations; a calibration deviation value corresponding to the current position is obtained, and the calibration deviation value is determined through the calculated value of the position coordinates of the calibration position and the calibration value of the position coordinates of the calibration position; and determining a target calculation value of the current position coordinate according to the calibration deviation value and the initial calculation value of the current position coordinate. According to the invention, the technical problem of low positioning precision of the UWB technology using wave transmission for positioning under the interference of a large number of metal products is solved.

Description

Technical Field

[0001] The present invention relates to the field of positioning, and in particular to a positioning method, a positioning device, a non-volatile storage medium and a computer device. Background Art

[0002] With the continuous development of artificial intelligence technology, the application scenarios of unmanned equipment in indoor areas are also emerging in an endless stream. Indoor positioning technology is widely used in smart homes, shopping mall navigation, factory automation and other fields. At present, the main indoor positioning technologies include wireless signal positioning, infrared positioning, ultrasonic positioning, infrared light positioning, etc.

[0003] Among them, positioning using wave transmission is a common technology. The position of an object or person is calculated by sending a signal and receiving a reflected signal. Although wave transmission is real-time, the wave itself is easily affected by environmental factors. For example, when encountering obstructions such as walls and metal, it will affect the transmission of the signal and lead to inaccurate positioning. Although with the continuous upgrading of ultra-wideband technology (Ultra-Wideband technology, referred to as UWB), the positioning accuracy can reach the centimeter level in an ideal environment without any signal interference, but the actual application scenarios are often different. For example, in a factory environment, large equipment is made of metal. Therefore, in this scenario, the positioning accuracy of UWB technology will inevitably be further affected, thereby affecting the operation of unmanned equipment.

[0004] To address the above-mentioned problems, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide a positioning method, apparatus, non-volatile storage medium and computer equipment to at least solve the technical problem that the UWB technology using wave transmission for positioning has low positioning accuracy under the interference of a large number of metal products.

[0006] According to one aspect of an embodiment of the present invention, a positioning method is provided, comprising: receiving an ultra-wideband signal respectively transmitted by a plurality of ultra-wideband base stations; generating an initial calculated value of the current position coordinates of an object to be positioned according to the ultra-wideband signals respectively transmitted by the plurality of ultra-wideband base stations; obtaining a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by a calculated value of the position coordinates at a calibration position and a calibration value of the position coordinates at the calibration position; and determining a target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates.

[0007] Optionally, obtaining a calibration deviation value corresponding to the current position includes: receiving, at the calibration position, calibration signals respectively sent by multiple ultra-wideband base stations; generating a calculated value of the position coordinates at the calibration position according to the calibration signals respectively sent by the multiple ultra-wideband base stations; obtaining the calibration value of the position coordinates at the calibration position; and determining that the difference between the calculated value of the position coordinates at the calibration position and the calibrated value of the position coordinates at the calibration position is the calibration deviation value.

[0008] Optionally, obtaining the calibration value of the position coordinates at the calibration position includes: scanning a QR code located at the calibration position to obtain the calibration value of the position coordinates at the calibration position.

[0009] Optionally, based on the ultra-wideband signals respectively sent by multiple ultra-wideband base stations, an initial calculated value of the current position coordinates is generated, including: obtaining multiple historical coordinate calculation values ​​generated at multiple historical moments, wherein the multiple historical moments correspond one-to-one to the multiple historical coordinate calculation values; generating a basic calculated value of the current position coordinates based on the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations; and taking the average of the multiple historical coordinate calculation values ​​and the basic calculated value of the current position coordinates as the initial calculated value of the current position coordinates.

[0010] Optionally, the target calculated value of the current position coordinates is determined based on the calibration deviation value and the initial calculated value of the current position coordinates, including: obtaining the speed and acceleration of the object to be located when it reaches the current position coordinates; correcting the initial calculated value of the current position coordinates based on the speed and acceleration of the object to be located when it reaches the current position coordinates, and the deviation value, to obtain the target calculated value of the current position coordinates.

[0011] Optionally, the method also includes: when reaching the next calibration position, determining the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position; updating the calibration deviation value based on the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position.

[0012] Optionally, the number of the multiple ultra-wideband base stations is not less than 3.

[0013] According to another aspect of an embodiment of the present invention, a positioning device is also provided, including: a receiving module for receiving an ultra-wideband signal respectively sent by a plurality of ultra-wideband base stations; a generating module for generating an initial calculated value of the current position coordinates of the object to be positioned according to the ultra-wideband signals respectively sent by the plurality of ultra-wideband base stations; an acquiring module for acquiring a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by the calculated value of the position coordinates at the calibration position and the calibration value of the position coordinates at the calibration position; and a determining module for determining a target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates.

[0014] According to another aspect of an embodiment of the present invention, a non-volatile storage medium is provided. The non-volatile storage medium includes a stored program, wherein when the program is running, the device where the non-volatile storage medium is located is controlled to execute any one of the above positioning methods.

[0015] According to yet another aspect of an embodiment of the present invention, a computer device is provided. The computer device includes a processor, and the processor is used to run a program. When the program is run, any one of the above positioning methods is executed.

[0016] According to yet another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, any one of the above positioning methods is implemented.

[0017] In an embodiment of the present invention, a calibration deviation value generated based on a calibration position is used to correct the calculated value of the current position coordinates, by receiving ultra-wideband signals respectively sent by multiple ultra-wideband base stations; generating initial calculated values ​​of the current position coordinates of the object to be located according to the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations; obtaining a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by the calculated value of the position coordinates at the calibration position and the calibration value of the position coordinates at the calibration position; determining a target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates, thereby achieving the purpose of correcting the initial calculated value determined by the UWB technology to obtain the target calculated value, thereby achieving the technical effect of improving the accuracy of the coordinates obtained by the UWB technology, and further solving the technical problem that the positioning accuracy of the UWB technology using wave transmission for positioning is not high under the interference of a large number of metal products. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0019] Figure 1 A hardware structure block diagram of a computer terminal for implementing a positioning method is shown;

[0020] Figure 2 is a schematic diagram of a flow chart of a positioning method provided according to an embodiment of the present invention;

[0021] Figure 3 is a structural block diagram of a positioning device provided according to an embodiment of the present invention. DETAILED DESCRIPTION

[0022] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0023] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0024] According to an embodiment of the present invention, a positioning method embodiment is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0025] The method embodiment provided in the first embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a positioning method. Figure 1 As shown, the computer terminal 10 may include one or more (102a, 102b, ..., 102n are used to illustrate) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data. In addition, it may also include: a display, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the BUS bus), a network interface, a power supply and / or a camera. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown.

[0026] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuits". The data processing circuits may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. In addition, the data processing circuit may be a single independent processing module, or may be incorporated in whole or in part into any of the other components in the computer terminal 10. As described in the embodiments of the present application, the data processing circuit acts as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0027] The memory 104 can be used to store software programs and modules of application software, such as program instructions / data storage devices corresponding to the positioning method in the embodiment of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the positioning method of the above-mentioned application. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0028] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0029] Figure 2 is a flow chart of a positioning method according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0030] Step S202: receiving ultra-wideband signals respectively transmitted by a plurality of ultra-wideband base stations.

[0031] In this step, multiple UWB base stations can be deployed in the factory environment. These base stations will send ultra-wideband signals. The objects to be located (such as unmanned guided vehicles or drones) need to receive signals from these base stations. The quality of signal reception directly affects the accuracy of positioning.

[0032] Step S204: generating an initial calculated value of the current position coordinate of the object to be located according to the ultra-wideband signals respectively sent by the plurality of ultra-wideband base stations.

[0033] In this step, the signal received by the object to be located will contain arrival time or arrival time difference information. Using this information, the location of the device can be preliminarily calculated, that is, the initial calculated value of the current location coordinates of the object to be located can be obtained.

[0034] Step S206, obtaining a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by a calculated value of the position coordinate at the calibration position and a calibration value of the position coordinate at the calibration position.

[0035] In this step, since metal equipment in the factory environment may affect signal propagation, the calibration deviation value between the actual position and the calculated position can be determined first, and then during actual positioning, the calibration deviation value can be used to correct the initial calculated value obtained by positioning using UWB technology to obtain more accurate position coordinates. The calibration deviation value can be determined by the calculated value obtained by positioning using UWB technology at the calibration position, and the calibration value at the calibration position (i.e., the true position value at the calibration position).

[0036] Step S208, determining the target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates.

[0037] In this step, the calibration deviation value obtained in the previous step can be used to correct the initial calculated value obtained by positioning using the UWB technology. It should be noted that after the initial calculated value of the current position coordinates is corrected using the calibration deviation value, the initial calculated value of the corrected current position coordinates and the initial calculated value of the current position coordinates can be averaged to finally obtain the target calculated value of the current position coordinates.

[0038] Through the above steps, the purpose of correcting the initial calculated value determined by UWB technology to obtain the target calculated value can be achieved, thereby realizing the technical effect of improving the accuracy of the coordinates obtained by UWB technology, and further solving the technical problem that the UWB technology that uses wave transmission for positioning has low positioning accuracy under the interference of a large number of metal products.

[0039] As an optional embodiment, obtaining a calibration deviation value corresponding to the current position includes: receiving, at the calibration position, calibration signals respectively sent by multiple ultra-wideband base stations; generating a calculated value of the position coordinates at the calibration position according to the calibration signals respectively sent by the multiple ultra-wideband base stations; obtaining the calibration value of the position coordinates at the calibration position; and determining that the difference between the calculated value of the position coordinates at the calibration position and the calibrated value of the position coordinates at the calibration position is the calibration deviation value.

[0040] Optionally, the calibration position may be a special position that the object to be located passes through during its travel, and the calibration value of the position coordinates of the position is marked at the position, that is, the accurate coordinate value marked in advance is at the position. When the object to be located is at the calibration position, it can receive calibration signals sent by multiple ultra-wideband base stations. That is, the object to be located can receive signals from multiple ultra-wideband base stations at a known calibration position, and generate a calculated value of the position coordinates at the calibration position according to the calibration signals sent by the multiple ultra-wideband base stations. Then the object to be marked can obtain the calibration value of the position coordinates at the calibration position, wherein the calibration value is the coordinate value of the calibration position known in advance, and is the accurate coordinate value after measurement and calibration in advance. Finally, the object to be marked can determine that the difference between the calculated value of the position coordinates at the calibration position and the calibrated value of the position coordinates at the calibration position is the calibration deviation value, that is, the calculated value obtained by positioning using UWB technology is compared with the calibration value to obtain the difference between the two, that is, the calibration deviation value.

[0041] Through this optional embodiment, the calibration deviation value corresponding to the current position can be effectively obtained, so as to calibrate and optimize the ultra-wideband indoor positioning system. The acquisition of the calibration deviation value helps to improve the positioning accuracy and ensure that the indoor positioning system can provide more accurate position information.

[0042] It should be noted that, during the implementation process, factors such as signal interference and multipath effects may need to be considered to ensure the accuracy of the calibration deviation value. In addition, the stability and reliability of the calibration deviation value can be improved by measuring multiple times and taking the average value.

[0043] As an optional embodiment, obtaining the calibration value of the position coordinates at the calibration position includes: scanning a QR code located at the calibration position to obtain the calibration value of the position coordinates at the calibration position.

[0044] Optionally, a QR code can be placed at a known calibration position. This QR code contains the coordinate information of the calibration position. The QR code can be scanned by a scanning device set on the object to be located, and the coordinate information in the QR code can be read. This information is the calibration value of the position coordinates at the calibration position. The implementation process of this method is relatively simple. At the same time, the QR code can be conveniently placed at the calibration position for easy scanning and identification.

[0045] As an optional embodiment, generating an initial calculated value of the current position coordinates according to an ultra-wideband signal respectively sent by a plurality of ultra-wideband base stations includes: obtaining a plurality of historical coordinate calculated values ​​generated at a plurality of historical moments, wherein the plurality of historical moments correspond one-to-one to the plurality of historical coordinate calculated values; generating a basic calculated value of the current position coordinates according to the ultra-wideband signal respectively sent by the plurality of ultra-wideband base stations; and taking an average of the plurality of historical coordinate calculated values ​​and the basic calculated value of the current position coordinates as the initial calculated value of the current position coordinates.

[0046] Optionally, in order to ensure the accuracy of the data and reduce the error as much as possible, multiple historical coordinate calculation values ​​and the basic calculation value of the current position coordinate can be averaged to obtain the initial calculation value of the current position coordinate. It should be noted that during the movement of the object to be located, positioning is performed at a certain frequency. At this time, the position coordinate calculation values ​​generated by UWB technology at different time points (historical moments) in the past can be collected. These historical moments correspond to the corresponding historical coordinate calculation values ​​one by one to form a data set of historical coordinate calculation values. For example, the time interval between each two positioning can be 0.2 seconds, and 5 historical coordinate calculation values ​​obtained within the previous 1 second can be collected. Then, at the current moment, the ultra-wideband signals sent by multiple ultra-wideband base stations can be used to calculate the coordinate value of the current position through the positioning algorithm. This coordinate value is called the basic calculation value, which is a preliminary estimate based on the signal propagation characteristics and algorithm at the current moment. Finally, the collected multiple historical coordinate calculation values ​​and the current basic calculation value can be weighted averaged or simply averaged to obtain a comprehensive initial calculation value. This initial calculation value combines historical data and current data, and can more comprehensively reflect the coordinate information of the current position.

[0047] The advantage of this method is that it not only considers the signal characteristics at the current moment, but also combines historical data to improve the accuracy and stability of positioning. Historical data can help compensate for problems such as signal interference and multipath effects that may exist at the current moment, making the initial calculation value more reliable.

[0048] As an optional embodiment, the target calculated value of the current position coordinates is determined based on the calibration deviation value and the initial calculated value of the current position coordinates, including: obtaining the speed and acceleration of the object to be located when it reaches the current position coordinates; correcting the initial calculated value of the current position coordinates based on the speed and acceleration of the object to be located when it reaches the current position coordinates, and the deviation value, to obtain the target calculated value of the current position coordinates.

[0049] Optionally, when the initial calculated value of the current position coordinate is corrected based on the calibration deviation value, first, the speed and acceleration of the object to be located when it reaches the current position coordinate can be obtained. This information can be obtained by sensors, algorithms or other means. Then, the initial calculated value can be dynamically adjusted in combination with the speed and acceleration data obtained in real time to adapt to the deviation generated by the object during movement. Specifically, the distance moved by the object to be located per unit time can be added to the initial calculated value, wherein the distance moved by the object to be located per unit time can be obtained by multiplying the speed by the unit time, plus the product of the acceleration by the square of the unit time. After correction, the corrected coordinate value obtained is the target calculated value of the current position coordinate. This value is closer to the actual position of the object to be located, and can be used for applications such as navigation, positioning, and path planning. The advantage of this method is that it not only takes into account the signal characteristics and historical data at the current moment, but also combines the speed and acceleration information of the object to be located, thereby improving the accuracy and dynamics of positioning.

[0050] As an optional embodiment, the method also includes: when reaching the next calibration position, determining the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position; updating the calibration deviation value based on the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position.

[0051] Optionally, when the object to be located moves to the next known calibration position, the original calibration deviation value can be updated according to the next calibration position. First, it is necessary to calculate the calculated value at the next calibration position using the positioning algorithm based on the signal sent by the ultra-wideband base station at the position; then determine the calibration value pre-marked at the calibration position; then compare the calculated value at the next calibration position with the calibration value to obtain the difference between the two. This difference can be used as a new calibration deviation value, that is, the original calibration deviation value is updated. The advantage of this method is that it can dynamically update the calibration deviation value to adapt to environmental changes and changes in the performance of the positioning system. Through continuous correction and optimization, the accuracy and stability of the indoor positioning system can be improved.

[0052] As an optional embodiment, the number of multiple ultra-wideband base stations is not less than 3. In three-dimensional space, to determine the position of a point, at least three coordinate values ​​(X, Y, Z) are required. Three base stations can provide enough information to calculate these three coordinate values, thereby achieving accurate three-dimensional positioning. UWB positioning systems usually use triangulation (Trilateration) or time difference of arrival (Time Difference of Arrival, TDoA) technology to determine the position of the object to be located. These technologies require at least three base stations to measure the arrival time or arrival time difference of the signal. In addition, at least three base stations can provide a wider signal coverage range and reduce signal blind spots. This helps to ensure that the object to be located can receive signals from at least three base stations at any location indoors. Deploying at least three base stations can ensure that the ultra-wideband indoor positioning system can provide accurate, reliable and widely covered positioning services. This configuration helps to achieve efficient and accurate indoor positioning to meet the needs of different application scenarios.

[0053] As a specific embodiment, the above positioning method is implemented in a factory scenario. Three UWB base stations can be arranged in the factory environment (four base stations can be arranged depending on the specific scenario to further ensure the positioning accuracy), and QR codes can be arranged on the ground at fixed links of the assembly line. When unmanned equipment passes through this place, it can not only obtain coordinate information to correct its position coordinates, but also obtain other information, such as information on operations such as clamping, handling or unloading that need to be performed here.

[0054] It should be noted that, for the above-mentioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the present invention is not limited by the described action sequence, because according to the present invention, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present invention.

[0055] Through the description of the above implementation methods, those skilled in the art can clearly understand that the positioning method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0056] According to an embodiment of the present invention, a positioning device for implementing the above positioning method is also provided. Figure 3 is a structural block diagram of a positioning device provided according to an embodiment of the present invention, such as Figure 3 As shown, the positioning device includes: a receiving module 32, a generating module 34, an acquiring module 36 and a determining module 38. The positioning device is described below.

[0057] The receiving module 32 is used to receive ultra-wideband signals respectively sent by a plurality of ultra-wideband base stations.

[0058] The generating module 34 is connected to the receiving module 32 and is used to generate an initial calculated value of the current position coordinate of the object to be located according to the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations.

[0059] The acquisition module 36 is connected to the generation module 34 and is used to acquire a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by a calculated value of the position coordinate at the calibration position and a calibration value of the position coordinate at the calibration position.

[0060] The determination module 38 is connected to the acquisition module 36 and is used to determine the target calculated value of the current position coordinate according to the calibration deviation value and the initial calculated value of the current position coordinate.

[0061] It should be noted that the receiving module 32, generating module 34, acquiring module 36 and determining module 38 correspond to steps S202 to S208 in the embodiment, and the examples and application scenarios implemented by the multiple modules and the corresponding steps are the same, but are not limited to the contents disclosed in the above embodiment. It should be noted that the above modules, as part of the device, can be run in the computer terminal 10 provided in the embodiment.

[0062] An embodiment of the present invention may provide a computer device. Optionally, in this embodiment, the computer device may be located in at least one network device among multiple network devices of a computer network. The computer device includes a memory and a processor.

[0063] Among them, the memory can be used to store software programs and modules, such as program instructions / modules corresponding to the positioning method and device in the embodiments of the present invention. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory, that is, realizing the above-mentioned positioning method. The memory may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories can be connected to the computer terminal via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0064] The processor can call the information and application stored in the memory through the transmission device to perform the following steps: receive the ultra-wideband signals sent by multiple ultra-wideband base stations respectively; generate the initial calculated value of the current position coordinates of the object to be located according to the ultra-wideband signals sent by multiple ultra-wideband base stations respectively; obtain the calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by the calculated value of the position coordinates at the calibration position and the calibration value of the position coordinates at the calibration position; determine the target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates.

[0065] Optionally, obtaining a calibration deviation value corresponding to the current position includes: receiving, at the calibration position, calibration signals respectively sent by multiple ultra-wideband base stations; generating a calculated value of the position coordinates at the calibration position according to the calibration signals respectively sent by the multiple ultra-wideband base stations; obtaining the calibration value of the position coordinates at the calibration position; and determining that the difference between the calculated value of the position coordinates at the calibration position and the calibrated value of the position coordinates at the calibration position is the calibration deviation value.

[0066] Optionally, obtaining the calibration value of the position coordinates at the calibration position includes: scanning a QR code located at the calibration position to obtain the calibration value of the position coordinates at the calibration position.

[0067] Optionally, based on the ultra-wideband signals respectively sent by multiple ultra-wideband base stations, an initial calculated value of the current position coordinates is generated, including: obtaining multiple historical coordinate calculation values ​​generated at multiple historical moments, wherein the multiple historical moments correspond one-to-one to the multiple historical coordinate calculation values; generating a basic calculated value of the current position coordinates based on the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations; and taking the average of the multiple historical coordinate calculation values ​​and the basic calculated value of the current position coordinates as the initial calculated value of the current position coordinates.

[0068] Optionally, the target calculated value of the current position coordinates is determined based on the calibration deviation value and the initial calculated value of the current position coordinates, including: obtaining the speed and acceleration of the object to be located when it reaches the current position coordinates; correcting the initial calculated value of the current position coordinates based on the speed and acceleration of the object to be located when it reaches the current position coordinates, and the deviation value, to obtain the target calculated value of the current position coordinates.

[0069] Optionally, the method also includes: when reaching the next calibration position, determining the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position; updating the calibration deviation value based on the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position.

[0070] Optionally, the number of the multiple ultra-wideband base stations is not less than 3.

[0071] The embodiment of the present invention provides a positioning solution. The method adopts a calibration deviation value generated based on the calibration position to correct the calculated value of the current position coordinates, by receiving ultra-wideband signals respectively sent by multiple ultra-wideband base stations; generating the initial calculated value of the current position coordinates of the object to be positioned according to the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations; obtaining the calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by the calculated value of the position coordinates at the calibration position and the calibration value of the position coordinates at the calibration position; determining the target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates, achieving the purpose of correcting the initial calculated value determined by the UWB technology to obtain the target calculated value, thereby achieving the technical effect of improving the accuracy of the coordinates obtained by the UWB technology, and further solving the technical problem that the UWB technology that uses wave transmission for positioning has low positioning accuracy under the interference of a large number of metal products.

[0072] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing the hardware related to the terminal device through a program, and the program can be stored in a non-volatile storage medium, and the storage medium may include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0073] The embodiment of the present invention further provides a non-volatile storage medium. Optionally, in this embodiment, the non-volatile storage medium can be used to store the program code executed by the positioning method provided by the embodiment.

[0074] Optionally, in this embodiment, the non-volatile storage medium may be located in any computer terminal in a computer terminal group in a computer network, or in any mobile terminal in a mobile terminal group.

[0075] Optionally, in this embodiment, the non-volatile storage medium is configured to store program codes for executing the following steps: receiving ultra-wideband signals respectively sent by multiple ultra-wideband base stations; generating initial calculated values ​​of the current position coordinates of the object to be located according to the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations; obtaining a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by the calculated value of the position coordinates at the calibration position and the calibration value of the position coordinates at the calibration position; determining the target calculated value of the current position coordinates according to the calibration deviation value and the initial calculated value of the current position coordinates.

[0076] Optionally, obtaining a calibration deviation value corresponding to the current position includes: receiving, at the calibration position, calibration signals respectively sent by multiple ultra-wideband base stations; generating a calculated value of the position coordinates at the calibration position according to the calibration signals respectively sent by the multiple ultra-wideband base stations; obtaining the calibration value of the position coordinates at the calibration position; and determining that the difference between the calculated value of the position coordinates at the calibration position and the calibrated value of the position coordinates at the calibration position is the calibration deviation value.

[0077] Optionally, obtaining the calibration value of the position coordinates at the calibration position includes: scanning a QR code located at the calibration position to obtain the calibration value of the position coordinates at the calibration position.

[0078] Optionally, based on the ultra-wideband signals respectively sent by multiple ultra-wideband base stations, an initial calculated value of the current position coordinates is generated, including: obtaining multiple historical coordinate calculation values ​​generated at multiple historical moments, wherein the multiple historical moments correspond one-to-one to the multiple historical coordinate calculation values; generating a basic calculated value of the current position coordinates based on the ultra-wideband signals respectively sent by the multiple ultra-wideband base stations; and taking the average of the multiple historical coordinate calculation values ​​and the basic calculated value of the current position coordinates as the initial calculated value of the current position coordinates.

[0079] Optionally, the target calculated value of the current position coordinates is determined based on the calibration deviation value and the initial calculated value of the current position coordinates, including: obtaining the speed and acceleration of the object to be located when it reaches the current position coordinates; correcting the initial calculated value of the current position coordinates based on the speed and acceleration of the object to be located when it reaches the current position coordinates, and the deviation value, to obtain the target calculated value of the current position coordinates.

[0080] Optionally, the method also includes: when reaching the next calibration position, determining the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position; updating the calibration deviation value based on the calculated value of the position coordinates at the next calibration position and the calibrated value of the position coordinates at the next calibration position.

[0081] Optionally, the number of the multiple ultra-wideband base stations is not less than 3.

[0082] An embodiment of the present invention further provides a computer program product, including a computer program, which implements the steps of the positioning method in each embodiment of the present application when the computer program is executed by a processor.

[0083] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0084] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0085] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0086] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0087] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0088] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0089] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A positioning method, characterized in that: include: Receiving ultra-wideband signals respectively sent by a plurality of ultra-wideband base stations; Generating an initial calculated value of the current position coordinates of the object to be located according to the ultra-wideband signals respectively sent by the plurality of ultra-wideband base stations; Obtaining a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by a calculated value of a position coordinate at a calibration position and a calibration value of the position coordinate at the calibration position; A target calculated value of the current position coordinate is determined according to the calibration deviation value and the initial calculated value of the current position coordinate.

2. The method according to claim 1, characterized in that The obtaining of the calibration deviation value corresponding to the current position includes: At the calibration position, receiving calibration signals respectively sent by the plurality of ultra-wideband base stations; Generating a calculated value of the position coordinates at the calibration position according to the calibration signals respectively sent by the plurality of ultra-wideband base stations; Obtaining a calibration value of the position coordinates at the calibration position; The difference between the calculated value of the position coordinate at the calibration position and the calibration value of the position coordinate at the calibration position is determined as the calibration deviation value.

3. The method according to claim 2, characterized in that The obtaining of the calibration value of the position coordinate at the calibration position includes: Scan the two-dimensional code at the calibrated position to obtain the calibrated value of the position coordinates at the calibrated position.

4. The method according to claim 1, characterized in that The generating an initial calculated value of the current position coordinate according to the ultra-wideband signals respectively sent by the plurality of ultra-wideband base stations comprises: Acquire a plurality of historical coordinate calculation values ​​generated at a plurality of historical moments, respectively, wherein the plurality of historical moments correspond one to one with the plurality of historical coordinate calculation values; Generate a basic calculation value of the current position coordinates according to the ultra-wideband signals respectively sent by the plurality of ultra-wideband base stations; An average value of the plurality of historical coordinate calculation values ​​and the basic calculation value of the current position coordinate is used as an initial calculation value of the current position coordinate.

5. The method according to claim 1, characterized in that Determining a target calculated value of the current position coordinate according to the calibration deviation value and the initial calculated value of the current position coordinate includes: Obtaining the speed and acceleration of the object to be located when it reaches the current position coordinates; According to the speed and acceleration of the object to be positioned when it reaches the current position coordinates, and the deviation value, the initial calculated value of the current position coordinates is corrected to obtain the target calculated value of the current position coordinates.

6. The method according to any one of claims 1 to 5, characterized in that Also includes: When reaching the next calibration position, determining the calculated value of the position coordinates at the next calibration position and the calibration value of the position coordinates at the next calibration position; The calibration deviation value is updated according to the calculated value of the position coordinate at the next calibration position and the calibration value of the position coordinate at the next calibration position.

7. The method according to any one of claims 1 to 5, characterized in that The number of the multiple ultra-wideband base stations is not less than 3.

8. A positioning device, characterized in that: include: A receiving module, used for receiving ultra-wideband signals respectively sent by a plurality of ultra-wideband base stations; A generating module, configured to generate an initial calculated value of the current position coordinates of the object to be located according to the ultra-wideband signals respectively sent by the plurality of ultra-wideband base stations; An acquisition module, configured to acquire a calibration deviation value corresponding to the current position, wherein the calibration deviation value is determined by a calculated value of a position coordinate at a calibration position and a calibration value of the position coordinate at the calibration position; The determination module is used to determine the target calculated value of the current position coordinate according to the calibration deviation value and the initial calculated value of the current position coordinate.

9. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored program, wherein when the program is executed, the device where the non-volatile storage medium is located is controlled to execute the positioning method according to any one of claims 1 to 7.

10. A computer device, characterized in that: include: Memory and processor, The memory stores a computer program; The processor is used to execute the computer program stored in the memory, and when the computer program is run, the processor executes the positioning method according to any one of claims 1 to 7.

11. A computer program product comprising computer instructions, characterized in that: The computer instructions are executed by a processor to execute the positioning method described in any one of claims 1 to 7.

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