UWB fusion positioning method and device in underground pipe gallery chamber sub-scene

Abstract

The invention discloses a UWB fusion positioning method and device in underground pipe gallery chamber sub-scenes, and the method comprises the steps: selecting a fingerprint reference point according to the field environment of a pipe gallery, carrying out the channel estimation of a UWB signal, obtaining the channel pulse response of the UWB signal, carrying out the peak detection, storing a plurality of peak values with the maximum power in a vector, and enabling the peak values to serve as fingerprint information, storing the position coordinates and the fingerprint information of all the reference point locations as an RSS fingerprint database; acquiring a channel pulse response between the UWB base station and the terminal in real time, performing peak detection, and acquiring a fingerprint of the current terminal; traversing the RSS fingerprint database to find a fingerprint which is optimally matched with the fingerprint of the current terminal, and taking a corresponding position coordinate as an RSS fingerprint positioning result; and performing Kalman filtering fusion correction on the RSS fingerprint positioning result and the reserved TOA positioning result to obtain a final positioning result. The precision is effectively improved, the anti-interference performance is enhanced, the deployment management cost is reduced, and the universality of a positioning scheme is improved.

Description

Technical Field

[0001] The present invention belongs to the field of positioning technology, and specifically relates to a UWB fusion positioning method and device in an underground pipe gallery room segmentation scenario. Background Art

[0002] At present, indoor space has occupied an important proportion of people's lives. With the advent of the 5G era and the rise of the Internet of Things (IoT), the demand for indoor positioning has further increased.

[0003] In indoor positioning, accurate positioning of underground pipe corridors is a key point that needs to be solved urgently. Current indoor positioning solutions, such as Bluetooth, Wi-Fi, ultra-wideband and pseudo-satellite technology, face problems such as cost, accuracy and scalability during promotion and application, and are even more difficult to apply in pipe corridors with complex environments. Existing UWB-based indoor positioning methods have high positioning accuracy and can also specialize positioning solutions for narrow areas such as pipe corridors with many obstructions. However, they are still inevitably interfered by obstructions such as walls and bridges, which blocks the line of sight of UWB signals and seriously affects positioning accuracy and stability. Summary of the invention

[0004] In view of this, the purpose of the present invention is to propose a UWB fusion positioning method and device in an underground corridor indoor scene, so as to effectively improve the accuracy, enhance the anti-interference ability, reduce the deployment and management cost, and improve the versatility of the positioning solution.

[0005] Based on the above purpose, the present invention provides a UWB fusion positioning method in an underground pipe gallery room segmentation scenario, comprising:

[0006] The UWB device uses a bilateral two-way ranging algorithm to obtain the propagation time of the UWB signal between the terminal and the UWB base station; the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated according to the antenna feeder length of the indoor distributed system, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm, and the terminal coordinates calculated according to the TOA positioning algorithm are used as the TOA positioning result;

[0007] Select fingerprint reference points according to the on-site environment of the tunnel, perform channel estimation on the UWB signal, obtain the channel impulse response of the UWB signal, perform peak detection on the channel impulse response of the UWB signal, store several peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points as an RSS fingerprint database;

[0008] The channel impulse response between the UWB base station and the terminal is obtained in real time and the peak value is detected to obtain the fingerprint of the current terminal; the RSS fingerprint database is traversed to find the fingerprint that best matches the fingerprint of the current terminal, and the position coordinates corresponding to the best matching fingerprint are used as the RSS fingerprint positioning result;

[0009] The TOA positioning result is compared with the RSS fingerprint positioning result, and the TOA positioning result with the smallest difference with the RSS fingerprint positioning result is retained; the RSS fingerprint positioning result and the retained TOA positioning result are fused and corrected through Kalman filtering to obtain the final terminal positioning result.

[0010] As a preferred solution of the UWB fusion positioning method in the underground pipe gallery indoor distribution scenario, the topological structure of the indoor distribution system is:

[0011] A i :(P i ,L i ),1≤i≤N

[0012] Where N is the number of distributed antennas in the indoor system, P i is the location coordinate of the distributed antenna, L i is the feeder length from the distributed antenna to the UWB base station.

[0013] As the preferred solution for the UWB fusion positioning method in the underground corridor indoor distribution scenario, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated according to the antenna feeder length of the indoor distribution system, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm:

[0014] The UWB base station and the terminal of each indoor antenna are calculated by the bilateral two-way ranging algorithm to obtain a TOA, which is denoted as T prop ;

[0015] According to the topological structure of the indoor distribution system A i :(P i ,L i ), judge T prop The distributed antenna A n , satisfying L n ≤T prop ≤L n+1 ;

[0016] According to (T prop ,A n ) The one-dimensional coordinate X of the positioning terminal is obtained by solving the triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

[0017] As the optimal solution for the UWB fusion positioning method in the underground corridor room segmentation scenario, several peaks with the largest power are stored in a vector as fingerprint information, and the position coordinates and fingerprint information of all reference points are stored as the RSS fingerprint database:

[0018] The four peaks with the largest power are stored in the vector ρ = [ρ 1 ,ρ 2 ,ρ 3 ,ρ 4 ] as fingerprint information; the position coordinates X and fingerprint information ρ of all reference points are stored as RSS fingerprint database P DB .

[0019] As the preferred solution for the UWB fusion positioning method in the underground corridor indoor scene, the RSS fingerprint database is traversed to find the fingerprint that best matches the fingerprint of the current terminal:

[0020] Get the fingerprint of the current terminal UE , then traverse the fingerprint database P DB Find and UE The best matching fingerprint, that is, min{||ρ UE -ρ i ||},ρ i ∈P DB ; The position coordinate X corresponding to the best matching fingerprint ρ is used as the RSS fingerprint positioning result X RSS .

[0021] As a preferred solution of the UWB fusion positioning method in the underground corridor room segmentation scenario, the RSS fingerprint positioning result and the retained TOA positioning result are fused and corrected through Kalman filtering:

[0022] The fusion positioning state equation is:

[0023] X k =F k X k-1 +w k

[0024]

[0025] In the formula, X k-1 is the positioning result of the previous moment, X k is the current predicted positioning result, F k is the transfer matrix, is the transfer matrix transpose, P k-1 is the covariance of the positioning result at the previous moment, w k is an external Gaussian white noise, and satisfies w k ~(0,Qk );

[0026] The fusion positioning measurement equation is:

[0027]

[0028] In the formula, X UE is the TOA positioning result, X RSS is the RSS fingerprint positioning result, H k is the measurement matrix, v k is the measurement noise, and satisfies v k ~(0,R k );

[0029] Combined with the fusion positioning measurement equation, the formula for correcting the prediction result of the fusion positioning state equation is:

[0030]

[0031] x ′ k =x k +K g (Z k -H k X k )

[0032] P k ′ =(IK g H k ) k

[0033] In the formula, K g is the Kalman gain, X ′ k is the best estimate of the positioning coordinates, P k ′ is the covariance of the best estimate of the positioning result; I is the unit matrix.

[0034] The present invention also provides a UWB fusion positioning device in an underground pipe gallery room segmentation scenario, comprising:

[0035] The TOA positioning module is used to obtain the propagation time of the UWB signal between the terminal and the UWB base station by using the bilateral two-way ranging algorithm through the UWB device; according to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm, and the terminal coordinates calculated according to the TOA positioning algorithm are used as the TOA positioning result;

[0036] The fingerprint database construction module is used to select fingerprint reference points according to the on-site environment of the tunnel, perform channel estimation on the UWB signal, obtain the channel impulse response of the UWB signal, perform peak detection on the channel impulse response of the UWB signal, store several peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points as an RSS fingerprint database;

[0037] The RSS fingerprint positioning module is used to obtain the channel impulse response between the UWB base station and the terminal in real time and perform peak detection to obtain the fingerprint of the current terminal; traverse the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and use the position coordinates corresponding to the best matching fingerprint as the RSS fingerprint positioning result;

[0038] The positioning result fusion processing module is used to compare the TOA positioning result with the RSS fingerprint positioning result, retain the TOA positioning result with the smallest difference with the RSS fingerprint positioning result; and fuse and correct the RSS fingerprint positioning result and the retained TOA positioning result through Kalman filtering to obtain the final terminal positioning result.

[0039] As a preferred solution of the UWB fusion positioning device in the underground pipe gallery indoor distribution scenario, in the TOA positioning module, the topological structure of the indoor distribution system is:

[0040] A i :(P i ,L i ),1≤i≤N

[0041] Where N is the number of distributed antennas in the indoor system, P i is the location coordinate of the distributed antenna, L i is the feeder length from the distributed antenna to the UWB base station;

[0042] In the TOA positioning module:

[0043] The UWB base station and the terminal of each indoor antenna are calculated by the bilateral two-way ranging algorithm to obtain a TOA, which is denoted as T prop ;

[0044] According to the topological structure of the indoor distribution system A i :(P i ,L i ), judge T prop The distributed antenna A n , satisfying L n ≤T prop ≤L n+1 ;

[0045] According to (T prop ,An ) The one-dimensional coordinate X of the positioning terminal is obtained by solving the triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

[0046] As a preferred solution for the UWB fusion positioning device in the underground corridor room segmentation scenario, in the fingerprint database construction module:

[0047] The four peaks with the largest power are stored in the vector ρ = [ρ 1 ,ρ 2 ,ρ 3 ,ρ 4 ] as fingerprint information; the position coordinates X and fingerprint information ρ of all reference points are stored as RSS fingerprint database P DB ;

[0048] In the RSS fingerprint positioning module, in the process of traversing the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal:

[0049] Get the fingerprint of the current terminal UE , then traverse the fingerprint database P DB Find and UE The best matching fingerprint, that is, min{||ρ UE -ρ i ||},ρ i ∈P DB ; The position coordinate X corresponding to the best matching fingerprint ρ is used as the RSS fingerprint positioning result X RSS .

[0050] As a preferred solution of the UWB fusion positioning device in the underground pipe gallery room segmentation scenario, in the positioning result fusion processing module:

[0051] The fusion positioning state equation is:

[0052] X k =F k X k-1 +w k

[0053]

[0054] In the formula, X k-1 is the positioning result of the previous moment, X k is the current predicted positioning result, F k is the transfer matrix, is the transfer matrix transpose, P k-1 is the covariance of the positioning result at the previous moment, w kis an external Gaussian white noise, and satisfies w k ~(0,Q k );

[0055] The fusion positioning measurement equation is:

[0056]

[0057] In the formula, X UE is the TOA positioning result, X RSS is the RSS fingerprint positioning result, H k is the measurement matrix, v k is the measurement noise, and satisfies v k ~(0,R k );

[0058] Combined with the fusion positioning measurement equation, the formula for correcting the prediction result of the fusion positioning state equation is:

[0059]

[0060] X ′ k =X k +K g (Z k -H k X k )

[0061] P k ′ =(IK g H k ) k

[0062] In the formula, K g is the Kalman gain, X ′ k is the best estimate of the positioning coordinates, P k ′ is the covariance of the best estimate of the positioning result; I is the unit matrix.

[0063] From the above, it can be seen that the technical solution provided by the present invention performs indoor positioning on the basis of the existing passive indoor antennas in the corridor, without the need to redeploy the hardware environment on a large scale, while reducing the number of positioning base stations and significantly reducing the cost of system implementation; the positioning base stations of the present invention do not need to be dispersedly deployed in various places in the corridor, and can be centrally placed in the computer room, thereby reducing the cost of management and maintenance of the positioning system; through the fusion of UWB TOA positioning and UWB RSS fingerprint positioning, the amplitude and delay information of the UWB reference signal are fully utilized, and a more accurate fusion positioning algorithm is achieved; by combining UWB technology with a passive indoor system, the problem of signal obstruction by the complex environment of the corridor is overcome, ensuring that the LOS path between the UWB terminal and the base station exists in all parts of the corridor, thereby improving the accuracy and stability of UWB positioning; it can be flexibly adjusted according to the layout of the specific indoor environment, and effectively cope with various different corridor environments; it can be more conveniently combined with other positioning technologies for multi-source fusion positioning. In addition, thanks to the excellent scalability of the passive room system, it allows expansion without changing the existing positioning system to achieve a wider range of positioning coverage; base stations and other equipment can be centrally deployed and managed in computer rooms, etc., to protect equipment from various emergencies, so as to prevent the positioning system from failing due to emergencies and causing greater losses; it can provide accurate and fast corridor positioning, thereby assisting workers in avoiding risks and escaping, and ensuring safety in industrial scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] In order to more clearly illustrate the technical solutions in the present invention or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0065] Figure 1 A schematic diagram of a UWB fusion positioning method in an underground pipe gallery room segmentation scenario provided by an embodiment of the present invention;

[0066] Figure 2 An architecture diagram of a UWB fusion positioning device in an underground pipe gallery room segmentation scenario provided by an embodiment of the present invention;

[0067] Figure 3 FIG. 4 is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0068] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments and with reference to the accompanying drawings.

[0069] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present invention should have the usual meanings understood by people with ordinary skills in the field to which the present invention belongs. The words "include" or "comprise" and the like used in the embodiments of the present invention mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, but do not exclude other elements or objects.

[0070] The meanings of the abbreviations involved in the embodiments of the present invention are as follows:

[0071] UWB Ultra Wide Band;

[0072] DAS Distributed Antenna System Distributed Antenna System;

[0073] TOA Time of Arrival;

[0074] LOS Line of Sight;

[0075] RSS Received Signal Strength: The strength of the received signal;

[0076] DS-TWR Double-Sided Two-Way Ranging bilateral two-way ranging;

[0077] CIR Channel Impulse Response Channel impulse response.

[0078] Distributed antenna systems (DAS) have an absolute advantage in indoor communication coverage, showing great potential for integration with current indoor positioning technologies. At the same time, UWB technology, as a positioning technology with strong signal penetration, good anti-multipath performance, low power consumption, high security, simple system, and high positioning accuracy, has gradually become the mainstream choice for indoor positioning. However, the positioning accuracy of UWB technology is highly related to the line of sight (LOS) of the signal. Complex obstacles in the room often block the line of sight (LOS), which seriously affects the positioning accuracy of UWB technology in the room. Although the accuracy can be improved by increasing the number of UWB base stations, this will lead to a large increase in costs and is difficult to promote on a large scale. The indoor distributed system can overcome the various interferences caused by the indoor environment, and evenly distribute the signal to every corner of the room through indoor discrete antennas, thereby ensuring that the indoor area has ideal signal coverage. It also has the advantages of easy expansion and low cost. At present, the deployment of indoor distributed systems has been realized in most underground pipe corridors. Therefore, integrating UWB technology with the existing indoor distributed system has rich practical significance for the pain point of high-precision positioning of underground pipe corridors.

[0079] The existing UWB-based indoor positioning methods have high positioning accuracy and can also specialize positioning solutions for narrow areas such as pipe corridors with many obstructions. However, they are still inevitably interfered by obstructions such as walls and bridges, which blocks the LOS path of the UWB signal and seriously affects the positioning accuracy and stability. At the same time, most of the existing UWB positioning solutions improve the signal coverage of indoor environments such as pipe corridors by increasing the number of base stations, which further increases the cost and has poor scalability. At the same time, the scattered base stations also increase the management cost of the equipment invisibly. In recent years, 5G passive indoor distribution technology has become one of the mainstream solutions in indoor coverage construction, providing a strong basic support for the development of indoor positioning technology, and has been deployed in most underground pipe corridors. In addition, the excellent scalability of the indoor distribution system enables it to adapt to various narrow and changeable indoor environments. With the help of discrete indoor distribution antennas, the positioning signal can be effectively broadcast to various areas of the pipe corridor. UWB ranging technology is highly dependent on direct beam diameter. When combined with indoor distribution technology, it can maximize the guarantee that the LOS diameter can be stably present in all areas of the tunnel. It can effectively control costs while ensuring high-precision positioning of UWB technology, and has great potential.

[0080] In view of this, the embodiment of the present invention proposes a UWB fusion positioning method and device in the underground pipe gallery room segmentation scenario to effectively improve positioning accuracy, enhance anti-interference, reduce deployment management costs and improve the versatility of positioning solutions. The following is the specific content of the embodiment of the present invention.

[0081] See also Figure 1 The embodiment of the present invention provides a UWB fusion positioning method in an underground pipe gallery room segmentation scenario, comprising the following steps:

[0082] S1. The UWB device uses a bilateral two-way ranging algorithm to obtain the propagation time of the UWB signal between the terminal and the UWB base station; according to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm, and the terminal coordinates calculated according to the TOA positioning algorithm are used as the TOA positioning result;

[0083] S2. Select fingerprint reference points according to the on-site environment of the tunnel, perform channel estimation on the UWB signal, obtain the channel impulse response of the UWB signal, perform peak detection on the channel impulse response of the UWB signal, store several peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points as an RSS fingerprint database;

[0084] S3, real-time acquisition of the channel impulse response between the UWB base station and the terminal and peak detection, to obtain the fingerprint of the current terminal; traverse the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and use the position coordinates corresponding to the best matching fingerprint as the RSS fingerprint positioning result;

[0085] S4. Compare the TOA positioning result with the RSS fingerprint positioning result, and retain the TOA positioning result with the smallest difference with the RSS fingerprint positioning result; fuse and correct the RSS fingerprint positioning result and the retained TOA positioning result through Kalman filtering to obtain the final terminal positioning result.

[0086] In this embodiment, in step S1, first, the UWB device obtains the propagation time T of the UWB signal between the terminal and the base station through the double-sided two-way ranging algorithm (DS-TWR). prop , namely TOA. Then, according to the antenna feeder length of the indoor distributed system, the transmitting antenna to which TOA belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm. The indoor distributed UWB TOA positioning overcomes the defect of indoor environment blocking the LOS path. At the same time, the distributed indoor antenna is used to increase the number of wireless signal transmission points, effectively reducing the number of base stations that need to be deployed.

[0087] Specifically, the indoor distributed system is composed of a series of discrete distributed antennas connected to the same base station. The location of the indoor distributed system antenna deployment and the feeder length between the indoor distributed system and the positioning base station together constitute the topological structure of the indoor distributed system. The topological structure of the indoor distributed system in the present invention can be recorded as A i :(P i ,L i ), 1≤i≤N, where N is the number of distributed antennas in the indoor distributed system, P i is the location coordinate of the distributed antenna, L i is the feeder length of the distributed antenna from the UWB positioning base station. In order to maximize the signal coverage effect of the indoor distributed system, P i The distribution of P should be as uniform as possible. In the tunnel area with more obstructions, the adjacent P i To increase the distinction between signals from different room antennas, the adjacent L i The difference should be appropriately greater than P i The distance between them should be 20%.

[0088] Among them, according to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm:

[0089] The UWB base station and the terminal of each indoor antenna are calculated by the bilateral two-way ranging algorithm to obtain a TOA, which is denoted as T prop ;

[0090] According to the topological structure of the indoor distribution system A i :(P i ,L i ), judge T prop The distributed antenna A n , satisfying L n ≤T prop ≤L n+1 ;

[0091] According to (T prop ,A n ) The one-dimensional coordinate X of the positioning terminal is obtained by solving the triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

[0092] Specifically, due to the different number of indoor distributed systems deployed in the pipe gallery, X UE It may not be unique, that is, there are at most two results for one-dimensional coordinates: X UE1 , X UE2 , and will be screened in combination with the UWB RSS fingerprint algorithm later.

[0093] When using a single UWB technology, the RSS characteristics of the indoor environment are single, and the intensity information at different locations is very similar. The integration of the indoor distribution system and UWB technology can effectively increase the wireless transmission points of the UWB signal, and after the complex reflection and refraction of the tunnel space, it provides rich RSS characteristics for fingerprint positioning and provides reliable fingerprint positioning effect.

[0094] In this embodiment, in step S2, first, fingerprint reference points are selected according to the on-site environment of the pipe gallery. The selection density of reference points is appropriately increased in complex environments, and the selection is as uniform as possible. In order to make full use of the rich multipath RSS information after accessing the indoor distributed system, the UWB signal is estimated to obtain the UWB channel impulse response (CIR). Then, the CIR is peak detected and the four peaks with the largest power are stored in the vector ρ=[ρ 1 ,ρ 2 ,ρ 3 ,ρ 4 The position coordinates X and fingerprint information ρ of all reference points are stored as the RSS fingerprint database ρ DB .

[0095] In this embodiment, in step S3, in UWB RSS fingerprint positioning, the CIR between the UWB base station and the terminal is obtained in real time and peak detection is performed to obtain the fingerprint of the current mobile terminal. UE , then traverse the fingerprint database P DB Find and UE The best matching fingerprint, that is, min{||ρ UE -ρ i ||},ρ i ∈Ρ DB The position coordinate X corresponding to the best matching fingerprint ρ is the result of UWB fingerprint positioning X RSS .

[0096] In this embodiment, in step S4, the results of TOA positioning and RSS fingerprint positioning are fused, which can fully utilize the power and delay of UWB positioning signals and significantly increase the reliability of tunnel positioning. The coordinates of TOA positioning and RSS fingerprint positioning are used as two-dimensional observation information, and the fusion positioning algorithm is realized with the help of Kalman filter.

[0097] Specifically, the result of UWB TOA positioning is X UE1 , X UE2 Results of UWB RSS fingerprint positioning X RSS Compare and keep RSS The positioning result with the smallest difference X UE If the gap between the TOA positioning result and the RSS fingerprint positioning result is too large, it means that the current positioning information is unreliable. Pre Replace the current terminal position X UE .

[0098] Among them, the fusion positioning algorithm based on Kalman filtering is mainly divided into three main processes: prediction, measurement and correction. The prediction process is determined by the state equation, the measurement equation gives the data observation part, and then the measured results are used in combination with the Kalman gain to correct the prediction, so as to obtain the optimal position estimate.

[0099] Specifically, the fusion positioning state equation is:

[0100] X k =F k X k-1 +w k

[0101]

[0102] In the formula, X k-1 is the positioning result of the previous moment, X k is the current predicted positioning result, F kis the transfer matrix, is the transfer matrix transpose, P k-1 is the covariance of the positioning result at the previous moment, w k is an external Gaussian white noise, and satisfies w k ~(0,Q k );

[0103] Specifically, the fusion positioning measurement equation is:

[0104]

[0105] In the formula, X UE is the TOA positioning result, X RSS is the RSS fingerprint positioning result, H k is the measurement matrix, v k is the measurement noise, and satisfies v k ~(0,R k );

[0106] Specifically, combined with the fusion positioning measurement equation, the formula for correcting the prediction result of the fusion positioning state equation is:

[0107]

[0108] X ′ k =X k +K g (Z k -H k X k )

[0109] P k ′ =(IK g H k ) k

[0110] In the formula, K g is the Kalman gain, X ′ k is the best estimate of the positioning coordinates, P k ′ is the covariance of the best estimate of the positioning result; I is the unit matrix. After real-time correction by Kalman filtering, the two positioning results of UWB TOA positioning based on room division and UWB RSS fingerprint positioning can be effectively combined to achieve a multi-source fusion positioning technology with higher accuracy and stronger stability.

[0111] In a possible embodiment, the embodiment of the present invention can be applied to automated mine operations, and can accurately locate equipment in narrow and long indoor areas, such as mines, and remote control of automated equipment can be achieved using UWB communication. Therefore, combined with automated robots, automated operations in underground mines can be achieved, reducing the risk of injury to personnel.

[0112] In a possible embodiment, a deep learning algorithm is introduced on the basis of the present invention to train and learn the UWB signal characteristics in different pipe corridor environments and different indoor distribution systems, which can more accurately extract and analyze the UWB fingerprint information and further enhance the accuracy and stability of the UWB RSS fingerprint positioning algorithm.

[0113] In summary, the embodiment of the present invention uses a bilateral two-way ranging algorithm through a UWB device to obtain the propagation time of the UWB signal between the terminal and the UWB base station; according to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm, and the terminal coordinates calculated according to the TOA positioning algorithm are used as the TOA positioning result; the fingerprint reference point is selected according to the on-site environment of the tunnel, the channel estimation of the UWB signal is performed, the channel impulse response of the UWB signal is obtained, the channel impulse response of the UWB signal is peak detected, and several peaks with the largest power are stored in a vector as fingerprint information, The position coordinates and fingerprint information of all reference points are stored as an RSS fingerprint database; the channel impulse response between the UWB base station and the terminal is obtained in real time and peak detection is performed to obtain the fingerprint of the current terminal; the RSS fingerprint database is traversed to find the fingerprint that best matches the fingerprint of the current terminal, and the position coordinates corresponding to the best matching fingerprint are used as the RSS fingerprint positioning result; the TOA positioning result is compared with the RSS fingerprint positioning result, and the TOA positioning result with the smallest difference with the RSS fingerprint positioning result is retained; the RSS fingerprint positioning result and the retained TOA positioning result are fused and corrected through Kalman filtering to obtain the final terminal positioning result. The present invention performs indoor positioning on the basis of the existing passive indoor antennas in the tunnel, without the need to redeploy the hardware environment on a large scale, while reducing the number of positioning base stations and significantly reducing the cost of system implementation; the positioning base stations of the present invention do not need to be dispersedly deployed in various places in the tunnel, and can be centrally placed in the machine room, thereby reducing the cost of management and maintenance of the positioning system; through the fusion of UWB TOA positioning and UWB RSS fingerprint positioning, the amplitude and delay information of the UWB reference signal are fully utilized, and a more accurate fusion positioning algorithm is realized; by combining UWB technology with the passive indoor system, the problem of signal shielding in the complex environment of the tunnel is overcome, ensuring that the LOS path between the UWB terminal and the base station exists in various places in the tunnel, thereby improving the accuracy and stability of UWB positioning; it can be flexibly adjusted according to the layout of the specific indoor environment, effectively coping with various tunnel environments; it can be more conveniently combined with other positioning technologies to perform multi-source fusion positioning. In addition, thanks to the excellent scalability of the passive room system, it allows expansion without changing the existing positioning system to achieve a wider range of positioning coverage; base stations and other equipment can be centrally deployed and managed in computer rooms, etc., to protect equipment from various emergencies, so as to prevent the positioning system from failing due to emergencies and causing greater losses; it can provide accurate and fast corridor positioning, thereby assisting workers in avoiding risks and escaping, and ensuring safety in industrial scenarios.

[0114] It should be noted that the method of the embodiment of the present invention can be performed by a single device, such as a computer or a server. The method of this embodiment can also be applied in a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present invention, and the multiple devices will interact with each other to complete the described method.

[0115] It should be noted that some embodiments of the present invention are described above. In some cases, the actions or steps recorded can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the process depicted in the accompanying drawings does not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0116] See also Figure 2 Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the embodiment of the present invention further provides a UWB fusion positioning device in an underground pipe gallery room segmentation scenario, including:

[0117] The TOA positioning module 100 is used to obtain the propagation time of the UWB signal between the terminal and the UWB base station by using the bilateral two-way ranging algorithm through the UWB device; calculate the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs according to the antenna feeder length of the indoor distributed system, and then calculate the coordinates of the terminal according to the TOA positioning algorithm, and use the terminal coordinates calculated according to the TOA positioning algorithm as the TOA positioning result;

[0118] The fingerprint database construction module 200 is used to select fingerprint reference points according to the on-site environment of the pipe gallery, perform channel estimation on the UWB signal, obtain the channel impulse response of the UWB signal, perform peak detection on the channel impulse response of the UWB signal, store several peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points as an RSS fingerprint database;

[0119] The RSS fingerprint positioning module 300 is used to obtain the channel impulse response between the UWB base station and the terminal in real time and perform peak detection to obtain the fingerprint of the current terminal; traverse the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and use the position coordinates corresponding to the best matching fingerprint as the RSS fingerprint positioning result;

[0120] The positioning result fusion processing module 400 is used to compare the TOA positioning result with the RSS fingerprint positioning result, retain the TOA positioning result with the smallest difference with the RSS fingerprint positioning result; and fuse and correct the RSS fingerprint positioning result and the retained TOA positioning result through Kalman filtering to obtain the final terminal positioning result.

[0121] In this embodiment, in the TOA positioning module 100, the topological structure of the room distribution system is:

[0122] A i :(P i ,L i ),1≤i≤N

[0123] Where N is the number of distributed antennas in the indoor system, P i is the location coordinate of the distributed antenna, L i is the feeder length from the distributed antenna to the UWB base station;

[0124] In the TOA positioning module 100:

[0125] The UWB base station and the terminal of each indoor antenna are calculated by the bilateral two-way ranging algorithm to obtain a TOA, which is denoted as T prop ;

[0126] According to the topological structure of the indoor distribution system A i :(P i ,L i ), judge T prop The distributed antenna A n , satisfying L n ≤T prop ≤L n+1 ;

[0127] According to (T prop ,A n ) The one-dimensional coordinate X of the positioning terminal is obtained by solving the triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

[0128] In this embodiment, in the fingerprint database construction module 200:

[0129] The four peaks with the largest power are stored in the vector ρ = [ρ 1 ,ρ 2 ,ρ 3 ,ρ 4 ] as fingerprint information; the position coordinates X and fingerprint information ρ of all reference points are stored as RSS fingerprint database PDB ;

[0130] In the RSS fingerprint positioning module 300, in the process of traversing the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal:

[0131] Get the fingerprint of the current terminal UE , then traverse the fingerprint database P DB Find and UE The best matching fingerprint, that is, min{||ρ UE -ρ i ||},ρ i ∈P DB ; The position coordinate X corresponding to the best matching fingerprint ρ is used as the RSS fingerprint positioning result X RSS .

[0132] In this embodiment, in the positioning result fusion processing module 400:

[0133] The fusion positioning state equation is:

[0134] X k =F k X k-1 +w k

[0135]

[0136] In the formula, X k-1 is the positioning result of the previous moment, X k is the current predicted positioning result, F k is the transfer matrix, is the transfer matrix transpose, P k-1 is the covariance of the positioning result at the previous moment, w k is an external Gaussian white noise, and satisfies w k ~(0,Q k );

[0137] The fusion positioning measurement equation is:

[0138]

[0139] In the formula, X UE is the TOA positioning result, X RSS is the RSS fingerprint positioning result, H k is the measurement matrix, v k is the measurement noise, and satisfies v k ~(0,R k );

[0140] Combined with the fusion positioning measurement equation, the formula for correcting the prediction result of the fusion positioning state equation is:

[0141]

[0142] X ′ k =X k +K g (Z k -H k X k )

[0143] P k ′ =(IK g H k ) k

[0144] In the formula, K g is the Kalman gain, X ′ k is the best estimate of the positioning coordinates, P k ′ is the covariance of the best estimate of the positioning result; I is the unit matrix.

[0145] The device of the above embodiment is used to implement a corresponding UWB fusion positioning method in an underground corridor room segmentation scenario in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0146] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and run on the processor. When the processor executes the program, the UWB fusion positioning method in the underground corridor room segmentation scenario described in any of the above embodiments is implemented.

[0147] Figure 3 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 510, a memory 520, an input / output interface 530, a communication interface 540, and a bus 550. The processor 510, the memory 520, the input / output interface 530, and the communication interface 540 are connected to each other in communication within the device through the bus 550.

[0148] The processor 510 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0149] The memory 520 can be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 520 can store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 520 and are called and executed by the processor 510.

[0150] The input / output interface 530 is used to connect the input / output module to realize information input and output. The input / output module can be configured as a component in the device (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0151] The communication interface 540 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0152] The bus 550 comprises a pathway that transmits information between the various components of the device (eg, the processor 510 , the memory 520 , the input / output interface 530 , and the communication interface 540 ).

[0153] It should be noted that, although the above device only shows the processor 510, the memory 520, the input / output interface 530, the communication interface 540 and the bus 550, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0154] The electronic device of the above embodiment is used to implement a corresponding UWB fusion positioning method in an underground corridor room segmentation scenario in any of the above embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0155] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present invention also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute a UWB fusion positioning method in an underground corridor room segmentation scenario as described in any of the above embodiments.

[0156] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0157] The computer instructions stored in the storage medium of the above embodiment are used to enable the computer to execute a UWB fusion positioning method in an underground corridor room segmentation scenario as described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0158] Those skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present invention is limited to these examples. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of the embodiments of the present invention as described above, which are not provided in detail for the sake of simplicity.

[0159] In addition, to simplify the description and discussion, and in order not to obscure the embodiments of the present invention, known power / ground connections to integrated circuit (IC) chips and other components may or may not be shown in the provided figures. In addition, the devices may be shown in the form of block diagrams to avoid obscuring the embodiments of the present invention, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform on which the embodiments of the present invention will be implemented (i.e., these details should be fully within the scope of understanding of those skilled in the art). Where specific details (e.g., circuits) are set forth to describe exemplary embodiments of the present invention, it will be apparent to those skilled in the art that embodiments of the present invention may be implemented without these specific details or with variations in these specific details. Therefore, these descriptions should be considered illustrative rather than restrictive.

[0160] Although the present invention has been described in conjunction with specific embodiments of the present invention, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0161] The embodiments of the present invention are intended to cover all such substitutions, modifications and variations that fall within the scope of the protection claimed. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present invention should be included in the protection scope of the present invention.

Claims

1. A UWB fusion positioning method in underground pipe gallery room segmentation scenario, wherein: include: The UWB device uses a bilateral two-way ranging algorithm to obtain the propagation time of the UWB signal between the terminal and the UWB base station; According to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm, and the terminal coordinates calculated according to the TOA positioning algorithm are used as the TOA positioning result; Select fingerprint reference points according to the on-site environment of the tunnel, perform channel estimation on the UWB signal, obtain the channel impulse response of the UWB signal, perform peak detection on the channel impulse response of the UWB signal, store several peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points as an RSS fingerprint database; The channel impulse response between the UWB base station and the terminal is obtained in real time and the peak value is detected to obtain the fingerprint of the current terminal; the RSS fingerprint database is traversed to find the fingerprint that best matches the fingerprint of the current terminal, and the position coordinates corresponding to the best matching fingerprint are used as the RSS fingerprint positioning result; The TOA positioning result is compared with the RSS fingerprint positioning result, and the TOA positioning result with the smallest difference with the RSS fingerprint positioning result is retained; the RSS fingerprint positioning result and the retained TOA positioning result are fused and corrected through Kalman filtering to obtain the final terminal positioning result.

2. According to the UWB fusion positioning method in the underground corridor room segmentation scenario of claim 1, wherein: The topological structure of the room distribution system is: A i :(P i ,L i ),1≤i≤N Where N is the number of distributed antennas in the indoor system, P i is the location coordinate of the distributed antenna, L i is the feeder length from the distributed antenna to the UWB base station.

3. According to the UWB fusion positioning method in the underground corridor room segmentation scenario of claim 1, wherein: According to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm: The UWB base station and the terminal of each indoor antenna are calculated by the bilateral two-way ranging algorithm to obtain a TOA, which is denoted as T prop ; According to the topological structure of the indoor distribution system A i :(P i ,L i ), judge T prop The distributed antenna A n , satisfying L n ≤T prop ≤L n+1 ; According to (T prop ,A n ) The one-dimensional coordinate X of the positioning terminal is obtained by solving the triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

4. According to the UWB fusion positioning method in the underground corridor room segmentation scenario of claim 1, wherein: The peaks with the largest power are stored in vectors as fingerprint information, and the position coordinates and fingerprint information of all reference points are stored as RSS fingerprint database: The four peaks with the largest power are stored in the vector ρ = [ρ1, ρ2, ρ3, ρ4] as fingerprint information; the position coordinates X and fingerprint information ρ of all reference points are stored as the RSS fingerprint database P DB .

5. According to the UWB fusion positioning method in the underground pipe gallery room segmentation scenario of claim 4, wherein: In the process of searching the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal: Get the fingerprint of the current terminal UE , then traverse the fingerprint database P DB Find and UE The best matching fingerprint, that is, min{||ρ UE -ρ i ||},ρ i ∈P DB ; The position coordinate X corresponding to the best matching fingerprint ρ is used as the RSS fingerprint positioning result X RSS .

6. According to the UWB fusion positioning method in the underground pipe gallery room segmentation scenario of claim 5, wherein: In the process of fusing and correcting the RSS fingerprint positioning result and the retained TOA positioning result through Kalman filtering: The fusion positioning state equation is: X k =F k X k-1 +w k Where, X k-1 is the positioning result of the previous moment, X k is the current predicted positioning result, F k is the transfer matrix, is the transfer matrix transpose, P k-1 is the covariance of the positioning result at the previous moment, w k is an external Gaussian white noise, and satisfies w k ~(0,Q k ); The fusion positioning measurement equation is: Where, X UE is the TOA positioning result, X RSS is the RSS fingerprint positioning result, H k is the measurement matrix, v k is the measurement noise, and satisfies v k ~(0,R k ); Combined with the fusion positioning measurement equation, the formula for correcting the prediction result of the fusion positioning state equation is: X ′ k =X k +K g (Z k -H k X k ) P k ′ =(I-K g H k )P k In the formula, K g is the Kalman gain, X ′ k is the best estimate of the positioning coordinates, P k ′ is the covariance of the best estimate of the positioning result; I is the unit matrix.

7. A UWB fusion positioning device in an underground pipe gallery room segmentation scenario, wherein: include: The TOA positioning module is used to obtain the propagation time of the UWB signal between the terminal and the UWB base station using the bilateral two-way ranging algorithm through the UWB device; According to the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal between the terminal and the UWB base station belongs is calculated, and then the coordinates of the terminal are calculated according to the TOA positioning algorithm, and the terminal coordinates calculated according to the TOA positioning algorithm are used as the TOA positioning result; The fingerprint database construction module is used to select fingerprint reference points according to the on-site environment of the tunnel, perform channel estimation on the UWB signal, obtain the channel impulse response of the UWB signal, perform peak detection on the channel impulse response of the UWB signal, store several peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points as an RSS fingerprint database; The RSS fingerprint positioning module is used to obtain the channel impulse response between the UWB base station and the terminal in real time and perform peak detection to obtain the fingerprint of the current terminal; traverse the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and use the position coordinates corresponding to the best matching fingerprint as the RSS fingerprint positioning result; The positioning result fusion processing module is used to compare the TOA positioning result with the RSS fingerprint positioning result, retain the TOA positioning result with the smallest difference with the RSS fingerprint positioning result; and fuse and correct the RSS fingerprint positioning result and the retained TOA positioning result through Kalman filtering to obtain the final terminal positioning result.

8. According to claim 7, a UWB fusion positioning device in an underground pipe gallery room segmentation scenario, wherein: In the TOA positioning module, the topological structure of the indoor distributed system is: A i :(P i ,L i ),1≤i≤N Where N is the number of distributed antennas in the indoor system, P i is the location coordinate of the distributed antenna, L i is the feeder length from the distributed antenna to the UWB base station; In the TOA positioning module: The UWB base station and the terminal of each indoor antenna are calculated by the bilateral two-way ranging algorithm to obtain a TOA, which is denoted as T prop ; According to the topological structure of the indoor distribution system A i :(P i ,L i ), judge T prop The distributed antenna A n , satisfying L n ≤T prop ≤L n+1 ; According to (T prop ,A n ) The one-dimensional coordinate X of the positioning terminal is obtained by solving the triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

9. According to claim 7, a UWB fusion positioning device in an underground pipe gallery room segmentation scenario, wherein: In the fingerprint database construction module: The four peaks with the largest power are stored in the vector ρ = [ρ1, ρ2, ρ3, ρ4] as fingerprint information; the position coordinates X and fingerprint information ρ of all reference points are stored as the RSS fingerprint database P DB ; In the RSS fingerprint positioning module, in the process of traversing the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal: Get the fingerprint of the current terminal UE , then traverse the fingerprint database P DB Find and UE The best matching fingerprint, that is, min{||ρ UE -ρ i ||},ρ i ∈P DB ; The position coordinate X corresponding to the best matching fingerprint ρ is used as the RSS fingerprint positioning result X RSS .

10. According to claim 7, a UWB fusion positioning device in an underground pipe gallery room segmentation scenario, wherein: In the positioning result fusion processing module: The fusion positioning state equation is: X k =F k X k-1 +w k Where, X k-1 is the positioning result of the previous moment, X k is the current predicted positioning result, F k is the transfer matrix, is the transfer matrix transpose, P k-1 is the covariance of the positioning result at the previous moment, w k is an external Gaussian white noise, and satisfies w k ~(0,Q k ); The fusion positioning measurement equation is: Where, X UE is the TOA positioning result, X RSS is the RSS fingerprint positioning result, H k is the measurement matrix, v k is the measurement noise, and satisfies v k ~(0,R k ); Combined with the fusion positioning measurement equation, the formula for correcting the prediction result of the fusion positioning state equation is: X ′ k =X k +K g (Z k -H k X k ) P k ′ =(I-K g H k )P k In the formula, K g is the Kalman gain, X ′ k is the best estimate of the positioning coordinates, P k ′ is the covariance of the best estimate of the positioning result; I is the unit matrix.

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