A UWB fusion positioning method and device for underground pipe corridor indoor scene

Abstract

A UWB fusion positioning method and device for underground pipe corridor indoor scenarios. The method selects fingerprint reference points based on the pipe corridor's on-site environment, performs channel estimation on the UWB signal, obtains the channel impulse response of the UWB signal for peak detection, stores several peaks with the largest power in a vector as fingerprint information, and stores the position coordinates and fingerprint information of all reference points in an RSS fingerprint database; obtains the channel impulse response between the UWB base station and the terminal in real time and performs peak detection to obtain the fingerprint of the current terminal; traverses the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and uses the corresponding position coordinates as the RSS fingerprint positioning result; and fuses and corrects the RSS fingerprint positioning result and the retained TOA positioning result through Kalman filtering to obtain the final positioning result. The present invention effectively improves accuracy, enhances anti-interference performance, reduces deployment and management costs, and improves the versatility of positioning solutions.

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 indoor 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, precise positioning in underground tunnels is a crucial issue that needs to be addressed urgently. Current indoor positioning solutions, such as Bluetooth, Wi-Fi, ultra-wideband, and pseudo-satellite technologies, face challenges in cost, accuracy, and scalability during their rollout and application, and are particularly challenging in the complex environments of tunnels. Existing UWB-based indoor positioning methods offer high accuracy and can be specialized for narrow, obstructed areas like tunnels. However, they are inevitably subject to interference from obstructions such as walls and bridges, which can block the UWB signal's line of sight and severely impact 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 the underground tunnel indoor scene, so as to effectively improve the accuracy, enhance the anti-interference ability, reduce the deployment and management costs, and improve the versatility of the positioning solution.

[0005] Based on the above objectives, the present invention provides a UWB fusion positioning method in an underground pipe gallery indoor scene, 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. Based on the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal belongs between the terminal and the UWB base station is calculated. The coordinates of the terminal are then calculated using the TOA positioning algorithm and used as the TOA positioning result.

[0007] Fingerprint reference points are selected based on the on-site environment of the utility corridor, and the UWB signal channel is estimated to obtain the channel impulse response of the UWB signal. Peak detection is performed on the channel impulse response of the UWB signal, and the 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.

[0008] 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;

[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 the preferred solution for the UWB fusion positioning method in the underground pipe gallery indoor distribution scenario, the topology of the indoor distribution system is as follows:

[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 based on the antenna feeder length of the indoor distribution system. Then, the TOA positioning algorithm is used to calculate the coordinates of the terminal:

[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 recorded as T prop ;

[0015] According to the topological structure of the indoor distributed system A i :(P i ,L i ), judge T prop Belonging 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 triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

[0017] As the preferred solution for the UWB fusion positioning method in the underground corridor indoor scene, the 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 = [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 .

[0019] As the preferred solution for the UWB fusion positioning method in the underground tunnel indoor distribution scenario, the RSS fingerprint database is traversed to find the fingerprint that best matches the current terminal's fingerprint:

[0020] Get the fingerprint of the current terminal ρ UE , then traverse the fingerprint database P DB Finding and ρ UE The best matching fingerprint, i.e. 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 pipe gallery indoor scene, 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] 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 );

[0026] The fusion positioning measurement equation is:

[0027]

[0028] 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 );

[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 )P k

[0033] Where 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 for underground pipe corridor 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 using the bilateral two-way ranging algorithm through the UWB device. Based on the antenna feeder length of the indoor distributed system, the transmitting antenna to which the UWB signal belongs between the terminal and the UWB base station is calculated. The coordinates of the terminal are then calculated using the TOA positioning algorithm and are used as the TOA positioning result.

[0036] The fingerprint database construction module is used to select fingerprint reference points based on the on-site environment of the utility corridor, 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 the 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; it traverses the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and uses 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 for the UWB fusion positioning device in the underground pipe corridor indoor distribution scenario, in the TOA positioning module, the topology 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 recorded as T prop ;

[0044] According to the topological structure of the indoor distributed system A i :(P i ,L i ), judge T prop Belonging 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 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 pipe gallery scene, in the fingerprint database construction module:

[0047] 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 ;

[0048] In the RSS fingerprint positioning module, when searching 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 ρ UE , then traverse the fingerprint database P DB Finding and ρ UE The best matching fingerprint, i.e. 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 for 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] 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 );

[0055] The fusion positioning measurement equation is:

[0056]

[0057] 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 );

[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 )P k

[0062] Where 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 dispersed throughout the corridor, but can be centrally placed in the computer room, reducing the cost of positioning system management and maintenance; 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 the passive indoor system, the problem of signal obstruction caused 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, achieving a wider range of positioning coverage; base stations and other equipment can be centrally deployed and managed in computer rooms, etc., to facilitate the protection of 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 pipeline corridor positioning, thereby assisting workers in avoiding risks and escaping, 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 any creative work.

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

[0066] Figure 2 This is a diagram of the architecture of a UWB fusion positioning device for an underground pipe gallery room-based scenario provided by an embodiment of the present invention;

[0067] Figure 3 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, technical or scientific terms used in the embodiments of the present invention should have the same general meaning as those understood by persons of ordinary skill in the art to which the present invention pertains. The words "include" or "comprise" and similar expressions used in the embodiments of the present invention mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding 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;

[0077] CIR Channel Impulse Response Channel impulse response.

[0078] Distributed antenna systems (DAS) offer significant advantages in indoor communication coverage and demonstrate great potential for integration with current indoor positioning technologies. Furthermore, UWB technology, a positioning technology with strong signal penetration, excellent multipath resistance, low power consumption, high security, simple system, and high positioning accuracy, has gradually become a mainstream choice for indoor positioning. However, UWB positioning accuracy is highly dependent on the presence or absence of the line of sight (LOS). Complex indoor obstacles often block the line of sight (LOS), severely impacting UWB positioning accuracy indoors. While accuracy can be improved by increasing the number of UWB base stations, this significantly increases costs, hindering widespread deployment. Indoor distributed systems, on the other hand, can overcome the various interferences introduced by the indoor environment. Using discrete antennas, they evenly distribute signals throughout the room, ensuring ideal signal coverage. These systems also offer advantages such as ease of scalability and low cost. Currently, these systems have been deployed in most underground utility tunnels. Therefore, integrating UWB technology with existing indoor distributed systems holds significant practical significance for addressing the pain point of high-precision positioning in underground utility tunnels.

[0079] Existing UWB-based indoor positioning methods offer high accuracy and can be specialized for narrow, obstructive areas like utility tunnels. However, they are inevitably subject to interference from obstructions such as walls and bridges, which can block the LOS path of the UWB signal and severely impact positioning accuracy and stability. Furthermore, existing UWB positioning solutions mostly improve signal coverage in indoor environments like utility tunnels by increasing the number of base stations, further increasing costs and limiting scalability. Furthermore, the dispersed nature of base stations also increases equipment management costs. In recent years, 5G passive indoor distributed technology has become a mainstream solution for indoor coverage deployment, providing a strong foundation for the development of indoor positioning technology and has been deployed in most underground utility tunnels. Furthermore, the excellent scalability of indoor distributed systems enables them to adapt to a variety of narrow and varied indoor environments. Using discrete indoor antennas, positioning signals can be effectively broadcast to every area of ​​the utility tunnel. 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 stable in all areas of the tunnel. It can effectively control costs while ensuring the high-precision positioning of UWB technology and has great potential.

[0080] In view of this, the present invention proposes a UWB fusion positioning method and device for underground pipe corridor indoor distribution scenarios to effectively improve positioning accuracy, enhance anti-interference capabilities, reduce deployment and management costs, and improve the versatility of positioning solutions. The following is the specific content 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 indoor scene, comprising the following steps:

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

[0083] S2. Select fingerprint reference points based on the on-site environment of the utility corridor, 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 the 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. 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;

[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 , or TOA. The transmitting antenna to which the TOA belongs is then calculated based on the antenna feeder length of the indoor distributed system. The terminal's coordinates are then calculated using the TOA positioning algorithm. Indoor distributed UWB TOA positioning overcomes the problem of indoor environments obstructing the LOS path. Furthermore, by utilizing distributed indoor antennas, the number of wireless signal transmission points is increased, effectively reducing the number of base stations required.

[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 antennas and the length of the feeder between the indoor distributed system and the positioning base station together constitute the topology of the indoor distributed system. The topology 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 The length of the feeder line from the distributed antenna to the UWB positioning base station. In order to maximize the signal coverage effect of the indoor distributed system, P i The distribution of the P should be as uniform as possible. In the corridor area with more obstructions, the distance between adjacent P i In order to increase the distinction between signals from different room antennas, 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 of the UWB signal between the terminal and the UWB base station 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 recorded as T prop ;

[0090] According to the topological structure of the indoor distributed system A i :(P i ,L i ), judge T prop Belonging 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 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 corridor, 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 only UWB technology, the RSS characteristics of indoor environments are simple, and the intensity information at different locations is very similar. Integrating the indoor distributed system with UWB technology can effectively increase the wireless transmission points of the UWB signal. After the complex reflection and refraction in the tunnel space, it provides rich RSS characteristics for fingerprint positioning, providing reliable fingerprint positioning results.

[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 channel impulse response (CIR) of the UWB. After that, the CIR is peak detected, and 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 .

[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 Finding and ρ UE The best matching fingerprint, i.e. 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 TOA positioning results are fused with the RSS fingerprint positioning results to fully utilize the UWB positioning signal power and latency, significantly increasing the reliability of pipeline corridor positioning. The TOA positioning coordinates and the RSS fingerprint positioning coordinates are used as two-dimensional observation information, and a fusion positioning algorithm is implemented using a Kalman filter.

[0097] Specifically, the result of UWB TOA positioning 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. Use the previous positioning result X Pre Replace the current terminal position X UE .

[0098] The Kalman filter-based fusion positioning algorithm is divided into three main processes: prediction, measurement, and correction. The prediction process is determined by the state equation, and the measurement equation provides the data observation part. The measured results are then combined with the Kalman gain to correct the prediction, thereby obtaining the optimal position estimate.

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

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

[0101]

[0102] 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 kis an external Gaussian white noise, and satisfies w k ~(0,Q k );

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

[0104]

[0105] 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 );

[0106] Specifically, the formula for correcting the prediction result of the fusion positioning state equation is as follows:

[0107]

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

[0109] P k ′ =(IK g H k )P k

[0110] Where 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 identity matrix. Through real-time correction by Kalman filtering, the two positioning results of UWB TOA positioning based on room distribution and UWB RSS fingerprint positioning can be effectively combined to achieve a multi-source fusion positioning technology with higher accuracy and greater stability.

[0111] In one possible embodiment, the present invention can be applied to automated mine operations, enabling precise positioning of equipment within narrow, long indoor areas, such as mines. Furthermore, UWB communication can be used to remotely control automated equipment. Therefore, combined with automated robots, automated operations in underground mines can be achieved, reducing the risk of injury.

[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; calculates 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 calculates the coordinates of the terminal according to the TOA positioning algorithm, and uses the terminal coordinates calculated according to the TOA positioning algorithm as the TOA positioning result; selects a fingerprint reference point according to the on-site environment of the tunnel, performs channel estimation on the UWB signal, obtains the channel impulse response of the UWB signal, performs peak detection on the channel impulse response of the UWB signal, and stores several peaks with the largest power 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 based on 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 dispersed throughout the corridor, but can be centrally placed in the computer room, reducing the cost of positioning system management and maintenance; 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 the passive indoor system, the problem of signal obstruction caused 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, effectively coping with various different corridor 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, achieving a wider range of positioning coverage; base stations and other equipment can be centrally deployed and managed in computer rooms, etc., to facilitate the protection of 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 pipeline corridor positioning, thereby assisting workers in avoiding risks and escaping, 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 server. The method of this embodiment can also be applied in a distributed scenario, where multiple devices cooperate to perform the method. In such a distributed scenario, one of the multiple devices may only perform one or more steps of the method of the embodiment of the present invention, and the multiple devices will interact with each other to complete the method.

[0115] It should be noted that the above description is of some embodiments of the present invention. In some cases, the actions or steps described can be performed in a different order than those in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential 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, an embodiment of the present invention further provides a UWB fusion positioning device for an underground pipe gallery indoor scene, 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 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 based on the antenna feeder length of the indoor distributed system, and then calculate the coordinates of the terminal using the TOA positioning algorithm, and use the terminal coordinates calculated by the TOA positioning algorithm as the TOA positioning result;

[0118] The fingerprint database construction module 200 is used to select fingerprint reference points based on the on-site environment of the utility corridor, 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 the peaks with the largest power in a vector as fingerprint information, and store the position coordinates and fingerprint information of all reference points in 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 topology of the indoor distributed 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 recorded as T prop ;

[0126] According to the topological structure of the indoor distributed system A i :(P i ,L i ), judge T prop Belonging 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 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 = [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 ;

[0130] In the RSS fingerprint positioning module 300, when searching 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 ρ UE , then traverse the fingerprint database P DB Finding and ρ UE The best matching fingerprint, i.e. 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] 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 );

[0137] The fusion positioning measurement equation is:

[0138]

[0139] 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 );

[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 )P k

[0144] Where 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 tunnel 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 runnable on the processor. When the processor executes the program, it implements the UWB fusion positioning method in the underground corridor indoor scene described in any of the above embodiments.

[0147] Figure 3 A more specific hardware structure diagram of an electronic device provided in this embodiment is shown. 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 within the device via the bus 550.

[0148] The processor 510 can be implemented using 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 devices, dynamic storage devices, 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 through software or firmware, the relevant program code is stored in the memory 520 and is called and executed by the processor 510.

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

[0151] The communication interface 540 is used to connect to a communication module (not shown) to enable communication between the device and other devices. The communication module can communicate via a wired method (such as USB, network cable, etc.) or a wireless method (such as mobile network, WiFi, Bluetooth, etc.).

[0152] The bus 550 comprises a pathway for transmitting 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 a specific implementation, the device may also include other components necessary for normal operation. In addition, it will be understood by those skilled in the art that the above device may only include the components necessary to implement the embodiments of this 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 tunnel 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, which 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 media of this embodiment include permanent and non-permanent, removable and non-removable media that can be used to store information by any method or technology. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disc read-only memory (CD-ROM), digital versatile disc (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. Within the scope 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 the 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, 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 thereof, many alternatives, modifications, and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may utilize 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 claims. 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 scope of protection of the present invention.

Claims

1. A UWB fusion positioning method for underground pipe corridor indoor scene, 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; Based on 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. Then, the coordinates of the terminal are calculated using the TOA positioning algorithm, and the terminal coordinates calculated using the TOA positioning algorithm are used as the TOA positioning result. Fingerprint reference points are selected based on the on-site environment of the utility corridor, and the UWB signal channel is estimated to obtain the channel impulse response of the UWB signal. Peak detection is performed on the channel impulse response of the UWB signal, and the 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.

2. According to the UWB fusion positioning method in the underground pipe gallery room segmentation scenario of claim 1, 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.

3. According to the UWB fusion positioning method in the underground pipe gallery room segmentation scenario of claim 1, Based on the antenna feeder length of the indoor distributed system, the transmitting antenna of the UWB signal between the terminal and the UWB base station is calculated, and then the coordinates of the terminal are calculated using 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 recorded as T prop ; According to the topological structure of the indoor distributed system A i :(P i ,L i ), judge T prop Belonging 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 triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

4. The UWB fusion positioning method in an underground pipe gallery indoor scene according to 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. The UWB fusion positioning method in the underground pipe gallery room segmentation scenario according to claim 4, wherein: When searching the RSS fingerprint database for the fingerprint that best matches the current terminal's fingerprint: Get the fingerprint of the current terminal ρ UE , then traverse the fingerprint database P DB Finding and ρ UE The best matching fingerprint, i.e. 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. The UWB fusion positioning method in the underground pipe gallery room segmentation scenario according to 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 Where 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 for underground pipe corridors, 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; Based on 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. Then, the coordinates of the terminal are calculated using the TOA positioning algorithm, and the terminal coordinates calculated using the TOA positioning algorithm are used as the TOA positioning result. The fingerprint database construction module is used to select fingerprint reference points based on the on-site environment of the utility corridor, 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 the 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; it traverses the RSS fingerprint database to find the fingerprint that best matches the fingerprint of the current terminal, and uses 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. The UWB fusion positioning device for underground pipe gallery room segmentation scenario according to claim 7, wherein: In the TOA positioning module, the topology 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 recorded as T prop ; According to the topological structure of the indoor distributed system A i :(P i ,L i ), judge T prop Belonging 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 triangulation positioning method UE , one-dimensional coordinate X UE At most X UE1 , X UE2 Two results.

9. The UWB fusion positioning device for underground pipe gallery room segmentation scenario according to claim 7, 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, when 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 ρ UE , then traverse the fingerprint database P DB Finding and ρ UE The best matching fingerprint, 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. The UWB fusion positioning device for underground pipe gallery room segmentation scenario according to claim 7, 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 Where 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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