A positioning method, electronic device and storage medium based on UWB

Abstract

The present invention discloses a positioning method, electronic device and storage medium based on UWB (Ultra Wideband), and relates to the technical field of UWB positioning. The method comprises: calculating the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, determining the effective anchor point based on the ranging value and the sliding ranging standard deviation of the UWB device; determining the motion state corresponding to the UWB device based on the number of effective anchor points of the UWB device, the sliding ranging standard deviation, the preset static threshold and the preset dynamic threshold, wherein the preset static threshold of the UWB device includes the first static threshold and the second static threshold; according to the motion state of the UWB device, positioning the UWB device through the UWB positioning algorithm to obtain the target positioning result. The technical solution of the present invention solves the technical problem that the existing UWB positioning method has abnormal positioning results in complex environments, and improves the accuracy of the UWB positioning results.

Description

Technical Field

[0001] The present invention relates to the field of UWB positioning technology, and in particular to a UWB-based positioning method, electronic equipment and storage medium. Background Art

[0002] UWB digital key technology is an emerging technology that uses UWB technology to locate vehicle users and send corresponding instructions to the vehicle (such as welcoming, unlocking, locking, etc.) based on the positioning results. UWB technology is selected for its high positioning accuracy and high security.

[0003] Existing UWB digital key positioning technology triangulates the user by measuring the distance measurement value of the UWB signal (i.e. the distance the signal travels from transmission to reception) or using the channel impulse response (CIR). This technology can estimate the specific location of the user and provide corresponding vehicle operations based on this location, such as unlocking and locking.

[0004] In a good, interference-free environment, this positioning technology has high accuracy and can accurately determine the user's location. However, in a complex environment, such as in the presence of obstacles, signal reflections or shielding, the stability of the positioning results will be affected and deviations may occur. Summary of the invention

[0005] The present invention provides a UWB-based positioning method, electronic equipment and storage medium to improve the accuracy of UWB positioning.

[0006] According to one aspect of the present invention, a UWB-based positioning method is provided, comprising:

[0007] Calculate the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determine the effective anchor point based on the ranging value and the sliding ranging standard deviation;

[0008] Determine the motion state corresponding to the UWB device based on the number of valid anchor points, the sliding ranging standard deviation, a preset static threshold and a preset dynamic threshold, wherein the preset static threshold includes a first static threshold and a second static threshold;

[0009] According to the motion state, the UWB device is positioned using a UWB positioning algorithm to obtain a target positioning result.

[0010] In a possible implementation, determining the motion state corresponding to the UWB device based on the number of valid anchor points, a preset static threshold, and a preset dynamic threshold includes:

[0011] When the number of the valid anchor points is 1, determining whether a sliding ranging standard deviation of the valid anchor points is less than the first static threshold;

[0012] If so, determining that the motion state is static;

[0013] If not, it is determined whether the sliding ranging standard deviation is greater than the preset dynamic threshold value. If so, it is determined that the motion state is dynamic; if not, it is determined that the motion state is unknown.

[0014] In a possible implementation, determining the motion state corresponding to the UWB device based on the number of valid anchor points, a preset static threshold, and a preset dynamic threshold includes:

[0015] When the number of the valid anchor points is not 1, determining a static anchor point among the valid anchor points based on a sliding ranging standard deviation of a single anchor point and the second static threshold;

[0016] The motion state is determined based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold.

[0017] In a possible implementation manner, determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the dynamic threshold includes:

[0018] When the number of the static anchor points is 0, if the sliding ranging standard deviations of the valid anchor points are all less than the preset dynamic threshold, it is determined that the motion state is unknown;

[0019] Otherwise, the motion state is determined to be dynamic.

[0020] In a possible implementation manner, determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes:

[0021] When the number of the static anchor points is 1, determining whether the number of the valid anchor points is greater than or equal to 3, and if not, determining that the motion state is unknown;

[0022] If so, further determining whether the sliding ranging standard deviation of the non-static anchor points in the valid anchor points is greater than the preset dynamic threshold;

[0023] If not, determining that the motion state is unknown;

[0024] If yes, further determining whether the minimum sliding ranging standard deviation corresponding to the valid anchor point is greater than the first static threshold;

[0025] If so, the motion state is determined to be dynamic, and if not, the motion state is determined to be unknown.

[0026] In a possible implementation manner, determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes:

[0027] When the number of the static anchor points is greater than 2, if the sliding ranging standard deviation of at least two static anchor points is less than the first static threshold, the motion state is determined to be static.

[0028] In a possible implementation manner, determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes:

[0029] When the number of the static anchor points is 2, determining whether the number of the valid anchor points is equal to 2;

[0030] If yes, it is determined that the motion state is static, if no, it is determined whether the number of valid anchor points is equal to 3;

[0031] If so, further determining whether the maximum sliding ranging standard deviation corresponding to the valid anchor point is less than the preset dynamic threshold; if so, determining that the motion state is static; if not, determining that the motion state is unknown;

[0032] If it is determined that the number of the valid anchor points is not equal to 3, determining whether the sliding ranging standard deviations of the non-static anchor points among the valid anchor points are all greater than the preset dynamic threshold;

[0033] If so, the motion state is determined to be unknown, and if not, the motion state is determined to be static.

[0034] In a possible implementation, positioning the UWB device by using a UWB positioning algorithm according to the motion state to obtain a target positioning result includes:

[0035] The distance value between the anchor point and the UWB device is calculated based on the UWB positioning algorithm, and the distance value is corrected according to the motion state, so as to determine the target positioning result based on the corrected distance value.

[0036] According to another aspect of the present invention, there is provided a UWB-based positioning device, comprising:

[0037] An effective anchor point determination module, used to calculate the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determine the effective anchor point based on the ranging value and the sliding ranging standard deviation;

[0038] A motion state determination module, configured to determine the motion state corresponding to the UWB device based on the number of valid anchor points, the sliding ranging standard deviation, a preset static threshold, and a preset dynamic threshold, wherein the preset static threshold includes a first static threshold and a second static threshold;

[0039] The target positioning module positions the UWB device according to the motion state by using a UWB positioning algorithm to obtain a target positioning result.

[0040] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0041] at least one processor;

[0042] and a memory communicatively connected to the at least one processor; wherein,

[0043] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the UWB-based positioning method described in any embodiment of the present invention.

[0044] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the UWB-based positioning method described in any embodiment of the present invention when executed.

[0045] The technical solution of the embodiment of the present invention first calculates the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determines the effective anchor point based on the ranging value and the sliding ranging standard deviation of the UWB device; then, the motion state corresponding to the UWB device is determined based on the number of effective anchor points of the UWB device, the sliding ranging standard deviation, the preset static threshold and the preset dynamic threshold, wherein the preset static threshold of the UWB device includes the first static threshold and the second static threshold; finally, the motion state of the UWB device is used as a basis to assist the UWB positioning algorithm to locate the UWB device to obtain the target positioning result. The technical solution of the embodiment of the present invention, on the basis of the existing UWB positioning algorithm, adds the detection of the motion state to assist the UWB positioning algorithm to better adapt to the complex environment with poor signal quality and improve the positioning accuracy. It solves the technical problem that the UWB signal may be interfered in the existing UWB positioning method in a complex environment, such as when there are shields or signal reflections, resulting in deviations in the positioning results, and improves the accuracy of the UWB positioning results. Meanwhile, the embodiment of the present invention does not rely on other sensors and only uses the UWB ranging value as input, and has good universality and practicability.

[0046] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0048] Figure 1 A flowchart of a UWB-based positioning method provided in Embodiment 1 of the present invention;

[0049] Figure 2 A flowchart of a UWB-based positioning method provided in Embodiment 2 of the present invention;

[0050] Figure 3 A flowchart of a UWB-based positioning method provided in Embodiment 3 of the present invention;

[0051] Figure 4 This is a diagram showing the installation position of the anchor point in an embodiment of the present invention;

[0052] Figure 5 This is the result of static positioning outside the vehicle without static detection algorithm;

[0053] Figure 6 This is a schematic diagram of the standard deviation of sliding ranging at point P1;

[0054] Figure 7 This is a schematic diagram of the standard deviation of sliding ranging at point P2;

[0055] Figure 8 It is the output result corresponding to point P1 of the static detection algorithm in the static experiment;

[0056] Fig. 9 It is the output result corresponding to point P2 of the static detection algorithm in the static experiment;

[0057] Fig.10 This is the result of static positioning outside the vehicle including the static detection algorithm;

[0058] Fig.11 Output results of the static detection algorithm under the first condition in the dynamic experiment;

[0059] Fig.12 Output results of the static detection algorithm under the second condition in the dynamic experiment;

[0060] Fig.13 A schematic diagram of the structure of a UWB-based positioning device provided in Embodiment 4 of the present invention;

[0061] Fig.14 This is a schematic diagram of the structure of an electronic device provided in Embodiment 5 of the present invention. DETAILED DESCRIPTION

[0062] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0063] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0064] Embodiment 1

[0065] Figure 1 This is a flowchart of a UWB-based positioning method provided in the first embodiment of the present invention. This embodiment is applicable to the case of improving the accuracy of UWB positioning results. The method can be performed by a UWB-based positioning device, which can be implemented in the form of hardware and / or software. The device can be configured in an electronic device, for example, the electronic device can be a UWB receiver of a vehicle. Figure 1 As shown, the method comprises the following steps:

[0066] S110, calculating the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determining a valid anchor point based on the ranging value and the sliding ranging standard deviation.

[0067] Among them, the UWB device can be a device that uses UWB positioning, for example, the UWB device can be a digital key, and the anchor point refers to an anchor point set around the vehicle body.

[0068] The sliding distance measurement standard deviation may refer to the standard deviation of the distance between the anchor point and the user (i.e., the distance measurement value) calculated by continuously measuring the distance between the anchor point and the user over a period of time; the sliding distance measurement standard deviation reflects the degree of dispersion or fluctuation of the distance measurement value.

[0069] When a user brings a UWB device (such as a digital key or a dedicated UWB tag) close to the vehicle, the vehicle's UWB receiver detects the device's signal and verifies its identity. Once the verification is successful, the vehicle automatically unlocks and allows the user to enter. Users can also remotely control the vehicle through the UWB device, such as locking the car, opening and closing the doors, and starting the engine.

[0070] In this embodiment, the UWB signal may be analyzed, and the sliding ranging standard deviation of each anchor point may be calculated based on the analysis result, and then the ranging value of each anchor point and the sliding ranging standard deviation may be analyzed to determine whether the anchor point is a valid anchor point.

[0071] S120: Determine the motion state corresponding to the UWB device based on the number of valid anchor points, the sliding ranging standard deviation, the preset static threshold, and the preset dynamic threshold.

[0072] The preset static threshold and the preset dynamic threshold may be preset thresholds; the preset static threshold includes a first static threshold and a second static threshold; the motion state may be the motion state of the UWB device, or may be understood as the motion state of the user holding the UWB device relative to the vehicle. The motion state may be any one of motion, stillness, and unknown.

[0073] It can be understood that the smaller the standard deviation of the sliding distance measurement of the anchor point, the more stable the distance measurement value and the smaller the fluctuation; conversely, the larger the standard deviation, the more unstable the distance measurement value and the greater the fluctuation.

[0074] In UWB positioning technology, the standard deviation of the sliding distance measurement of the anchor point can be used to assist in determining whether the user is static or dynamic. For example, if the user is stationary, the distance measurement value between the anchor point and the user should be relatively stable, with a small standard deviation; if the user is moving, the distance measurement value will change due to the user's movement, with a large standard deviation. Therefore, the standard deviation of the sliding distance measurement of the valid anchor point can be compared and analyzed with the preset static threshold and the preset dynamic threshold to determine the corresponding motion state of the UWB device.

[0075] In a possible implementation, determining the motion state corresponding to the UWB device based on the number of valid anchor points, a preset static threshold, and a preset dynamic threshold may include: when the number of valid anchor points is 1, determining whether the sliding ranging standard deviation of the valid anchor points is less than the first static threshold; if so, determining that the motion state is static; if not, determining whether the sliding ranging standard deviation is greater than the preset dynamic threshold, if so, determining that the motion state is dynamic, and if not, determining that the motion state is unknown.

[0076] Specifically, when the number of valid anchor points is 1, it can be determined whether the sliding ranging standard deviation of the valid anchor point is less than the preset first static threshold, and the first static threshold can be a preset value for determining whether the user is in a static state. If the sliding ranging standard deviation of the valid anchor point is less than the first static threshold, it means that the motion state is static. If it is not less than the first static threshold, it can be further determined whether the sliding ranging standard deviation is greater than the preset dynamic threshold, and the preset dynamic threshold can be a preset value for determining whether the user is in a motion state. If the sliding ranging standard deviation is greater than the preset dynamic threshold, it means that the motion state is dynamic. Otherwise, the sliding ranging standard deviation is neither less than the first static threshold nor greater than the preset dynamic threshold, and the motion state can be determined as unknown.

[0077] S130 . Position the UWB device using a UWB positioning algorithm according to the motion state to obtain a target positioning result.

[0078] The target positioning result may be the position of the UWB device.

[0079] Specifically, the detection of user motion status can be added to the UWB positioning algorithm to assist the UWB positioning algorithm to better adapt to complex environments with poor signal quality and improve positioning accuracy. For example, based on the determined motion status, the UWB positioning algorithm can dynamically adjust its internal strategy to adapt to different user states and environmental conditions, thereby improving positioning accuracy and stability.

[0080] The technical solution of the embodiment of the present invention first calculates the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determines the effective anchor point based on the ranging value and the sliding ranging standard deviation of the UWB device; then, the motion state corresponding to the UWB device is determined based on the number of effective anchor points of the UWB device, the sliding ranging standard deviation, the preset static threshold and the preset dynamic threshold, wherein the preset static threshold of the UWB device includes the first static threshold and the second static threshold; finally, the motion state of the UWB device is used as a basis to assist the UWB positioning algorithm to locate the UWB device to obtain the target positioning result. The technical solution of the embodiment of the present invention, on the basis of the existing UWB positioning algorithm, adds the detection of the motion state to assist the UWB positioning algorithm to better adapt to the complex environment with poor signal quality and improve the positioning accuracy. It solves the technical problem that the UWB signal may be interfered in the existing UWB positioning method in a complex environment, such as when there are shields or signal reflections, resulting in deviations in the positioning results, and improves the accuracy of the UWB positioning results. Meanwhile, the embodiment of the present invention does not rely on other sensors and only uses the UWB ranging value as input, and has good universality and practicability.

[0081] Embodiment 2

[0082] Figure 2 This is a flowchart of a UWB-based positioning method provided in the second embodiment of the present invention. Based on the above embodiment, this embodiment further illustrates the process of determining the motion state when the number of valid anchor points is not 1. The specific implementation method can refer to the technical solution of this embodiment. The technical terms that are the same or corresponding to the above embodiment are not repeated here. Figure 2 As shown, the method comprises the following steps:

[0083] S210, calculating the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determining a valid anchor point based on the ranging value and the sliding ranging standard deviation.

[0084] S220: When the number of valid anchor points is not 1, determine a static anchor point among the valid anchor points based on a sliding ranging standard deviation of a single anchor point and a second static threshold.

[0085] The second static threshold may be a preset threshold, and the second static threshold may be greater than the first static threshold.

[0086] In this embodiment, when the number of valid anchor points is not 1, the static anchor point among all valid anchor points can be determined by the second static threshold. Specifically, the sliding ranging standard deviation of each valid anchor point can be compared with the second static threshold, and if the sliding ranging standard deviation of the valid anchor point is less than the second static threshold, the valid anchor point can be used as the static anchor point.

[0087] After the static anchor points are determined, the number of static anchor points is counted, and all valid anchor points are sorted in ascending order according to the size of the sliding ranging standard deviation. Further analysis is performed based on the number of static anchor points, the first static threshold, the second static threshold and the preset dynamic threshold to determine the user's motion state.

[0088] S230: Determine the motion state based on the number of static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold.

[0089] In a possible implementation, the motion state is determined based on the number of static anchor points, the first static threshold, the second static threshold and the dynamic threshold, including: when the number of static anchor points is 0, if the sliding ranging standard deviations of the valid anchor points are all less than the preset dynamic threshold, the motion state is determined to be unknown; otherwise, the motion state is determined to be dynamic.

[0090] It is understandable that if the number of static anchor points is 0, it means that there is no static anchor point. If the sliding ranging standard deviation of all valid anchor points is less than the preset dynamic threshold, the motion state can be determined to be unknown; if the sliding ranging standard deviation is not less than the preset dynamic threshold, the motion state can be determined to be dynamic.

[0091] In a possible implementation, the motion state is determined based on the number of static anchor points, the first static threshold, the second static threshold and the preset dynamic threshold, including: when the number of static anchor points is 1, determining whether the number of valid anchor points is greater than or equal to 3, if not, determining that the motion state is unknown; if so, further determining whether the sliding ranging standard deviation of non-static anchor points among the valid anchor points is greater than the preset dynamic threshold; if not, determining that the motion state is unknown; if so, further determining whether the minimum sliding ranging standard deviation corresponding to the valid anchor point is greater than the first static threshold; if so, determining that the motion state is dynamic, if not, determining that the motion state is unknown.

[0092] Specifically, when the number of static anchor points is 1, it is necessary to confirm whether the number of valid anchor points is greater than or equal to 3. If it is not greater than or equal to 3, combined with the number of valid anchor points mentioned above, it is also not 1, which means that the number of valid anchor points is 2. At this time, it means that there is only one static anchor point among the two valid anchor points, so it is impossible to determine whether the motion state is static or dynamic, that is, the motion state is unknown.

[0093] If the number of valid anchor points is greater than or equal to 3, it can be determined whether the sliding ranging standard deviation corresponding to the remaining valid anchor points that are not static anchor points is greater than the preset dynamic threshold. If not, the motion state can be determined to be unknown. If so, it is further determined whether the minimum sliding ranging standard deviation corresponding to the valid anchor point is greater than the first static threshold. In this way, a smaller first static threshold is used to compare the minimum sliding ranging standard deviation again. If the minimum sliding ranging standard deviation is still greater than the first static threshold, the motion state can be determined to be dynamic. Otherwise, the motion state is determined to be unknown.

[0094] In a possible implementation, the motion state is determined based on the number of static anchor points, the first static threshold, the second static threshold and the preset dynamic threshold, including: when the number of static anchor points is greater than 2, if the sliding ranging standard deviation of at least two static anchor points is less than the first static threshold, the motion state is determined to be static.

[0095] If the number of static anchor points is greater than 2, and the sliding ranging standard deviations of more than two static anchor points are less than the first static threshold, in this case, it can be understood that the two anchor points are not only less than the larger second static threshold, but also less than the smaller second static threshold, and the motion state can be determined to be static.

[0096] In a possible implementation, determining the motion state based on the number of static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes: when the number of static anchor points is 2, determining whether the number of valid anchor points is equal to 2; if so, determining that the motion state is static; if not, determining whether the number of valid anchor points is equal to 3;

[0097] If so, it is further determined whether the maximum sliding ranging standard deviation corresponding to the valid anchor point is less than the preset dynamic threshold; if so, the motion state is determined to be static; if not, the motion state is determined to be unknown; if it is determined that the number of valid anchor points is not equal to 3, it is determined whether the sliding ranging standard deviations of the non-static anchor points in the valid anchor points are all greater than the preset dynamic threshold; if so, the motion state is determined to be unknown; if not, the motion state is determined to be static.

[0098] In this embodiment, when the number of static anchor points is 2, it is necessary to determine whether the number of valid anchor points is equal to 2; if it is equal to 2, it means that both of the two valid anchor points are static anchor points, and the motion state can be determined to be static.

[0099] If the number of valid anchor points is not equal to 2, then determine whether the number of valid anchor points is equal to 3. If it is equal to 3, then further determine whether the maximum sliding ranging standard deviation corresponding to the valid anchor point is less than the preset dynamic threshold, if so, determine that the motion state is static, if not, determine that the motion state is unknown;

[0100] If it is not equal to 3, that is, there are greater than or equal to 4 valid anchor points, then it is determined whether the sliding ranging standard deviations of the non-static anchor points among the valid anchor points are all greater than the preset dynamic threshold; if so, the motion state is determined to be unknown, if not, the motion state is determined to be static.

[0101] S240, calculating a distance measurement value between the anchor point and the UWB device based on a UWB positioning algorithm, and correcting the distance measurement value according to a motion state, so as to determine a target positioning result based on the corrected distance measurement value.

[0102] Specifically, the distance measurement value can be corrected based on the motion state, so that the corrected distance measurement value is more accurate, and a more accurate target positioning result can be determined based on the corrected distance measurement value. In other words, the positioning result can be additionally checked and corrected when the user is stationary, thereby reducing positioning drift and abnormal jumps caused by signal interference or other reasons.

[0103] Through the above method, even in a complex or interference-rich environment, the UWB digital key can more accurately determine the user's location, thereby more reliably executing corresponding vehicle control commands.

[0104] The technical solution of the embodiment of the present invention first calculates the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determines the effective anchor point based on the ranging value and the sliding ranging standard deviation of the UWB device; then, the motion state corresponding to the UWB device is determined based on the number of effective anchor points of the UWB device, the sliding ranging standard deviation, the preset static threshold and the preset dynamic threshold, wherein the preset static threshold of the UWB device includes the first static threshold and the second static threshold; finally, the motion state of the UWB device is used as a basis to assist the UWB positioning algorithm to locate the UWB device to obtain the target positioning result. The technical solution of the embodiment of the present invention, on the basis of the existing UWB positioning algorithm, adds the detection of the motion state to assist the UWB positioning algorithm to better adapt to the complex environment with poor signal quality and improve the positioning accuracy. It solves the technical problem that the UWB signal may be interfered in the existing UWB positioning method in a complex environment, such as when there are shields or signal reflections, resulting in deviations in the positioning results, and improves the accuracy of the UWB positioning results. Meanwhile, the embodiment of the present invention does not rely on other sensors and only uses the UWB ranging value as input, and has good universality and practicability.

[0105] Embodiment 3

[0106] Figure 3 The flowchart of a positioning method based on UWB is provided in the third embodiment of the present invention. This embodiment is a preferred embodiment of the above embodiment. The specific implementation method can refer to the technical solution of this embodiment. The technical terms that are the same or corresponding to the above embodiment are not repeated here. Figure 3 As shown, the method comprises the following steps:

[0107] Step 1: When the digital key receives the UWB signal, it calculates the standard deviation mov_dis_std of the sliding ranging values ​​of all current anchor points and proceeds to step 2.

[0108] Step 2: Get the data of the N anchor points where the standard deviation currently has valid values, that is, mov_dis_std[N], and go to step 3.

[0109] Step 3: Determine whether the number of valid anchor points N is 1. If so, proceed to step 4; otherwise, proceed to step 9.

[0110] Step 4: Determine whether the unique mov_dis_std is less than the STATIC_TH_STRICT threshold (the first static threshold). If so, proceed to step 5; otherwise, proceed to step 6.

[0111] Step 5: In this case, we can conclude that the user is static and the algorithm ends.

[0112] Step 6: Determine whether the unique mov_dis_std is greater than the MOVE_TH threshold (preset dynamic threshold). If so, go to step 7; otherwise, go to step 8.

[0113] Step 7: In this case, we can conclude that the user is dynamic and the algorithm ends.

[0114] Step 8: In this case, the user is in an unknown state and the algorithm ends.

[0115] Step 9: Count the number of anchor points in mov_dis_std[N] that are less than the STATIC_TH_LOOSE threshold (the second static threshold). This threshold indicates that the user may be static relative to the anchor point. The number of anchor points is recorded as M and proceed to step 10.

[0116] Step 10: Reorder mov_dis_std[N] in ascending order and go to step 11.

[0117] Step 11: Determine whether the number of static anchor points M is 0. If so, proceed to step 12; otherwise, proceed to step 15.

[0118] Step 12: Determine whether the values ​​of N mov_dis_std are all less than the MOVE_TH threshold. If not, proceed to step 13. If yes, proceed to step 14.

[0119] Step 13: In this case, we can conclude that the user is dynamic and the algorithm ends.

[0120] Step 14: In this case, the user is in an unknown state and the algorithm ends.

[0121] Step 15: Determine whether the number of static anchor points M is 1. If so, proceed to step 16; otherwise, proceed to step 19.

[0122] Step 16: Determine whether the number of valid anchor points N is greater than 3. If so, proceed to step 17; otherwise, proceed to step 14.

[0123] Step 17: Determine whether the values ​​of NM mov_dis_std, that is, the sliding ranging standard deviation corresponding to the non-stationary anchor points, are all greater than the MOVE_TH threshold. If so, proceed to step 18; otherwise, proceed to step 14.

[0124] Step 18: Determine whether the minimum value in mov_dis_std[N] is greater than the STATIC_TH_STRICT threshold. If so, go to step 13; otherwise, go to step 14.

[0125] Step 19: Determine whether the number of static anchor points M is 2. If so, proceed to step 20; otherwise, proceed to step 24.

[0126] Step 20: Determine whether the number of valid anchor points N is 2. If so, proceed to step 5; otherwise, proceed to step 21.

[0127] Step 21: Determine whether the number of valid anchor points N is 3. If so, proceed to step 22; otherwise, proceed to step 25.

[0128] Step 22: Determine whether the maximum value in mov_dis_std[N] is greater than the MOVE_TH threshold. If so, proceed to step 5; otherwise, proceed to step 23.

[0129] Step 23: In this case, the user is in an unknown state and the algorithm ends.

[0130] Step 24: At this point, if more than two mov_dis_std values ​​are less than the STATIC_TH_LOOSE threshold, proceed to step 5.

[0131] Step 25: In this case, there are >= 4 valid anchor points, so go to step 26.

[0132] Step 26: Determine whether the values ​​of NM mov_dis_std are greater than the MOVE_TH threshold. If so, go to step 23; otherwise, go to step 5.

[0133] In summary, three conclusions can be drawn: the user is static, the user is dynamic, and the user is in an unknown state.

[0134] It should also be noted that when the conclusion is in an unknown state, the output of the above conclusion does not affect the UWB positioning algorithm. When the conclusion is static and dynamic, the UWB positioning algorithm can use this conclusion to adjust the internal strategy of the algorithm to improve the positioning accuracy, especially the accuracy of static positioning.

[0135] In one embodiment, five UWB anchor points are mounted on the vehicle. In order to make the anchor points cover as large a visible area as possible, the anchor points are installed at positions such as Figure 4 The coordinates of each anchor point are shown in Table 1.

[0136] Table 1

[0137]

[0138] Static positioning experiments were conducted in all directions outside the vehicle, and it was found that the static positioning effect at the left side was poor. Figure 5 Point P1 with better positioning performance is listed for comparison with point P2 with worse positioning performance. P1 and P2 can be understood as different locations of UWB devices. Figure 5 This is the result of static positioning outside the vehicle without static detection algorithm.

[0139] It can be seen that the positioning result of point P2 has a large range of drift. According to the measurement, point P2 can observe the effective distance measurement values ​​of 2 to 3 anchor points and can be positioned, but its maximum positioning error reaches 201 cm.

[0140] Using the method of the present invention to perform static detection, first calculate the sliding distance measurement standard deviation of points P1 and P2, that is, the measurement value of this algorithm, Figure 6 This is a schematic diagram of the standard deviation of the sliding distance measurement at point P1. Figure 7 Schematic diagram of the sliding ranging standard deviation of point P2.

[0141] After analyzing with static detection algorithm, the conclusions are as follows: Figure 8 , Fig. 9 ; Figure 8 This is the output result corresponding to point P1 of the static detection algorithm in the static experiment. Fig. 9 This is the output result corresponding to point P2 of the static detection algorithm in the static experiment.

[0142] According to statistics:

[0143] There are 671 sets of UWB signal samples at point P1, corresponding to 671 moments, with a sampling frequency of about 3Hz. Among them, 608 moments were judged as static, 63 moments were judged as unknown, and 0 moments were judged as moving. The judgment accuracy is 90.6% and the error rate is 0%.

[0144] There are 670 sets of UWB signal sampling at point P2, corresponding to 670 moments, and the sampling frequency is about 3Hz. Among them, there are 562 moments judged as static, 108 moments judged as unknown, and 0 moments judged as moving. The judgment accuracy is 83.9%, and the error is 0.

[0145] Due to the unstable characteristics of UWB signals in complex environments, static detection algorithms may fail to determine the results, that is, the conclusion is unknown. However, from multiple experiments, it can be found that the accuracy of the determination is high and the misjudgment rate is extremely low, which can assist the UWB positioning algorithm in most cases.

[0146] Taking P2 as an example, since the signal quality of this point is not as good as that of P1 and there are fewer available anchor points, the positioning error is large, and the accuracy of static detection is slightly lower than that of P1. However, after the assistance of static detection, the positioning accuracy is significantly improved. Fig.10 , which is the result of static positioning outside the vehicle including static detection algorithm.

[0147] It can be seen that the drift of point P2 has been greatly improved, and the maximum positioning error has been reduced from 201 cm to 67 cm.

[0148] In order to test the performance of this algorithm in dynamic conditions, dynamic positioning experiments were also conducted, such as Fig.11 and Fig.12 , Fig.11 This is the output result of the static detection algorithm under the first condition in the dynamic experiment. Fig.12 This is the output result of the static detection algorithm under the second condition in the dynamic experiment. The first condition is that the digital key is held in hand and moved clockwise at a distance of 1 meter around the vehicle. The second condition is that the digital key is held in hand and moved clockwise at a distance of 2 meters around the vehicle.

[0149] It can be seen that in the dynamic experiment, there are a small number of unknown results, but there is no misjudgment as static, which will not have a negative impact on the UWB positioning performance.

[0150] In summary, the solution of the present invention has a great auxiliary effect on UWB static positioning in complex environments, will not affect the performance of dynamic UWB positioning, and has good practicality.

[0151] The technical solution of the embodiment of the present invention first calculates the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determines the effective anchor point based on the ranging value and the sliding ranging standard deviation of the UWB device; then, the motion state corresponding to the UWB device is determined based on the number of effective anchor points of the UWB device, the sliding ranging standard deviation, the preset static threshold and the preset dynamic threshold, wherein the preset static threshold of the UWB device includes the first static threshold and the second static threshold; finally, the motion state of the UWB device is used as a basis to assist the UWB positioning algorithm to locate the UWB device to obtain the target positioning result. The technical solution of the embodiment of the present invention, on the basis of the existing UWB positioning algorithm, adds the detection of the motion state to assist the UWB positioning algorithm to better adapt to the complex environment with poor signal quality and improve the positioning accuracy. It solves the technical problem that the UWB signal may be interfered in the existing UWB positioning method in a complex environment, such as when there are shields or signal reflections, resulting in deviations in the positioning results, and improves the accuracy of the UWB positioning results. Meanwhile, the embodiment of the present invention does not rely on other sensors and only uses the UWB ranging value as input, and has good universality and practicability.

[0152] Embodiment 4

[0153] Fig.13 This is a schematic diagram of the structure of a UWB-based positioning device provided in Embodiment 4 of the present invention. Fig.13 As shown, the device comprises:

[0154] An effective anchor point determination module 410 is used to calculate the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determine the effective anchor point based on the ranging value and the sliding ranging standard deviation;

[0155] A motion state determination module 420, configured to determine the motion state corresponding to the UWB device based on the number of valid anchor points, the sliding ranging standard deviation, a preset static threshold, and a preset dynamic threshold, wherein the preset static threshold includes a first static threshold and a second static threshold;

[0156] The target positioning module 430 positions the UWB device according to the motion state by using a UWB positioning algorithm to obtain a target positioning result.

[0157] The technical solution of the embodiment of the present invention first calculates the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determines the effective anchor point based on the ranging value and the sliding ranging standard deviation of the UWB device; then, the motion state corresponding to the UWB device is determined based on the number of effective anchor points of the UWB device, the sliding ranging standard deviation, the preset static threshold and the preset dynamic threshold, wherein the preset static threshold of the UWB device includes the first static threshold and the second static threshold; finally, the motion state of the UWB device is used as a basis to assist the UWB positioning algorithm to locate the UWB device to obtain the target positioning result. The technical solution of the embodiment of the present invention, on the basis of the existing UWB positioning algorithm, adds the detection of the motion state to assist the UWB positioning algorithm to better adapt to the complex environment with poor signal quality and improve the positioning accuracy. It solves the technical problem that the UWB signal may be interfered in the existing UWB positioning method in a complex environment, such as when there are shields or signal reflections, resulting in deviations in the positioning results, and improves the accuracy of the UWB positioning results. Meanwhile, the embodiment of the present invention does not rely on other sensors and only uses the UWB ranging value as input, and has good universality and practicability.

[0158] Optionally, the motion state determination module 420 includes a first determination submodule, and the first determination submodule is used to:

[0159] When the number of the valid anchor points is 1, determining whether a sliding ranging standard deviation of the valid anchor points is less than the first static threshold;

[0160] If so, determining that the motion state is static;

[0161] If not, it is determined whether the sliding ranging standard deviation is greater than the preset dynamic threshold value. If so, it is determined that the motion state is dynamic; if not, it is determined that the motion state is unknown.

[0162] Optionally, the motion state determination module 420 includes a second determination submodule, and the second determination submodule includes:

[0163] a static anchor point determining unit, configured to determine a static anchor point among the valid anchor points based on a sliding ranging standard deviation of a single anchor point and the second static threshold value when the number of the valid anchor points is not 1;

[0164] A motion state determining unit is configured to determine the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold.

[0165] Optionally, the motion state determination unit is specifically used to:

[0166] When the number of the static anchor points is 0, if the sliding ranging standard deviations of the valid anchor points are all less than the preset dynamic threshold, it is determined that the motion state is unknown;

[0167] Otherwise, the motion state is determined to be dynamic.

[0168] Optionally, the motion state determination module 420 includes a third determination submodule, and the third determination submodule is used to:

[0169] When the number of the static anchor points is 1, determining whether the number of the valid anchor points is greater than or equal to 3, and if not, determining that the motion state is unknown;

[0170] If so, further determining whether the sliding ranging standard deviation of the non-static anchor points in the valid anchor points is greater than the preset dynamic threshold;

[0171] If not, determining that the motion state is unknown;

[0172] If yes, further determining whether the minimum sliding ranging standard deviation corresponding to the valid anchor point is greater than the first static threshold;

[0173] If so, the motion state is determined to be dynamic, and if not, the motion state is determined to be unknown.

[0174] Optionally, the motion state determination module 420 includes a fourth determination submodule, and the fourth determination submodule is used to:

[0175] When the number of the static anchor points is greater than 2, if the sliding ranging standard deviation of at least two static anchor points is less than the first static threshold, the motion state is determined to be static.

[0176] Optionally, the motion state determination module 420 includes a fifth determination submodule, and the fifth determination submodule is used to:

[0177] When the number of the static anchor points is 2, determining whether the number of the valid anchor points is equal to 2;

[0178] If yes, it is determined that the motion state is static, if no, it is determined whether the number of valid anchor points is equal to 3;

[0179] If so, further determining whether the maximum sliding ranging standard deviation corresponding to the valid anchor point is less than the preset dynamic threshold; if so, determining that the motion state is static; if not, determining that the motion state is unknown;

[0180] If it is determined that the number of the valid anchor points is not equal to 3, determining whether the sliding ranging standard deviations of the non-static anchor points among the valid anchor points are all greater than the preset dynamic threshold;

[0181] If so, the motion state is determined to be unknown, and if not, the motion state is determined to be static.

[0182] Optionally, the target positioning module 430 is specifically configured to:

[0183] The distance value between the anchor point and the UWB device is calculated based on the UWB positioning algorithm, and the distance value is corrected according to the motion state, so as to determine the target positioning result based on the corrected distance value.

[0184] The UWB-based positioning device provided in the embodiment of the present invention can execute the UWB-based positioning method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0185] Embodiment 5

[0186] Fig.14A schematic diagram of the structure of an electronic device provided for Embodiment 5 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0187] like Fig.14 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0188] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0189] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a UWB-based positioning method.

[0190] In some embodiments, a UWB-based positioning method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the UWB-based positioning method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a UWB-based positioning method in any other appropriate manner (e.g., by means of firmware).

[0191] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0192] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0193] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0194] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0195] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0196] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0197] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0198] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A positioning method based on UWB, characterized in that: include: Calculate the sliding ranging standard deviation of each anchor point based on the UWB signal corresponding to the UWB device, and determine the effective anchor point based on the ranging value and the sliding ranging standard deviation; Determine the motion state corresponding to the UWB device based on the number of valid anchor points, the sliding ranging standard deviation, a preset static threshold and a preset dynamic threshold, wherein the preset static threshold includes a first static threshold and a second static threshold; According to the motion state, positioning the UWB device by using a UWB positioning algorithm to obtain a target positioning result; The determining the motion state corresponding to the UWB device based on the number of the valid anchor points, a preset static threshold, and a preset dynamic threshold includes: When the number of the valid anchor points is not 1, determining a static anchor point among the valid anchor points based on a sliding ranging standard deviation of a single anchor point and the second static threshold; determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold; The determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the dynamic threshold includes: When the number of the static anchor points is 0, if the sliding ranging standard deviations of the valid anchor points are all less than the preset dynamic threshold, it is determined that the motion state is unknown; Otherwise, the motion state is determined to be dynamic.

2. The method according to claim 1, characterized in that The determining the motion state corresponding to the UWB device based on the number of the valid anchor points, a preset static threshold, and a preset dynamic threshold includes: When the number of the valid anchor points is 1, determining whether a sliding ranging standard deviation of the valid anchor points is less than the first static threshold; If so, determining that the motion state is static; If not, it is determined whether the sliding ranging standard deviation is greater than the preset dynamic threshold value. If so, it is determined that the motion state is dynamic; if not, it is determined that the motion state is unknown.

3. The method according to claim 1, characterized in that The determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes: When the number of the static anchor points is 1, determining whether the number of the valid anchor points is greater than or equal to 3, and if not, determining that the motion state is unknown; If so, further determining whether the sliding ranging standard deviation of the non-static anchor points in the valid anchor points is greater than the preset dynamic threshold; If not, determining that the motion state is unknown; If yes, further determining whether the minimum sliding ranging standard deviation corresponding to the valid anchor point is greater than the first static threshold; If so, the motion state is determined to be dynamic, and if not, the motion state is determined to be unknown.

4. The method according to claim 1, characterized in that: The determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes: When the number of the static anchor points is greater than 2, if the sliding ranging standard deviation of at least two static anchor points is less than the first static threshold, the motion state is determined to be static.

5. The method according to claim 1, characterized in that The determining the motion state based on the number of the static anchor points, the first static threshold, the second static threshold, and the preset dynamic threshold includes: When the number of the static anchor points is 2, determining whether the number of the valid anchor points is equal to 2; If yes, it is determined that the motion state is static, if no, it is determined whether the number of valid anchor points is equal to 3; If so, further determining whether the maximum sliding ranging standard deviation corresponding to the valid anchor point is less than the preset dynamic threshold; if so, determining that the motion state is static; if not, determining that the motion state is unknown; If it is determined that the number of the valid anchor points is not equal to 3, determining whether the sliding ranging standard deviations of the non-static anchor points among the valid anchor points are all greater than the preset dynamic threshold; If so, the motion state is determined to be unknown, and if not, the motion state is determined to be static.

6. The method according to claim 1, characterized in that Positioning the UWB device by using a UWB positioning algorithm according to the motion state to obtain a target positioning result includes: The distance value between the effective anchor point and the UWB device is calculated based on the UWB positioning algorithm, and the distance value is corrected according to the motion state, so as to determine the target positioning result based on the corrected distance value.

7. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can perform the UWB-based positioning method according to any one of claims 1 to 6.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the UWB-based positioning method according to any one of claims 1 to 6 when executed.

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