Positioning quality control method and device for UWB digital key and medium

Abstract

The embodiment of the invention relates to the field of signal processing, in particular to a UWB digital key positioning quality control method and device and a medium, and the method comprises the steps: obtaining a Kalman positioning solution of a UWB digital key in a current epoch, and when the Kalman positioning solution of the current epoch is not the first Kalman positioning solution, determining that the UWB digital key is the second Kalman positioning solution; judging whether a first positioning solution obtained by adopting a preset positioning algorithm exists in the current epoch or not; if the solution exists, obtaining a Kalman positioning solution of a previous epoch of the current epoch, and obtaining a quality judgment result of the Kalman positioning solution of the current epoch according to the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and a distance relationship between the vehicle UWB anchor points; and when the quality judgment result meets the quality requirement, outputting a positioning result of the UWB digital key in the current epoch. According to the scheme, the positioning result with relatively high quality can be output, so that the positioning quality and accuracy of the UWB digital key are ensured.

Description

Technical Field

[0001] The present invention relates to the field of signal processing, and in particular to a positioning quality control method, device and medium for a UWB digital key. Background Art

[0002] UWB digital key is an emerging digital key technology that uses UWB (Ultra Wide Band) technology to locate vehicle users, make judgments based on the positioning results, and send corresponding unlocking and locking instructions to the vehicle to realize the key function.

[0003] UWB has the characteristics of high positioning accuracy and high security, but the signal will be interfered to a certain extent in complex environments, such as shielding and reflection, resulting in deviations in positioning results. In order to improve positioning performance, a positioning algorithm can be used for preliminary positioning, and then a Kalman filter can be used for secondary positioning to obtain the Kalman positioning result as the final positioning solution.

[0004] However, in practical applications, due to the complexity of signal changes, Kalman filtering may produce large drift, resulting in large errors in Kalman positioning results. Summary of the invention

[0005] The purpose of the embodiments of the present invention is to provide a positioning quality control method, device and medium for a UWB digital key, which can control the quality of the preliminary positioning results and the Kalman positioning results to output higher-quality positioning results, thereby ensuring the quality and accuracy of the positioning of the UWB digital key.

[0006] To solve the above technical problems, an embodiment of the present invention provides a positioning quality control method for a UWB digital key, including: obtaining the Kalman positioning solution of the UWB digital key in the current epoch, and when the Kalman positioning solution of the current epoch is not the first Kalman positioning solution, judging whether the current epoch has a first positioning solution calculated using a preset positioning algorithm; if the current epoch has a first positioning solution, obtaining the Kalman positioning solution of the previous epoch of the current epoch, and obtaining the quality judgment result of the Kalman positioning solution of the current epoch based on the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor point; when the quality judgment result meets the quality requirements, outputting the positioning result of the UWB digital key in the current epoch.

[0007] An embodiment of the present invention also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the positioning quality control method of the UWB digital key as described above.

[0008] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the positioning quality control method of the UWB digital key as described above.

[0009] In addition, after obtaining the Kalman positioning solution of the UWB digital key in the current epoch as described above, the method also includes: when the Kalman positioning solution of the current epoch is the first Kalman positioning solution, determining the first minimum distance between the first Kalman positioning solution and all the UWB anchor points and the first target anchor point corresponding to the first minimum distance, and determining the first ranging value between the UWB digital key and the first target anchor point according to the UWB signal of the first target anchor point; when the difference between the first minimum distance and the first ranging value is less than a first threshold, outputting the first Kalman positioning solution as the positioning result; when the difference between the first minimum distance and the first ranging value is not less than the first threshold, setting the Kalman positioning solution of the next epoch to be reset, and not outputting the positioning result.

[0010] In addition, after determining whether there is a first positioning solution obtained by positioning and solving using a preset positioning algorithm in the current epoch as described above, the method also includes: setting a first quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirements are met; if there is no first positioning solution in the current epoch, determining the second minimum distance between the Kalman positioning solution of the current epoch and all the UWB anchor points and the second target anchor point corresponding to the second minimum distance, and determining the second ranging value between the UWB digital key and the second target anchor point according to the UWB signal of the second target anchor point; when the first difference between the second minimum distance and the second ranging value is less than a first threshold, outputting the Kalman positioning solution of the current epoch as the positioning result; when the first difference is not less than the first threshold, setting the Kalman positioning solution of the next epoch to reset, updating the first quality flag to a value indicating that the quality requirements are not met, and not outputting the positioning result.

[0011] In addition, as described above, according to the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor point, the quality judgment result of the Kalman positioning solution of the current epoch is obtained, including: judging whether the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch meets the first quality condition; if satisfied, determining the quality judgment result according to the size relationship between the first difference and the first threshold; if not satisfied, determining the quality judgment result according to the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch and the UWB anchor point; the first quality condition is: the first distance is greater than the second threshold, or the first distance is greater than the third threshold and the second distance is less than the fourth threshold; wherein the first distance is the distance between the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch, and the second distance is the distance between the first positioning solution of the current epoch and the Kalman positioning solution of the previous epoch; the second threshold is less than the third threshold and less than the fourth threshold.

[0012] In addition, as described above, the quality judgment result is determined based on the first positioning solution of the current epoch, the distance relationship between the Kalman positioning solution of the current epoch and the UWB anchor point of the vehicle, including: obtaining the ranging value of each of the UWB anchor points, calculating the first position difference between the first positioning solution of the current epoch and each of the UWB anchor points, and forming a first array with the difference between the ranging value of each of the UWB anchor points and the first position difference corresponding to the UWB anchor point; calculating the second position difference between the Kalman positioning solution of the current epoch and each of the UWB anchor points, and forming a second array with the difference between the ranging value of each of the UWB anchor points and the second position difference corresponding to the UWB anchor point; judging whether the first array and the second array meet the following conditions: not meeting the second quality condition but meeting the third quality condition; if meeting the conditions, setting the Kalman positioning solution of the next epoch to be reset, and not outputting the positioning result; wherein the second quality condition is: there is a value greater than the third threshold in the first array; the third quality condition is: there is a value greater than the second threshold in the second array and there is a value less than the third threshold in the first array.

[0013] In addition, after the judgment as described above on whether the first array and the second array meet: not meeting the second quality condition but meeting the third quality condition, the method further includes: if not meeting, judging whether the preset positioning algorithm has a valid first positioning solution in three consecutive historical epochs before the current epoch; if not, setting the second quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirements are met, and judging whether the first array and the second array meet the fourth quality condition or the fifth quality condition; if met, setting the Kalman positioning solution of the next epoch to reset, updating the second quality flag to a value indicating that the quality requirements are not met, and outputting the first positioning solution of the current epoch; if not met, outputting the Kalman positioning solution of the current epoch as the positioning result; wherein the fourth quality condition is that the values ​​in the first array are all greater than the seventh threshold and there is a value greater than the eighth threshold in the second array; the fifth quality condition is that the values ​​in the first array are all greater than the ninth threshold and there is a value greater than the tenth threshold in the second array, and the eighth threshold is greater than the seventh threshold, greater than the tenth threshold, and greater than the ninth threshold.

[0014] In addition, after determining whether a valid first positioning solution exists in the three consecutive historical epochs before the current epoch according to the preset positioning algorithm as described above, the method further includes: if so, taking the distance between the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch as the third distance, and determining the maximum distance according to the distances between the first positioning solutions of the three historical epochs; determining whether the maximum distance and the third distance meet a sixth quality condition; if so, setting the Kalman positioning solution of the next epoch to be reset, updating the first quality flag to a value indicating that the quality requirement is not met, and outputting the first positioning solution of the current epoch; wherein the sixth quality condition is: the third distance is greater than the third threshold and the maximum distance is less than the fourth threshold, and the fourth threshold is greater than the third threshold.

[0015] In addition, after determining whether the maximum distance and the third distance satisfy the sixth quality condition, the method further includes: if not, determining whether the third distance is greater than the first threshold and the maximum distance is less than the second threshold; if so, setting the Kalman positioning solution of the next epoch to be reset, updating the first quality flag to a value indicating that the quality requirements are not met, and outputting the first positioning solution of the current epoch; if not, determining whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold; if so, updating the first quality flag to a value indicating that the quality requirements are not met, and not outputting the positioning result; wherein the fifth threshold is greater than the sixth threshold.

[0016] In addition, after determining whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold as described above, the method further includes: if not, setting the second quality flag to a value indicating that the quality requirements are met, and determining whether the first array and the second array meet the fourth quality condition or the fifth quality condition; if satisfied, setting the Kalman positioning solution of the next epoch to reset, updating the second quality flag to a value indicating that the quality requirements are not met, and outputting the first positioning solution of the current epoch; if not satisfied, outputting the Kalman positioning solution of the current epoch as the positioning result.

[0017] In addition, the preset positioning algorithm as mentioned above is any one of a clustering algorithm, a least squares method, and an equation solving algorithm.

[0018] Compared with the prior art, the implementation method of the present invention obtains the Kalman positioning solution of the previous epoch of the current epoch when the Kalman positioning solution of the current epoch is not the first Kalman positioning solution and there is a first positioning solution in the current epoch; obtains the quality judgment result of the Kalman positioning solution of the current epoch according to the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor point; when the quality judgment result meets the quality requirements, outputs the positioning result of the UWB digital key in the current epoch. That is, this scheme uses the first positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the position of the vehicle UWB anchor point as the quality judgment basis of the Kalman positioning solution of the current epoch to evaluate the quality of the Kalman positioning solution of the current epoch from multiple angles, and selects whether to output the positioning result and output the positioning result after quality control according to the quality judgment result, so as to ensure the quality of the positioning result outputted in each epoch, thereby ensuring that the UWB digital key obtains a high-quality positioning result and improves the accuracy of the positioning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 1 ; Figure 2 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 2 ; Figure 3 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 3 ; Figure 4 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 4 ; Figure 5The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 5 ; Figure 6 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 6 ; Figure 7 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 7 ; Figure 8 The process of the positioning quality control method of the UWB digital key according to the embodiment of the present invention is as follows Figure 8 ; Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings. However, it can be understood by those skilled in the art that in the embodiments of the present invention, many technical details are provided to enable readers to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present invention can be implemented.

[0021] Before describing this solution in detail, the related technologies of this solution are described first. UWB (UltraWide Band) is a carrier-free communication technology. By using the precise ranging capability of UWB, multiple anchor points arranged on the vehicle can be combined with a legal handheld key or mobile phone by simply approaching the vehicle to achieve precise spatial perception of the vehicle at close range. Using the vehicle's spatial perception, the vehicle can independently judge and control the vehicle to achieve intelligent control. Generally speaking, when the UWB digital key approaches the vehicle, the vehicle will automatically turn on the welcome light first, and as the distance approaches, it will automatically unlock when approaching the door; when it is far away from the vehicle, it can also automatically lock the car according to the position change of the UWB digital key. In this process, the UWB anchor point needs to continuously measure the distance and position the UWB digital key so as to perform corresponding functions according to the positioning of the UWB digital key.

[0022] Generally speaking, the UWB digital key can perform positioning and solution by receiving signals sent by multiple UWB anchor points in the vehicle to determine the location of the UWB digital key. The positioning solution can use the least squares method, clustering algorithm and equation solution method (when only two UWB anchor point signals are received). However, since the least squares method and other positioning algorithms do not associate the states at different times, the positioning results are often rough and messy. Therefore, in order to improve the positioning accuracy, after solving the preliminary positioning, the Kalman filter can also be used for secondary positioning. As a minimum variance estimation algorithm, the Kalman filter can make the best unbiased estimate of the state. The positioning result obtained by the preliminary positioning can be used to predict the current position. Therefore, the result of the preliminary positioning can be used as the initial value of the Kalman filter to obtain the secondary positioning result. However, in the actual positioning process, the signal may be affected by the surrounding environment and produce more complex changes, causing the Kalman filter to have a large drift, which in turn leads to a large error in the Kalman positioning result.

[0023] In order to solve the above problems, the embodiment of the present invention proposes a positioning quality control method of a UWB digital key, such as Figure 1 As shown, the following steps are included.

[0024] Step 101: Obtain the Kalman positioning solution of the UWB digital key in the current epoch. When the Kalman positioning solution of the current epoch is not the first Kalman positioning solution, determine whether there is a first positioning solution calculated using a preset positioning algorithm in the current epoch.

[0025] Specifically, in the first epoch after the UWB digital key is initialized and positioning begins, the preset positioning algorithm is first used to solve the received UWB anchor point signal to obtain the first positioning solution (initial positioning solution), and then Kalman filtering is performed based on the initial positioning solution to obtain the Kalman positioning solution, which is the first Kalman positioning solution after initialization; after entering the next epoch, the preset positioning algorithm is again used to solve the first positioning solution of the current epoch, and the Kalman positioning solution of the current epoch is solved based on the first positioning solution of the first epoch. It can be seen that in this embodiment, the Kalman positioning solution of the current epoch must be obtained based on the first positioning solution only when it is the first Kalman positioning solution; when the Kalman positioning solution of the current epoch is not the first Kalman positioning solution, the Kalman positioning solution of the current epoch is obtained based on the Kalman positioning solution of the previous epoch. In this case, the quality of the Kalman positioning solution of the current epoch is related to the quality of the Kalman positioning solution of the previous epoch, and the first positioning solution of the current epoch can also verify the Kalman positioning solution of the current epoch.

[0026] Therefore, after obtaining the Kalman positioning solution of the current epoch of the UWB digital key, this embodiment needs to first determine whether the Kalman positioning solution of the current epoch is the first Kalman positioning solution after initialization. When the Kalman positioning solution of the current epoch is not the first Kalman positioning solution, it is necessary to further determine whether the current epoch has the first positioning solution calculated using the preset positioning algorithm. If so, the first positioning solution of the current epoch can be used as a quality judgment basis for obtaining the quality judgment result. If not, it does not need to be considered. Therefore, whether the current epoch has the first positioning solution will affect the specific steps of this solution for quality judgment of the Kalman positioning solution of the current epoch.

[0027] Step 102: If there is a first positioning solution in the current epoch, obtain the Kalman positioning solution of the previous epoch of the current epoch, and obtain the quality judgment result of the Kalman positioning solution of the current epoch based on the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor points.

[0028] Specifically, when there is a first positioning solution in the current epoch, it can be added to the quality judgment process as a basis for judging the quality of the Kalman positioning solution of the current epoch. After determining that there is a first positioning solution in the current epoch, the Kalman positioning solution of the previous epoch of the current epoch is obtained. Since the Kalman positioning solution of the current epoch is obtained based on the Kalman positioning solution of the previous epoch, the Kalman positioning solution of the previous epoch can also be used as a basis for judging the quality of the Kalman positioning solution of the current epoch. If the difference between the two obtained in adjacent epochs is too large, the Kalman positioning solution of the current epoch may have problems. In addition, the vehicle UWB anchor point can send out a ranging signal, and the distance included in the ranging signal can be used to verify the Kalman positioning solution of the current epoch. Therefore, according to the distance relationship between the vehicle UWB anchor point, the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the Kalman positioning solution of the previous epoch, the quality judgment result of the Kalman positioning solution of the current epoch can be obtained.

[0029] Step 103: When the quality judgment result meets the quality requirement, the positioning result of the UWB digital key in the current epoch is output.

[0030] Specifically, whether to output the positioning result and what kind of positioning result to output is determined according to the quality judgment result of the Kalman positioning solution of the current epoch. Corresponding quality requirements can be set for the Kalman positioning solution of the current epoch, and when the quality judgment result meets the quality requirements, the Kalman positioning solution of the current epoch is output as the positioning result of the UWB digital key in the current epoch.

[0031] Compared with the related art, this embodiment obtains the Kalman positioning solution of the previous epoch of the current epoch when the Kalman positioning solution of the current epoch is not the first Kalman positioning solution and there is a first positioning solution in the current epoch; obtains the quality judgment result of the Kalman positioning solution of the current epoch according to the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor point; when the quality judgment result meets the quality requirements, outputs the positioning result of the UWB digital key in the current epoch. That is, this solution uses the first positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the position of the vehicle UWB anchor point as the quality judgment basis of the Kalman positioning solution of the current epoch to evaluate the quality of the Kalman positioning solution of the current epoch from multiple angles, and outputs the positioning result according to the quality judgment result, ensuring that each epoch outputs a high-quality positioning result, thereby ensuring that the UWB digital key obtains a high-quality positioning result and improving the accuracy of the positioning result.

[0032] Another embodiment of the present invention relates to a positioning quality control method for a UWB digital key. The embodiment of the present invention is a supplementary embodiment of the above embodiment. After obtaining the Kalman positioning solution of the UWB digital key in the current epoch, Figure 2 As shown, the method of this embodiment also includes the following steps: Step 201: When the Kalman positioning solution of the current epoch is the first Kalman positioning solution, determine the first minimum distance between the first Kalman positioning solution and all UWB anchor points and the first target anchor point corresponding to the first minimum distance, and determine the first ranging value between the UWB digital key and the first target anchor point based on the UWB signal of the first target anchor point.

[0033] Specifically, when the Kalman positioning solution of the current epoch is the first Kalman positioning solution, it proves that it does not have the quality judgment basis of the Kalman positioning solution of the previous epoch. At this time, the quality of the first Kalman positioning solution can be judged according to the ranging value of the UWB anchor point. Since the UWB digital key can obtain the location information of all UWB anchor points of the vehicle, the UWB anchor point with the smallest distance from the first Kalman positioning solution can be determined as the first target anchor point based on the first Kalman positioning solution and the location information of all UWB anchor points, and the distance between the first target anchor point and the first Kalman positioning solution is recorded as the first minimum distance. At the same time, the UWB digital key can receive the UWB signal and determine the ranging value between the UWB anchor point that sends the signal and the UWB digital key based on the received UWB signal. Therefore, the ranging value between the UWB digital key and the first target anchor point can be determined based on the UWB signal of the first target anchor point as the first ranging value.

[0034] Step 202: When the difference between the first minimum distance and the first distance measurement value is less than a first threshold, output the first Kalman positioning solution as a positioning result.

[0035] The difference between the first minimum distance and the first ranging value is compared with the first threshold as the quality judgment process of this embodiment. If the difference between the first minimum distance and the first ranging value is less than the first threshold, it can be considered that the quality of the first Kalman positioning solution meets the quality requirements, and the first Kalman positioning solution is output as the positioning result.

[0036] Step 203: When the difference between the first minimum distance and the first ranging value is not less than the first threshold, the Kalman positioning solution of the next epoch is reset, and the positioning result is not output.

[0037] When the difference between the first minimum distance and the first ranging value is not less than the first threshold, it is considered that the quality of the first Kalman positioning solution does not meet the quality requirements, and the Kalman positioning solution of the next epoch is reset, and the positioning result is not output. The first threshold can be set to 1.5m, and this embodiment does not impose specific restrictions on this. It should be noted that after judging that the quality of the first Kalman positioning solution does not meet the quality requirements, if the next epoch still uses the first Kalman positioning solution to calculate the Kalman positioning solution of the next epoch, it will cause a large error in the Kalman positioning solution of the next epoch. Therefore, the Kalman positioning solution of the next epoch is reset, and when the next epoch is solved, the Kalman positioning solution of the next epoch is recalculated according to the first positioning solution of the next epoch, thereby reducing the error of the Kalman positioning solution of the next epoch.

[0038] Compared with the related art, this embodiment determines whether the Kalman positioning solution of the current epoch meets the quality requirements by comparing the difference between the first minimum distance between the first Kalman positioning solution and the first target anchor point and the first ranging value between the UWB digital key and the first target anchor point with a preset first threshold when the Kalman positioning solution of the current epoch is the first Kalman positioning solution, and determines whether to output the positioning result based on the judgment result, thereby ensuring the reliability of the output positioning result.

[0039] Another embodiment of the present invention relates to a positioning quality control method for a UWB digital key. The embodiment of the present invention is a supplementary embodiment of the above embodiment. After determining in step 101 whether there is a first positioning solution obtained by positioning by using a preset positioning algorithm in the current epoch, as follows Figure 3 As shown, the method of this embodiment also includes the following steps: Step 301: setting the first quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirement is met.

[0040] Specifically, since there is a first positioning solution obtained by positioning and solving using a preset positioning algorithm in the current epoch, the first positioning solution can be used as a quality judgment basis for the Kalman positioning solution of the current epoch, and the Kalman positioning solution of the current epoch needs to obtain its quality judgment result based on multiple quality judgment bases, and it is impossible to obtain the quality judgment result based on the judgment of only one condition. In order to comprehensively consider all quality judgment bases to obtain the quality judgment result, this embodiment adopts the method of setting a quality flag to indicate whether the Kalman positioning solution of the current epoch meets the quality requirements. After obtaining the Kalman positioning solution of the UWB digital key in the current epoch, it is preferentially assumed that the Kalman positioning solution of the current epoch meets the quality requirements, and the first quality flag is set to a value indicating that the quality requirements are met, for example, the first quality flag is set to 1, indicating that it meets the quality requirements; the first quality flag is set to 0, indicating that it does not meet the quality requirements, or the first quality flag is set to 0, indicating that it meets the quality requirements; the first quality flag is set to 1, indicating that it does not meet the quality requirements, and the present embodiment does not impose specific restrictions on the values ​​used to indicate that the quality requirements are met / not met. After setting, further subsequent quality judgment basis is used to verify whether the Kalman positioning solution of the current epoch meets the quality requirements, and the value of the first quality flag is updated when it does not meet the quality requirements. Among them, the preset positioning algorithm in this embodiment can be any one of a clustering algorithm, a least squares method, and an equation solving algorithm.

[0041] Step 302: If the first positioning solution does not exist in the current epoch, determine the second minimum distance between the Kalman positioning solution of the current epoch and all UWB anchor points and the second target anchor point corresponding to the second minimum distance, and determine the second ranging value between the UWB digital key and the second target anchor point based on the UWB signal of the second target anchor point.

[0042] Specifically, when the first positioning solution does not exist in the current epoch, it is proved that the Kalman positioning solution of the current epoch does not have the quality judgment basis of the first positioning solution of the current epoch. At this time, the quality of the Kalman positioning solution of the current epoch can be judged according to the ranging value of the UWB anchor point. Since the UWB digital key can obtain the location information of all UWB anchor points of the vehicle, the UWB anchor point with the smallest distance from the Kalman positioning solution of the current epoch can be determined as the second target anchor point based on the Kalman positioning solution of the current epoch and the location information of all UWB anchor points, and the distance between the second target anchor point and the Kalman positioning solution of the current epoch is recorded as the second minimum distance. At the same time, the ranging value between the UWB digital key and the second target anchor point can be determined according to the UWB signal of the second target anchor point as the second ranging value.

[0043] Step 303: When a first difference between the second minimum distance and the second ranging value is less than a first threshold, the Kalman positioning solution of the current epoch is output as a positioning result.

[0044] The difference between the second minimum distance and the second ranging value is compared with the first threshold as the quality judgment process of this embodiment. If the first difference between the second minimum distance and the second ranging value is less than the first threshold, it can be considered that the Kalman positioning solution of the current epoch meets the quality requirements, and the Kalman positioning solution of the current epoch is output as the positioning result.

[0045] Step 304: When the first difference is not less than the first threshold, the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the positioning result is not output.

[0046] When the difference (first difference) between the second minimum distance and the second ranging value is not less than the first threshold, it is considered that the Kalman positioning solution of the current epoch does not meet the quality requirements, and the Kalman positioning solution of the next epoch is reset, and the positioning result is not output. The first threshold can be set to 1.5m, and this embodiment does not impose specific restrictions on this. It should be noted that after judging that the quality of the Kalman positioning solution of the current epoch does not meet the quality requirements, if the next epoch still uses the Kalman positioning solution of the current epoch to calculate the Kalman positioning solution of the next epoch, it will cause a large error in the Kalman positioning solution of the next epoch. Therefore, the Kalman positioning solution of the next epoch is reset, and when the next epoch is solved, the Kalman positioning solution of the next epoch is recalculated according to the first positioning solution of the next epoch, thereby reducing the error of the Kalman positioning solution of the next epoch.

[0047] In one example, when there is a first positioning solution in the current epoch, such as Figure 4 As shown, step 102 specifically includes the following steps: Step 401: Determine whether the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch satisfies a first quality condition.

[0048] Specifically, the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the Kalman positioning solution of the previous epoch all represent a specific position, and it is determined whether the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the Kalman positioning solution of the previous epoch satisfies the first quality condition, wherein the first quality condition is: the first distance is greater than the second threshold, or the first distance is greater than the third threshold and the second distance is less than the fourth threshold; wherein the first distance is the distance between the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch, and the second distance is the distance between the first positioning solution of the current epoch and the Kalman positioning solution of the previous epoch; the second threshold is less than the third threshold and less than the fourth threshold, the second threshold can be set to 0.5m, the third threshold is set to 1m, and the fourth threshold is set to 2m, and this embodiment does not impose any specific limitation on this.

[0049] If so, step 402 is executed: determining a quality judgment result according to a magnitude relationship between the first difference and the first threshold.

[0050] Specifically, if the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch meets the first quality condition, the same quality judgment steps as steps 303-304 can be adopted, that is, the difference between the second minimum distance and the second ranging value is used as the first difference, and compared with the first threshold. If the first difference between the second minimum distance and the second ranging value is less than the first threshold, it can be considered that the quality judgment result of the Kalman positioning solution of the current epoch meets the quality requirement, and the Kalman positioning solution of the current epoch is output as the positioning result. When the first difference is not less than the first threshold, it is considered that the Kalman positioning solution of the current epoch does not meet the quality requirement, and the Kalman positioning solution of the next epoch is reset, and the positioning result is not output.

[0051] If not, step 403 is executed: determining a quality judgment result according to the first positioning solution of the current epoch and the distance relationship between the Kalman positioning solution of the current epoch and the UWB anchor point.

[0052] Specifically, if the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the Kalman positioning solution of the previous epoch does not meet the first quality condition, it means that the current quality judgment basis is insufficient to obtain a quality judgment result, and further quality judgment is required. The quality judgment result is further determined based on the distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the UWB anchor point.

[0053] In another example, in step 403, the quality judgment result is determined based on the first positioning solution of the current epoch, the distance relationship between the Kalman positioning solution of the current epoch and the vehicle UWB anchor point, such as Figure 5 , Figure 6 , Figure 7 , Figure 8 As shown, the following steps are included: Step 501: Obtain the ranging value of each UWB anchor point, calculate the first position difference between the first positioning solution of the current epoch and each UWB anchor point, and form a first array with the difference between the ranging value of each UWB anchor point and the first position difference corresponding to the UWB anchor point.

[0054] Specifically, the ranging value in the UWB signal received by the UWB digital key is used as the ranging value of the UWB anchor point that sends the signal, the ranging value between each UWB anchor point and the UWB digital key is obtained, and the distance between the first positioning solution of the current epoch and each UWB anchor point is calculated according to the position of each UWB anchor point and the first positioning solution (coordinates) of the current epoch, and recorded as the first position difference. After obtaining the first position difference and ranging value corresponding to each UWB anchor point, the difference between the ranging value of each UWB anchor point and the first position difference corresponding to the UWB anchor point is calculated, and each difference constitutes a first array.

[0055] Step 502: Calculate the second position difference between the Kalman positioning solution of the current epoch and each UWB anchor point, and form a second array with the difference between the ranging value of each UWB anchor point and the second position difference corresponding to the UWB anchor point.

[0056] Similarly, in a manner similar to step 502, the distance between the Kalman positioning solution of the current epoch and each UWB anchor point is calculated based on the position of each UWB anchor point and the Kalman positioning solution (coordinates) of the current epoch, and recorded as the second position difference. After obtaining the second position difference and ranging value corresponding to each UWB anchor point, the difference between the ranging value of each UWB anchor point and the second position difference corresponding to the UWB anchor point is calculated, and each difference constitutes a second array.

[0057] Step 503: Determine whether the first array and the second array meet the following conditions: not meeting the second quality condition but meeting the third quality condition.

[0058] The second quality condition is: there are values ​​greater than the third threshold in the first array; the third quality condition is: there are values ​​greater than the second threshold in the second array and there are values ​​less than the third threshold in the first array.

[0059] If it is met, then step 504 is executed: the Kalman positioning solution of the next epoch is reset and the positioning result is not output.

[0060] Specifically, if it is determined that the first array and the second array do not meet the second quality condition but meet the third quality condition, then the quality judgment result of the Kalman positioning solution of the current epoch is that it does not meet the quality requirements, and the first quality flag of the Kalman positioning solution of the current epoch is set to a value indicating that the quality requirements are not met, and the positioning result is not output.

[0061] In another example, Figure 6 As shown, if the judgment result of step 503 is that the first array and the second array do not meet: do not meet the second quality condition but meet the third quality condition, the steps of this embodiment include the following steps: Step 601: Determine whether a preset positioning algorithm has a valid first positioning solution within three consecutive historical epochs before the current epoch.

[0062] If not, execute step 602: set the second quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirement is met, and determine whether the first array and the second array meet the fourth quality condition or the fifth quality condition.

[0063] If so, step 603 is executed: the Kalman positioning solution of the next epoch is reset, the second quality flag is updated to a value indicating that the quality requirement is not met, and the first positioning solution of the current epoch is output.

[0064] If not, execute step 604: output the Kalman positioning solution of the current epoch as the positioning result.

[0065] Among them, the fourth quality condition is that all values ​​in the first array are greater than the seventh threshold and there are values ​​in the second array that are greater than the eighth threshold; the fifth quality condition is that all values ​​in the first array are greater than the ninth threshold and there are values ​​in the second array that are greater than the tenth threshold, wherein the eighth threshold is greater than the seventh threshold, the seventh threshold is greater than the tenth threshold, and the tenth threshold is greater than the ninth threshold.

[0066] Specifically, this embodiment uses the first positioning solution of the preset positioning algorithm in three consecutive historical epochs before the current epoch as the quality judgment basis of the Kalman positioning solution of the current epoch. If the Kalman positioning solution of the current epoch has the quality judgment basis, it is necessary to introduce new data to further judge the quality of the Kalman positioning solution of the current epoch. If it does not exist, subsequent judgment can be performed only based on the current existing data. In the subsequent judgment process, the second quality flag is introduced in this embodiment, which is also used to indicate whether the Kalman positioning solution of the current epoch meets the quality requirements. Different quality judgment bases determine that the quality flags used in this embodiment may be different. Similar to the first quality flag, the Kalman positioning solution of the current epoch meets the quality requirements by default, and the second quality flag is set to a value indicating that the quality requirements are met. For example, the second quality flag is set to 1, indicating that it meets the quality requirements; the second quality flag is set to 0, indicating that it does not meet the quality requirements, or the second quality flag is set to 0, indicating that it meets the quality requirements; the second quality flag is set to 1, indicating that it does not meet the quality requirements, and the second quality flag is set to 0, indicating that it meets the quality requirements; the second quality flag is set to 1, indicating that it does not meet the quality requirements. This embodiment does not specifically limit the value used to indicate that the quality requirements are met / not met.

[0067] It should be noted that, in this embodiment, after the second quality flag is updated to a value indicating that the quality requirement is not met in step 602, before the first positioning solution of the current epoch is output, this embodiment also has a quality flag value judgment process: judging whether the first quality flag is a value that meets the quality requirement and the first quality flag is a value that meets the quality requirement, and only when the first quality flag is a value that meets the quality requirement and the first quality flag is also a value that meets the quality requirement, the Kalman positioning solution of the current epoch will be output as the positioning result. If the value of any one of the two quality flags is a value that does not meet the quality requirement, it is judged whether the first positioning solution of the current epoch can be retained according to the reset situation of the Kalman positioning solution of the next epoch. When the Kalman positioning solution of the next epoch is reset, the first positioning solution of the current epoch is retained and output. When the Kalman positioning solution of the next epoch is not reset, the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch are discarded, and the positioning result is not output. Therefore, in the case of step 603 of this embodiment, since the second quality flag is updated to a value indicating that the quality requirements are not met, and the Kalman positioning solution of the next epoch is reset, it is proved that the error of the first positioning solution of the current epoch is within an acceptable range. At this time, the first positioning solution of the current epoch can be retained as the positioning result output, even if the smoothness of the overall positioning trajectory may decrease, but in the case where the Kalman positioning solution of the current epoch cannot be output, the first positioning solution of the current epoch can be used as the positioning result output; in the case of step 603, since the second quality flag is updated, it is still a value indicating that the quality requirements are met, then the Kalman positioning solution of the current epoch can be output as the positioning result. It should be noted that the eighth threshold in this embodiment is greater than the seventh threshold, the seventh threshold is greater than the tenth threshold, and the tenth threshold is greater than the ninth threshold. Specifically, the seventh threshold can be 0.6m, the eighth threshold can be 1.2m, the ninth threshold can be 0.1m, and the tenth threshold can be 0.4m. This embodiment does not impose specific restrictions on this.

[0068] In another example, Figure 7 As shown, after step 601: determining whether the preset positioning algorithm has a valid first positioning solution in three consecutive historical epochs before the current epoch, the method further includes: If the judgment result is that the preset positioning algorithm has a valid first positioning solution within three consecutive historical epochs before the current epoch, execute the following steps.

[0069] Step 701: The distance between the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch is taken as the third distance, and the maximum distance is determined according to the position differences between each two of the first positioning solutions of three historical epochs.

[0070] Step 702: Determine whether the maximum distance and the third distance satisfy a sixth quality condition; If so, step 703 is executed: the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the first positioning solution of the current epoch is output.

[0071] The sixth quality condition is: the third distance is greater than the third threshold and the maximum distance is less than the fourth threshold, and the fourth threshold is greater than the third threshold.

[0072] Specifically, after obtaining the first positioning solutions of three consecutive historical epochs, the difference is made between the two, and the distance between the two first positioning solutions with the longest distance is determined as the maximum distance. When the maximum distance and the third distance jointly meet the sixth quality condition, the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the first positioning solution of the current epoch is output. It should be noted that when the judgment result of step 702 in this embodiment is that the maximum distance and the third distance meet the sixth quality condition, the first quality flag is updated to a value indicating that the quality requirement is not met, and the subsequent steps of this embodiment have the same quality flag value judgment process as the previous embodiment, that is, whether the first quality flag is a value that meets the quality requirement and the first quality flag is a value that meets the quality requirement, and only when the first quality flag is a value that meets the quality requirement and the first quality flag is also a value that meets the quality requirement, the Kalman positioning solution of the current epoch will be output as the positioning result. If the value of any one of the two quality flags is a value that does not meet the quality requirements, then the first positioning solution of the current epoch is judged whether it can be retained (that is, whether the error of the first positioning solution of the current epoch is within an acceptable range) according to the reset of the Kalman positioning solution of the next epoch. When the Kalman positioning solution of the next epoch is reset, it means that the error of the first positioning solution of the current epoch is within an acceptable range. At this time, the first positioning solution of the current epoch can be retained and output as the positioning result; when the Kalman positioning solution of the next epoch is not reset, it means that the error of the first positioning solution of the current epoch is not within an acceptable range, and the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch need to be discarded, and the positioning result is not output. It should be noted that in this embodiment, the fourth threshold is greater than the third threshold, the third threshold is greater than the second threshold and less than the first threshold, the fourth threshold can be 2m, and the third threshold can be 1m.

[0073] In another example, Figure 8 As shown, after determining whether the maximum distance and the third distance satisfy the sixth quality condition in step 702, if the determination result is that the maximum distance and the third distance do not satisfy the sixth quality condition, the subsequent quality determination process is continued as follows: Step 801: Determine whether the third distance is greater than the first threshold and the maximum distance is less than the second threshold.

[0074] If so, step 802 is executed: the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the first positioning solution of the current epoch is output.

[0075] Specifically, in this embodiment, when the third distance is greater than the fifth threshold value and the maximum distance is less than the sixth threshold value, after the Kalman positioning solution of the next epoch is reset, this embodiment also has a process of judging the values ​​of two quality marks, judging whether the first quality mark is a value that meets the quality requirements and the first quality mark is a value that meets the quality requirements, and only when the first quality mark is a value that meets the quality requirements and the first quality mark is also a value that meets the quality requirements, the Kalman positioning solution of the current epoch will be output as the positioning result. If the value of any one of the two quality marks is a value that does not meet the quality requirements, it is judged whether the first positioning solution of the current epoch can be retained according to the reset of the Kalman positioning solution of the next epoch. When the Kalman positioning solution of the next epoch is reset, the first positioning solution of the current epoch is retained as the positioning result output, and when the Kalman positioning solution of the next epoch is not reset, the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch are discarded, and the positioning result is not output. Therefore, in step 703, after resetting the Kalman positioning solution of the next epoch and updating the first quality flag to a value indicating that the quality requirement is not met, the first positioning solution of the current epoch is retained and output. It should be noted that the first threshold in this embodiment is greater than the second threshold, the first threshold may be 1.5m, and the second threshold may be 0.5m, and the specific values ​​in this embodiment are not limited.

[0076] If not, step 803 is executed: determining whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold.

[0077] When the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold, step 804 is executed: the first quality flag is updated to a value indicating that the quality requirement is not met, and the positioning result is not output.

[0078] Specifically, in this embodiment, after the first quality flag is updated to a value indicating that the quality requirement is not met when the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold, the same process of judging the values ​​of the two quality flags as in the above embodiment is performed. Since the first quality flag is updated to a value indicating that the quality requirement is not met, the above requirements that the first quality flag is a value that meets the quality requirement and the first quality flag is a value that meets the quality requirement must not be met, and the Kalman positioning solution of the next epoch is not reset, and the positioning result is not output.

[0079] In addition, when the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold, step 901 is executed: the second quality flag is set to a value indicating that the quality requirement is met, and whether the first array and the second array meet the fourth quality condition or the fifth quality condition is determined.

[0080] If so, execute step 9011: reset the Kalman positioning solution for the next epoch, update the second quality flag to a value indicating that the quality requirement is not met, and output the first positioning solution for the current epoch.

[0081] If not, execute step 9012: output the Kalman positioning solution of the current epoch as the positioning result.

[0082] Specifically, when the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold, steps 901, 9011, and 9012 for quality judgment in this embodiment are consistent with steps 602-604 in the aforementioned embodiment, and this embodiment will not be repeated here. In some cases, the fifth threshold is greater than the sixth threshold, and the fifth threshold can be set to 0.6m and the sixth threshold can be set to 0.25m.

[0083] Compared with the related art, this embodiment obtains the quality judgment result of the Kalman positioning solution of the current epoch by distinguishing whether the first positioning solution of the current epoch exists and adopts different quality judgment processes. When the quality judgment result meets the quality requirements, the Kalman positioning solution of the current epoch is output as the positioning result, thereby ensuring that the output positioning result has a high quality and further ensuring the accuracy of the positioning of the UWB digital key.

[0084] Another embodiment of the present invention relates to an electronic device, such as Fig. 9 As shown, it includes at least one processor 1002; and a memory 1001 that is communicatively connected to the at least one processor 1002; wherein the memory 1001 stores instructions that can be executed by the at least one processor 1002, and the instructions are executed by the at least one processor 1002 so that the at least one processor 1002 can execute any of the above method embodiments.

[0085] Among them, the memory 1001 and the processor 1002 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 1002 and the memory 1001 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 1002 is transmitted on a wireless medium through an antenna, and further, the antenna also receives data and transmits the data to the processor 1002.

[0086] The processor 1002 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management and other control functions. The memory 1001 can be used to store data used by the processor 1002 when performing operations.

[0087] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements any of the above method embodiments when executed by a processor.

[0088] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0089] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A positioning quality control method for a UWB digital key, characterized in that: include: Obtaining a Kalman positioning solution of the UWB digital key in the current epoch, and when the Kalman positioning solution of the current epoch is not the first Kalman positioning solution, determining whether there is a first positioning solution calculated using a preset positioning algorithm in the current epoch; If the current epoch has a first positioning solution, the Kalman positioning solution of the previous epoch of the current epoch is obtained, and the quality judgment result of the Kalman positioning solution of the current epoch is obtained according to the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor point; When the quality judgment result meets the quality requirement, the positioning result of the UWB digital key in the current epoch is output.

2. The method according to claim 1, characterized in that After obtaining the Kalman positioning solution of the UWB digital key at the current epoch, the method further includes: When the Kalman positioning solution of the current epoch is the first Kalman positioning solution, determining a first minimum distance between the first Kalman positioning solution and all the UWB anchor points and a first target anchor point corresponding to the first minimum distance, and determining a first ranging value between the UWB digital key and the first target anchor point according to a UWB signal of the first target anchor point; When the difference between the first minimum distance and the first ranging value is less than a first threshold, outputting the first Kalman positioning solution as the positioning result; When the difference between the first minimum distance and the first ranging value is not less than the first threshold, the Kalman positioning solution of the next epoch is reset, and the positioning result is not output.

3. The method according to claim 1, characterized in that After determining whether the current epoch has a first positioning solution obtained by performing positioning calculation using a preset positioning algorithm, the method further includes: Setting a first quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirement is met; If the first positioning solution does not exist in the current epoch, determining the second minimum distance between the Kalman positioning solution of the current epoch and all the UWB anchor points and the second target anchor point corresponding to the second minimum distance, and determining the second ranging value between the UWB digital key and the second target anchor point according to the UWB signal of the second target anchor point; When a first difference between the second minimum distance and the second ranging value is less than a first threshold, outputting the Kalman positioning solution of the current epoch as the positioning result; When the first difference is not less than the first threshold, the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the positioning result is not output.

4. The method according to claim 3, characterized in that The quality judgment result of the Kalman positioning solution of the current epoch is obtained according to the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, the Kalman positioning solution of the previous epoch and the distance relationship between the vehicle UWB anchor points, including: Determine whether a distance relationship between the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the Kalman positioning solution of the previous epoch satisfies a first quality condition; If satisfied, determining the quality judgment result according to the magnitude relationship between the first difference and the first threshold; If not, determining the quality judgment result according to the first positioning solution of the current epoch, the distance relationship between the Kalman positioning solution of the current epoch and the UWB anchor point; The first quality condition is: the first distance is greater than the second threshold, or the first distance is greater than the third threshold and the second distance is less than the fourth threshold; Among them, the first distance is the distance between the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch, and the second distance is the distance between the first positioning solution of the current epoch and the Kalman positioning solution of the previous epoch; the second threshold is less than the third threshold and less than the fourth threshold.

5. The method according to claim 4, characterized in that Determining the quality judgment result according to the first positioning solution of the current epoch and the distance relationship between the Kalman positioning solution of the current epoch and the UWB anchor point of the vehicle includes: Acquire the ranging value of each of the UWB anchor points, calculate the first position difference between the first positioning solution of the current epoch and each of the UWB anchor points, and form a first array with the difference between the ranging value of each of the UWB anchor points and the first position difference corresponding to the UWB anchor point; Calculating the second position difference between the Kalman positioning solution of the current epoch and each of the UWB anchor points, and forming a second array with the difference between the ranging value of each of the UWB anchor points and the second position difference corresponding to the UWB anchor point; Determine whether the first array and the second array meet the following conditions: do not meet the second quality condition but meet the third quality condition; If yes, the Kalman positioning solution of the next epoch is reset, and the positioning result is not output; The second quality condition is: there exists a value greater than the third threshold in the first array; the third quality condition is: there exists a value greater than the second threshold in the second array and there exists a value less than the third threshold in the first array.

6. The method according to claim 5, characterized in that After determining whether the first array and the second array meet the following conditions: not meeting the second quality condition but meeting the third quality condition, the method further includes: If not, determine whether the preset positioning algorithm has a valid first positioning solution within three consecutive historical epochs before the current epoch; If not, setting the second quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirement is met, and determining whether the first array and the second array meet the fourth quality condition or the fifth quality condition; If the condition is satisfied, resetting the Kalman positioning solution of the next epoch, updating the second quality flag to a value indicating that the quality requirement is not met, and outputting the first positioning solution of the current epoch; If not satisfied, outputting the Kalman positioning solution of the current epoch as the positioning result; Among them, the fourth quality condition is that all values ​​in the first array are greater than the seventh threshold and there are values ​​in the second array that are greater than the eighth threshold; the fifth quality condition is that all values ​​in the first array are greater than the ninth threshold and there are values ​​in the second array that are greater than the tenth threshold, and the eighth threshold is greater than the seventh threshold, greater than the tenth threshold, and greater than the ninth threshold.

7. The method according to claim 6, characterized in that After determining whether the preset positioning algorithm has a valid first positioning solution within three consecutive historical epochs before the current epoch, the method further includes: If so, taking the distance between the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch as the third distance, and determining the maximum distance according to the distances between the first positioning solutions of the three historical epochs; determining whether the maximum distance and the third distance satisfy a sixth quality condition; If the condition is satisfied, the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the first positioning solution of the current epoch is output; The sixth quality condition is: the third distance is greater than the third threshold and the maximum distance is less than the fourth threshold, and the fourth threshold is greater than the third threshold.

8. The method according to claim 7, characterized in that After determining whether the maximum distance and the third distance satisfy a sixth quality condition, the method further includes: If not, determining whether the third distance is greater than the first threshold and the maximum distance is less than the second threshold; If so, the Kalman positioning solution of the next epoch is reset, the first quality flag is updated to a value indicating that the quality requirement is not met, and the first positioning solution of the current epoch is output; If not, determining whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold; If so, updating the first quality flag to a value indicating that the quality requirement is not met, and not outputting the positioning result; Among them, the fifth threshold is greater than the sixth threshold.

9. The method according to claim 8, characterized in that After determining whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold, the method further includes: If not, setting the second quality flag to a value indicating that the quality requirement is met, and determining whether the first array and the second array meet the fourth quality condition or the fifth quality condition; If the condition is satisfied, resetting the Kalman positioning solution of the next epoch, updating the second quality flag to a value indicating that the quality requirement is not met, and outputting the first positioning solution of the current epoch; If not satisfied, the Kalman positioning solution of the current epoch is output as the positioning result.

10. The method according to claim 1, characterized in that The preset positioning algorithm is any one of a clustering algorithm, a least squares method, and an equation solving algorithm.

11. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the positioning quality control method for the UWB digital key as described in any one of claims 1 to 10.

12. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the positioning quality control method of the UWB digital key according to any one of claims 1 to 10 is implemented.

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