UWB Digital Key Positioning Quality Control Method, Device and Medium

Abstract

Embodiment of the present invention relates to the field of signal processing, and particularly to a positioning quality control method, device and medium for UWB digital keys. The method includes: obtaining the Kalman positioning solution of the UWB digital key at the current epoch. When the Kalman positioning solution at the current epoch is not the first Kalman positioning solution, determining whether there is a first positioning solution obtained by using a preset positioning algorithm at the current epoch; if there is a solution, obtaining the Kalman positioning solution of the previous epoch of the current epoch, and obtaining a quality judgment result of the Kalman positioning solution at the current epoch according to the first positioning solution at the current epoch, the Kalman positioning solution at the current epoch, the Kalman positioning solution of the previous epoch, and the distance relationship between the vehicle UWB anchors; when the quality judgment result meets the quality requirements, outputting the positioning result of the UWB digital key at the current epoch. This solution can output a positioning result with higher quality, thereby ensuring the quality and accuracy of the positioning of the UWB digital key.

Description

Technical Field

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

[0002] UWB digital key is a new digital key technology that uses UWB (Ultra Wide Band) technology to locate vehicle users, and makes judgments based on the positioning results to send corresponding unlocking and locking instructions to the vehicle to achieve key functions.

[0003] UWB has the characteristics of high positioning accuracy and high security. However, in a complex environment, the signal will be interfered to a certain extent, such as shielding, reflection, etc., resulting in deviation of the positioning result. In order to improve the positioning performance, a positioning algorithm can be used for preliminary positioning first, and then Kalman filtering is used for secondary positioning to obtain the Kalman positioning result as the final positioning solution.

[0004] However, in actual applications, due to the complexity of signal changes, Kalman filtering may produce large drifts, resulting in large errors in the Kalman positioning result. 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 UWB digital keys, which can control the quality of the preliminary positioning result and the Kalman positioning result to output a positioning result with higher quality, thereby ensuring the quality and accuracy of the positioning of UWB digital keys.

[0006] To solve the above technical problems, an embodiment of the present invention provides a positioning quality control method for UWB digital keys, including: obtaining the Kalman positioning solution of the UWB digital key at the current epoch; when the Kalman positioning solution at the current epoch is not the first Kalman positioning solution, determining whether there is a first positioning solution obtained by using a preset positioning algorithm at the current epoch; if there is a first positioning solution at the current epoch, obtaining the Kalman positioning solution of the previous epoch of the current epoch, and obtaining a quality judgment result of the Kalman positioning solution at the current epoch according to the first positioning solution at the current epoch, the Kalman positioning solution at the current epoch, the Kalman positioning solution of the previous epoch, and the distance relationship between the vehicle UWB anchors; when the quality judgment result meets the quality requirements, outputting the positioning result of the UWB digital key at the current epoch.

[0007] Embodiments of the present invention also provide an electronic device, including: 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 to enable the at least one processor to execute the positioning quality control method of the UWB digital key as described above.

[0008] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the positioning quality control method of the UWB digital key as described above is implemented.

[0009] In addition, after obtaining the Kalman positioning solution of the UWB digital key at the current epoch as described above, the method further includes: when the Kalman positioning solution at the current epoch is the first Kalman positioning solution, determining a first minimum distance between the first Kalman positioning solution and all the UWB anchors and a first target anchor corresponding to the first minimum distance, and determining a first ranging value between the UWB digital key and the first target anchor according to the UWB signal of the first target anchor; 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 performing positioning calculation using a preset positioning algorithm in the current epoch as described above, the method further includes: setting a first quality flag of the Kalman positioning solution in the current epoch to a value indicating that the quality requirement is met; if there is no first positioning solution in the current epoch, determining a second minimum distance between the Kalman positioning solution in the current epoch and all the UWB anchors and a second target anchor corresponding to the second minimum distance, and determining a second ranging value between the UWB digital key and the second target anchor according to the UWB signal of the second target anchor; 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 in 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 be reset, updating the first quality flag to a value indicating that the quality requirement is not met, and not outputting the positioning result.

[0011] In addition, 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 anchors, 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 satisfies the first quality condition; if it is satisfied, determining the quality judgment result according to the magnitude relationship between the first difference and the first threshold; if it is 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 anchors; 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 is less than the fourth threshold.

[0012] In addition, according to the first positioning solution of the current epoch, the distance relationship between the Kalman positioning solution of the current epoch and the vehicle UWB anchors, the quality judgment result is determined, including: obtaining the ranging values of each UWB anchor, calculating the first position difference between the first positioning solution of the current epoch and each UWB anchor, and forming a first array with the difference between the ranging value of each UWB anchor and the first position difference corresponding to the UWB anchor; calculating the second position difference between the Kalman positioning solution of the current epoch and each UWB anchor, and forming a second array with the difference between the ranging value of each UWB anchor and the second position difference corresponding to the UWB anchor; judging whether the first array and the second array meet: not satisfying the second quality condition but satisfying the third quality condition; if they meet, 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 in the first array that is greater than the third threshold; the third quality condition is: there is a value in the second array that is greater than the second threshold and there is a value in the first array that is less than the third threshold.

[0013] In addition, after determining whether the first array and the second array meet the following conditions as described above: after not meeting the second quality condition but meeting the third quality condition, the method further includes: if they do not meet, determining whether there is a valid first positioning solution of the preset positioning algorithm 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 they meet, 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 they do not meet, 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 in the second array greater than the eighth threshold; the fifth quality condition is that the values in the first array are all greater than the ninth threshold and there is a value in the second array greater than the tenth threshold, and the eighth threshold is greater than the seventh threshold which is greater than the tenth threshold which is greater than the ninth threshold.

[0014] In addition, after determining whether there is a valid first positioning solution of the preset positioning algorithm within three consecutive historical epochs before the current epoch as described above, the method further includes: if there is, 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 every two of the first positioning solutions of the three historical epochs; determining whether the maximum distance and the third distance meet the sixth quality condition; if they meet, resetting the Kalman positioning solution of the next epoch, 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 that 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 meet the sixth quality condition, the method further includes: if they do not meet, determining whether the third distance is greater than the first threshold and the maximum distance is less than the second threshold holds; if it holds, resetting the Kalman positioning solution of the next epoch, 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; if it does not hold, determining whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold holds; if it holds, updating the first quality flag to a value indicating that the quality requirement is 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 requirement is met, and determining whether the first array and the second array meet the fourth quality condition or the fifth quality condition; if they meet, setting the Kalman positioning solution for the next epoch to be reset, updating the second quality flag to a value indicating that the quality requirement is not met, and outputting the first positioning solution for the current epoch; if they do not meet, outputting the Kalman positioning solution for the current epoch as the positioning result.

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

[0018] Compared with the prior art, in the embodiment of the present invention, when the Kalman positioning solution for the current epoch is not the first Kalman positioning solution and there is a first positioning solution for the current epoch, the Kalman positioning solution for the previous epoch of the current epoch is obtained; according to the first positioning solution for the current epoch, the Kalman positioning solution for the current epoch, the Kalman positioning solution for the previous epoch, and the distance relationship between the vehicle UWB anchors, a quality judgment result of the Kalman positioning solution for the current epoch is obtained; when the quality judgment result meets the quality requirement, the positioning result of the UWB digital key for the current epoch is output. That is, this solution uses the first positioning solution for the current epoch, the Kalman positioning solution for the previous epoch, and the vehicle UWB anchor positions, etc. as the quality judgment basis for the Kalman positioning solution for the current epoch to evaluate the quality of the Kalman positioning solution for the current epoch from multiple perspectives, and selects whether to output the positioning result and output the quality-controlled positioning result according to the quality judgment result, ensuring the quality of the positioning result output for each epoch, thereby ensuring that the UWB digital key obtains a relatively high-quality positioning result and improving the accuracy of the positioning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is the flowchart of the positioning quality control method for the UWB digital key according to the embodiment of the present invention Figure 1 ;

[0020] Figure 2 is the flowchart of the positioning quality control method for the UWB digital key according to the embodiment of the present invention Figure 2 ;

[0021] Figure 3 is the flowchart of the positioning quality control method for the UWB digital key according to the embodiment of the present invention Figure 3 ;

[0022] Figure 4 is the flowchart of the positioning quality control method for the UWB digital key according to the embodiment of the present invention Figure 4 ;

[0023] Figure 5 is the flow of the positioning quality control method of the UWB digital key according to an embodiment of the present invention Figure 5 ;

[0024] Figure 6 is the flow of the positioning quality control method of the UWB digital key according to an embodiment of the present invention Figure 6 ;

[0025] Figure 7 is the flow of the positioning quality control method of the UWB digital key according to an embodiment of the present invention Figure 7 ;

[0026] Figure 8 is the flow of the positioning quality control method of the UWB digital key according to an embodiment of the present invention Figure 8 ;

[0027] Figure 9 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. Detailed Embodiments

[0028] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will elaborate on various embodiments of the present invention with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in various embodiments of the present invention, many technical details are provided to help readers better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed by the present invention can still be implemented.

[0029] Before specifically describing the solution, the related technologies of the solution will be described first. UWB (Ultra Wide Band) is a carrierless communication technology. By utilizing the precise ranging ability of UWB, it is possible to combine multiple anchors arranged on the vehicle with a legal handheld key or mobile phone just by approaching the vehicle, thereby achieving precise spatial perception of the vehicle at close range. With the vehicle spatial perception, the vehicle can autonomously judge and control the vehicle to achieve intelligent control. Generally, when a UWB digital key approaches the vehicle, the vehicle will automatically turn on the welcome lights first. As the distance gets closer and when approaching the car door, it will automatically unlock; when moving away from the vehicle, it can also automatically lock the car according to the position change of the UWB digital key. During this process, the UWB anchors need to continuously measure the distance and position of the UWB digital key in order to execute corresponding functions based on the positioning of the UWB digital key.

[0030] Generally speaking, the UWB digital key can perform positioning calculation by receiving signals sent by multiple UWB anchors in the vehicle to determine the position of the UWB digital key. The positioning calculation can adopt the least squares method, clustering algorithm, and equation-solving method (when only two UWB anchor signals are received). However, since positioning algorithms such as the least squares method do not associate and constrain the states at different times, the positioning results are often rough and messy. Therefore, in order to improve the positioning accuracy, after obtaining the preliminary positioning solution, Kalman filtering can be used for secondary positioning. As an error minimum variance estimation algorithm, Kalman filtering can perform an optimal unbiased estimation of the state. The positioning result obtained from 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 Kalman filtering to obtain the secondary positioning result. However, in the actual positioning process, the signal may change complexly due to the influence of the surrounding environment, resulting in a large drift in Kalman filtering, and thus a large error in the Kalman positioning result.

[0031] To solve the above problems, an embodiment of the present invention proposes a positioning quality control method for UWB digital keys, as Figure 1 shown, including the following steps.

[0032] Step 101: Obtain the Kalman positioning solution of the UWB digital key at the current epoch. When the Kalman positioning solution at the current epoch is not the first Kalman positioning solution, determine whether there is a first positioning solution obtained by using a preset positioning algorithm at the current epoch.

[0033] Specifically, within the first epoch after the UWB digital key is initialized and starts positioning, first calculate the first positioning solution (initial positioning solution) according to the received UWB anchor signals by using a preset positioning algorithm, and then perform Kalman filtering based on the first positioning solution to obtain the Kalman positioning solution, which is the first Kalman positioning solution after initialization; after entering the next epoch, calculate the first positioning solution of the current epoch again by using the preset positioning algorithm, and calculate the Kalman positioning solution of the current epoch according to 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.

[0034] Therefore, after obtaining the Kalman positioning solution of the UWB digital key for the current epoch, it is necessary to first determine whether the Kalman positioning solution for the current epoch is the first Kalman positioning solution after initialization. When the Kalman positioning solution for the current epoch is not the first one, it is necessary to further determine whether there is a first positioning solution obtained by using a preset positioning algorithm in the current epoch. If there is, the first positioning solution for the current epoch can be used as a quality judgment basis for obtaining the quality judgment result. If not, it need not be considered. Therefore, whether there is a first positioning solution in the current epoch will affect the specific steps of the present solution for making a quality judgment on the Kalman positioning solution for the current epoch.

[0035] Step 102: If there is a first positioning solution in the current epoch, obtain the Kalman positioning solution for the previous epoch of the current epoch. According to the first positioning solution for the current epoch, the Kalman positioning solution for the current epoch, the Kalman positioning solution for the previous epoch, and the distance relationship between the vehicle UWB anchors, obtain the quality judgment result of the Kalman positioning solution for the current epoch.

[0036] Specifically, when there is a first positioning solution in the current epoch, it can be used as a quality judgment basis for the Kalman positioning solution for the current epoch and added to the quality judgment process. After determining that there is a first positioning solution in the current epoch, obtain the Kalman positioning solution for the previous epoch of the current epoch. Since the Kalman positioning solution for the current epoch is obtained based on the Kalman positioning solution for the previous epoch, the Kalman positioning solution for the previous epoch can also be used as a quality judgment basis for the Kalman positioning solution for the current epoch. If the difference between the two obtained in adjacent epochs is too large, there may be a problem with the Kalman positioning solution for the current epoch. In addition, the vehicle UWB anchors can send out ranging signals, and the distances included in the ranging signals can be used to verify the Kalman positioning solution for the current epoch. Therefore, according to the distance relationship among the vehicle UWB anchors, the first positioning solution for the current epoch, the Kalman positioning solution for the current epoch, and the Kalman positioning solution for the previous epoch, the quality judgment result of the Kalman positioning solution for the current epoch can be obtained.

[0037] Step 103: When the quality judgment result meets the quality requirements, output the positioning result of the UWB digital key for the current epoch.

[0038] Specifically, determine whether to output the positioning result and what kind of positioning result to output according to the quality judgment result of the Kalman positioning solution for the current epoch. Corresponding quality requirements can be set for the Kalman positioning solution for the current epoch. When the quality judgment result meets the quality requirements, output the Kalman positioning solution for the current epoch as the positioning result of the UWB digital key for the current epoch.

[0039] Compared with the related art, in this embodiment, when the Kalman positioning solution in the current epoch is not the first Kalman positioning solution and there is a first positioning solution in the current epoch, the Kalman positioning solution of the previous epoch 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 anchors, the quality judgment result of the Kalman positioning solution of the current epoch is obtained; when the quality judgment result meets the quality requirements, the positioning result of the UWB digital key in the current epoch is output. That is, this solution uses the first positioning solution of the current epoch, the Kalman positioning solution of the previous epoch, and the positions of the vehicle UWB anchors, etc. as the quality judgment basis for the Kalman positioning solution of the current epoch to evaluate the quality of the Kalman positioning solution of the current epoch from multiple perspectives, and outputs the positioning result according to the quality judgment result, ensuring that a relatively high-quality positioning result is output for each epoch, thereby ensuring that the UWB digital key obtains a relatively high-quality positioning result and improving the accuracy of the positioning result.

[0040] Another embodiment of the present invention relates to a positioning quality control method for a UWB digital key. This embodiment of the present invention is a supplementary embodiment of the foregoing embodiment. After obtaining the Kalman positioning solution of the UWB digital key in the current epoch, as Figure 2 shown, the method of this embodiment further includes the following steps:

[0041] Step 201: When the Kalman positioning solution in the current epoch is the first Kalman positioning solution, determine the first minimum distance between the first Kalman positioning solution and all UWB anchors and the first target anchor corresponding to the first minimum distance, and determine the first ranging value between the UWB digital key and the first target anchor according to the UWB signal of the first target anchor.

[0042] Specifically, when the Kalman positioning solution in the current epoch is the first Kalman positioning solution, it proves that there is no such quality judgment basis as 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. Since the UWB digital key can obtain the position information of all UWB anchors of the vehicle, the UWB anchor with the smallest distance from the first Kalman positioning solution can be determined as the first target anchor according to the position information of the first Kalman positioning solution and all UWB anchors, and the distance between the first target anchor and the first Kalman positioning solution is denoted 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 that emits the signal and the UWB digital key according to the received UWB signal. Therefore, the ranging value between the UWB digital key and the first target anchor can be determined according to the UWB signal of the first target anchor as the first ranging value.

[0043] Step 202: When the difference between the first minimum distance and the first ranging value is less than the first threshold, output the first Kalman positioning solution as the positioning result.

[0044] Comparing the difference between the first minimum distance and the first ranging value with the first threshold is 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.

[0045] Step 203: When the difference between the first minimum distance and the first ranging value is not less than the first threshold, set the Kalman positioning solution of the next epoch to be reset and do not output the positioning result.

[0046] 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. Set the Kalman positioning solution of the next epoch to be reset and do not output the positioning result. The first threshold can be set to 1.5m, and this embodiment does not make 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 first Kalman positioning solution is still used to calculate the Kalman positioning solution of the next epoch in the next epoch, it will cause a large error in the Kalman positioning solution of the next epoch. Therefore, set the Kalman positioning solution of the next epoch to be reset. When calculating in the next epoch, recalculate the Kalman positioning solution of the next epoch according to the first positioning solution of the next epoch to reduce the error of the Kalman positioning solution of the next epoch.

[0047] Compared with the related art, in this embodiment, when the Kalman positioning solution of the current epoch is the first Kalman positioning solution, 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 is compared with the preset first threshold to judge whether the Kalman positioning solution of the current epoch meets the quality requirements, and the positioning result is determined whether to be output according to the judgment result, ensuring the reliability of the output positioning result.

[0048] 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 foregoing embodiment. After judging whether there is a first positioning solution obtained by performing positioning calculation using a preset positioning algorithm in step 101 in the current epoch, as Figure 3 shown, the method of this embodiment further includes the following steps: Step 301: Set the first quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirements are met.

[0049] Specifically, when there is a first positioning solution obtained by using a preset positioning algorithm for positioning and solving in the current epoch, this first positioning solution can be used as the quality judgment basis for the Kalman positioning solution of the current epoch. Then, the quality judgment result of the Kalman positioning solution of the current epoch needs to be obtained based on multiple quality judgment bases, and it is impossible to obtain the quality judgment result only based on the judgment of 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 defaulted 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, representing that it meets the quality requirements; the first quality flag is set to 0, representing that it does not meet the quality requirements, or the first quality flag is set to 0, representing that it meets the quality requirements; the first quality flag is set to 1, representing that it does not meet the quality requirements. This embodiment does not make specific restrictions on the values used to represent meeting / not meeting the quality requirements. After setting, further verify whether the Kalman positioning solution of the current epoch meets the quality requirements through subsequent quality judgment bases, and update the value of the first quality flag 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.

[0050] Step 302: If there is no first positioning solution in the current epoch, determine the second minimum distance between the Kalman positioning solution of the current epoch and all UWB anchors and the second target anchor corresponding to the second minimum distance, and determine the second ranging value between the UWB digital key and the second target anchor according to the UWB signal of the second target anchor.

[0051] Specifically, when there is no first positioning solution in the current epoch, it proves that the Kalman positioning solution of the current epoch does not have this 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 values of the UWB anchors. Since the UWB digital key can obtain the position information of all UWB anchors of the vehicle, the UWB anchor with the smallest distance from the Kalman positioning solution of the current epoch can be determined as the second target anchor according to the position information of the Kalman positioning solution of the current epoch and all UWB anchors, and the distance between the second target anchor 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 can be determined according to the UWB signal of the second target anchor as the second ranging value.

[0052] Step 303: When the first difference between the second minimum distance and the second ranging value is less than the first threshold, output the Kalman positioning solution of the current epoch as the positioning result.

[0053] In this embodiment, the quality judgment process is to compare the difference between the second minimum distance and the second ranging value 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 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.

[0054] Step 304: When the first difference is not less than the first threshold, set the Kalman positioning solution of the next epoch to be reset, update the first quality flag to a value indicating that the quality requirements are not met, and do not output the positioning result.

[0055] When the difference (the 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. Set the Kalman positioning solution of the next epoch to be reset, do not output the positioning result. The first threshold can be set to 1.5m, and this embodiment does not make specific restrictions on this. It should be noted that after determining that the quality of the Kalman positioning solution of the current epoch does not meet the quality requirements, if the Kalman positioning solution of the next epoch is still calculated using the Kalman positioning solution of the current epoch, it will cause a large error in the Kalman positioning solution of the next epoch. Therefore, set the Kalman positioning solution of the next epoch to be reset. When calculating in the next epoch, recalculate the Kalman positioning solution of the next epoch according to the first positioning solution of the next epoch to reduce the error of the Kalman positioning solution of the next epoch.

[0056] In one example, when there is a first positioning solution in the current epoch, as Figure 4 shown, step 102 specifically includes the following steps:

[0057] Step 401: Determine whether the distance relationship among 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.

[0058] 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. Determine whether the distance relationship among 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, where 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; where 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 is 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. This embodiment does not make specific restrictions on this.

[0059] If it is satisfied, step 402 is executed: Determine the quality judgment result according to the magnitude relationship between the first difference and the first threshold.

[0060] Specifically, if the distance relationship among 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, the same quality judgment steps as in 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 requirements, 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 requirements, the Kalman positioning solution of the next epoch is set to be reset, and no positioning result is output.

[0061] If it is not satisfied, step 403 is executed: Determine the quality judgment result according to the distance relationship among the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the UWB anchor points.

[0062] Specifically, if the distance relationship among 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 satisfy the first quality condition, it means that the current quality judgment basis is insufficient to obtain the quality judgment result, and further quality judgment is required. Further determine the quality judgment result according to the distance relationship among the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the UWB anchor points.

[0063] In another example, determining the quality judgment result according to the distance relationship among the first positioning solution of the current epoch, the Kalman positioning solution of the current epoch, and the vehicle UWB anchor points in step 403 is as Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 shown and includes the following steps:

[0064] Step 501: Obtain the ranging values 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 corresponding first position difference of this UWB anchor point.

[0065] Specifically, the ranging value in the UWB signal received by the UWB digital key is used as the ranging value of the UWB anchor that emits the signal, and the ranging values between each UWB anchor and the UWB digital key are obtained. Moreover, according to the positions of each UWB anchor and the first positioning solution (coordinates) of the current epoch, the distances between the first positioning solution of the current epoch and each UWB anchor are calculated and recorded as the first position differences. After obtaining the first position differences and ranging values corresponding to each UWB anchor, the differences between the ranging values of each UWB anchor and the first position differences corresponding to the UWB anchor are calculated, and each difference forms a first array.

[0066] Step 502: Calculate the second position differences between the Kalman positioning solution of the current epoch and each UWB anchor, and form a second array with the differences between the ranging values of each UWB anchor and the second position differences corresponding to the UWB anchor.

[0067] Similarly, in a similar manner to step 502, according to the positions of each UWB anchor and the Kalman positioning solution (coordinates) of the current epoch, the distances between the Kalman positioning solution of the current epoch and each UWB anchor are calculated and recorded as the second position differences. After obtaining the second position differences and ranging values corresponding to each UWB anchor, the differences between the ranging values of each UWB anchor and the second position differences corresponding to the UWB anchor are calculated, and each difference forms a second array.

[0068] Step 503: Determine whether the first array and the second array meet the following conditions: they do not meet the second quality condition but meet the third quality condition.

[0069] Among them, the second quality condition is that there is a value greater than the third threshold in the first array; the third quality condition is that 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.

[0070] If they meet the conditions, then execute step 504: Set the Kalman positioning solution of the next epoch to be reset and do not output the positioning result.

[0071] Specifically, if it is determined that the first array and the second array meet the condition of not meeting the second quality condition but meeting the third quality condition, then the quality judgment result of the Kalman positioning solution of the current epoch does not meet the quality requirements. Set the first quality flag of the Kalman positioning solution of the current epoch to a value indicating that the quality requirements are not met, and do not output the positioning result.

[0072] In another example, as Figure 6 shown, if the judgment result of step 503 is that the first array and the second array do not meet the condition of not meeting the second quality condition but meeting the third quality condition, the steps of this embodiment include the following steps:

[0073] Step 601: Determine whether there is a valid first positioning solution for the preset positioning algorithm within three consecutive historical epochs before the current epoch.

[0074] If not, execute Step 602: Set the second quality flag of the Kalman positioning solution for 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.

[0075] If they meet, execute Step 603: 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.

[0076] If they do not meet, execute Step 604: Output the Kalman positioning solution for the current epoch as the positioning result.

[0077] Among them, the fourth quality condition is that the values in the first array are all 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 the values in the first array are all greater than the ninth threshold and there are values in the second array that are greater than the tenth threshold, where 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.

[0078] Specifically, in this embodiment, the first positioning solutions of the preset positioning algorithm in three consecutive historical epochs before the current epoch are used as the quality judgment basis for the Kalman positioning solution of a current epoch. If the Kalman positioning solution of the current epoch has this quality judgment basis, new data needs to be introduced to further judge the quality of the Kalman positioning solution of the current epoch. If not, only subsequent judgments can be made based on the existing data. In the subsequent judgment process, a second quality flag is introduced in this embodiment to also indicate whether the Kalman positioning solution of the current epoch meets the quality requirement. Different quality judgment bases may result in different possible quality flags adopted in this embodiment. Similar to the first quality flag, it is preferentially defaulted that the Kalman positioning solution of the current epoch meets the quality requirement, and the second quality flag is set to a value indicating that the quality requirement is met. For example, the second quality flag is set to 1, representing that it meets the quality requirement; the second quality flag is set to 0, representing that it does not meet the quality requirement, or the second quality flag is set to 0, representing that it meets the quality requirement; the second quality flag is set to 1, representing that it does not meet the quality requirement. This embodiment does not make specific restrictions on the values used to represent meeting / not meeting the quality requirement.

[0079] It should be noted that in this embodiment, after updating the second quality flag to a value indicating non-compliance with the quality requirements in step 602 and before outputting the first positioning solution of the current epoch, this embodiment also has a process for judging the value of the quality flag: judging whether the first quality flag is a value indicating compliance with the quality requirements and the first quality flag is a value indicating compliance with the quality requirements. Only when the first quality flag is a value indicating compliance with the quality requirements and the first quality flag is also a value indicating compliance with the quality requirements, will the Kalman positioning solution of the current epoch be output as the positioning result. If the value of any one of the two quality flags is a value indicating non-compliance with the quality requirements, 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 set to be reset, the first positioning solution of the current epoch is retained and output. When the Kalman positioning solution of the next epoch is not set to be reset, the first positioning solution of the current epoch and the Kalman positioning solution of the current epoch are discarded, and no positioning result is output. Therefore, in the case of step 603 of this embodiment, since the second quality flag is updated to a value indicating non-compliance with the quality requirements and the Kalman positioning solution of the next epoch is set to be reset, it is proved that the error of the first positioning solution of the current epoch is within the acceptable range. At this time, the first positioning solution of the current epoch can be retained and output as the positioning result. Even if the smoothness of the overall positioning trajectory may decrease, but in the case where the Kalman positioning solution of this 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 not updated and is still a value indicating compliance with the quality requirements, 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 make specific limitations on this.

[0080] In another example, as Figure 7 shown, step 601: After judging whether there is a valid first positioning solution in the three consecutive historical epochs before the current epoch for the preset positioning algorithm, it further includes:

[0081] If the judgment result is that there is a valid first positioning solution in the three consecutive historical epochs before the current epoch for the preset positioning algorithm, then the following steps are executed.

[0082] Step 701: Take 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 determine the maximum distance according to the position differences between the first positioning solutions of the three historical epochs in pairs.

[0083] Step 702: Determine whether the maximum distance and the third distance meet the sixth quality condition;

[0084] If they meet, execute Step 703: Set the Kalman positioning solution for the next epoch to be reset, update the first quality flag to a value indicating that the quality requirement is not met, and output the first positioning solution for the current epoch.

[0085] Among them, 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.

[0086] Specifically, after obtaining the first positioning solutions of three consecutive historical epochs, calculate the differences pairwise, and determine the distance between the two first positioning solutions with the farthest distance as the maximum distance. And when the maximum distance and the third distance jointly meet the sixth quality condition, set the Kalman positioning solution for the next epoch to be reset, update the first quality flag to a value indicating that the quality requirement is not met, and output the first positioning solution for the current epoch. 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, after updating the first quality flag to a value indicating that the quality requirement is not met, there is a judgment process for the quality flag value in the subsequent steps of this embodiment that is the same as that in the previous embodiment, that is, to judge 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. 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, will the Kalman positioning solution for the current epoch 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 for the current epoch can be retained according to the setting of the Kalman positioning solution for the next epoch to be reset (that is, whether the error of the first positioning solution for the current epoch is within the acceptable range). When the Kalman positioning solution for the next epoch is set to be reset, it means that the error of the first positioning solution for the current epoch is within the acceptable range. At this time, the first positioning solution for the current epoch can be retained and output as the positioning result; when the Kalman positioning solution for the next epoch is not set to be reset, it means that the error of the first positioning solution for the current epoch is not within the acceptable range, and it is necessary to discard the first positioning solution for the current epoch and the Kalman positioning solution for the current epoch, and no positioning result is 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.

[0087] In another example, as Figure 8 shown, after determining in Step 702 whether the maximum distance and the third distance meet the sixth quality condition, if the judgment result is that the maximum distance and the third distance do not meet the sixth quality condition, then continue with the subsequent quality judgment process as follows:

[0088] Step 801: Determine whether the third distance is greater than the first threshold and the maximum distance is less than the second threshold holds.

[0089] If it holds, then execute Step 802: Set the Kalman positioning solution for the next epoch to be reset, update the first quality flag to a value indicating that the quality requirement is not met, and output the first positioning solution for the current epoch.

[0090] Specifically, in this embodiment, when the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold holds, after setting the Kalman positioning solution for the next epoch to be reset, this embodiment also has a process of judging the values of two quality flags, that is, 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. 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, will the Kalman positioning solution for the current epoch 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, then it is judged whether the first positioning solution for the current epoch can be retained according to the setting of the Kalman positioning solution for the next epoch to be reset. When the Kalman positioning solution for the next epoch is set to be reset, retain the first positioning solution for the current epoch as the positioning result output. When the Kalman positioning solution for the next epoch is not set to be reset, discard the first positioning solution for the current epoch and the Kalman positioning solution for the current epoch, and do not output the positioning result. Therefore, after Step 703 sets the Kalman positioning solution for the next epoch to be reset and updates the first quality flag to a value indicating that the quality requirement is not met, it will retain and output the first positioning solution for the current epoch. It should be noted that in this embodiment, the first threshold is greater than the second threshold. The first threshold can be 1.5m, and the second threshold is 0.5m. The specific values in this embodiment are not limited.

[0091] If it does not hold, then execute Step 803: Determine whether the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold holds.

[0092] When the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold holds, execute Step 804: Update the first quality flag to a value indicating that the quality requirement is not met, and do not output the positioning result.

[0093] Specifically, in this embodiment, after updating the first quality flag 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 holds, it executes the same process of judging the values of two quality flags as in the foregoing embodiment. Since the first quality flag is updated to a value indicating that the quality requirement is not met, it necessarily does not meet the above requirements: 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 the Kalman positioning solution for the next epoch is not reset, so the positioning result is not output.

[0094] In addition, when the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold does not hold, step 901 is executed: set the second quality flag 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.

[0095] If it is satisfied, step 9011 is executed: set the Kalman positioning solution of the next epoch to be reset, update the second quality flag to a value indicating that the quality requirement is not met, and output the first positioning solution of the current epoch.

[0096] If it is not satisfied, step 9012 is executed: output the Kalman positioning solution of the current epoch as the positioning result.

[0097] Specifically, when the third distance is greater than the fifth threshold and the maximum distance is less than the sixth threshold does not hold, steps 901, 9011, and 9012 for quality judgment in this embodiment are the same as steps 602 - 604 in the foregoing embodiment, and will not be elaborated herein. In some cases, the fifth threshold is greater than the sixth threshold. The fifth threshold can be set to 0.6m, and the sixth threshold can be set to 0.25m.

[0098] Compared with the related art, in this embodiment, by distinguishing whether the first positioning solution of the current epoch exists, different quality judgment processes are adopted to obtain the quality judgment result of the Kalman positioning solution of the current epoch. When the quality requirement is met according to the quality judgment result, the Kalman positioning solution of the current epoch is output as the positioning result, thereby ensuring that the quality of the output positioning result is relatively high and further ensuring the accuracy of the positioning of the UWB digital key.

[0099] Another embodiment of the present invention relates to an electronic device, as Figure 9 shown, including at least one processor 1002; and a memory 1001 communicatively connected to the at least one processor 1002; wherein, the memory 1001 stores instructions executable 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.

[0100] Among them, the memory 1001 and the processor 1002 are connected in a bus manner. 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 thus will not be further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, and provides a unit for communicating with various other devices on the transmission medium. The data processed by the processor 1002 is transmitted on the wireless medium through the antenna. Further, the antenna also receives data and transmits the data to the processor 1002.

[0101] The processor 1002 is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interface, voltage regulation, power management, and other control functions. The memory 1001 can be used to store the data used by the processor 1002 when executing operations.

[0102] Another embodiment of the present invention relates to a computer-readable storage medium storing a computer program. When the computer program is executed by a processor, it implements any one of the above method embodiments.

[0103] That is, those skilled in the art can understand that all or part of the steps in implementing the above method embodiments can be completed by instructing relevant hardware through a program. The program is stored in a storage medium, including several instructions to enable a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0104] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made in form and details 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 points; the quality judgment result is determined by the following quality judgment process: Calculating a first distance between the Kalman positioning solution of the current epoch and the Kalman positioning solution of the previous epoch, and a second distance between the first positioning solution of the current epoch and the Kalman positioning solution of the previous epoch; and determining whether the first distance and the second distance satisfy a first quality condition; If the first quality condition is met, then determining whether the distance difference between the Kalman positioning solution of the current epoch and the distance to the nearest UWB anchor point is less than a first threshold; if so, the quality determination result is that the quality requirement is met; If the first quality condition is not met, an array is formed based on the first positioning solution of the current epoch and the Kalman positioning solution and the ranging value difference of each UWB anchor point, and it is judged whether the array meets the preset second quality condition or third quality condition to determine the quality judgment result; When the quality judgment result meets the quality requirement, the Kalman positioning solution of the UWB digital key at the current epoch is output as the positioning result.

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 the 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 the 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 a second threshold, or the first distance is greater than a third threshold and the second distance is less than a 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; Among them, 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.

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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