Field search and rescue method and device based on ultra wide band correction

Abstract

The invention relates to the technical field of computers, in particular to a field search and rescue method and device based on ultra-wideband correction. The method comprises the following steps: step 100, acquiring an initial data set of to-be-rescued personnel; step 102, based on the data set of the to-be-rescued person, determining a position coordinate of the to-be-rescued person; step 104, determining an estimated coordinate of the IMU at a fourth moment based on the data set of the to-be-rescued person and a preset step length; step 106, updating the initial data set of the to-be-rescued person according to the estimated coordinate of the IMU at the fourth moment and the distance to the position of the to-be-rescued person, and obtaining the updated data set of the to-be-rescued person; and step 108, circularly executing the steps 102 to 106 until the estimated coordinate of the IMU and the distance from the IMU to the position of the person to be rescued are smaller than a preset distance. Through the configuration mode, the position of the person to be searched and rescued can be accurately positioned on the premise that a large-scale UWB positioning system with numerous base stations and labels is not needed.

Description

Technical Field

[0001] The present invention relates to the field of computer technology, and in particular to a field search and rescue method and device based on ultra-wideband correction. Background Art

[0002] In recent years, the development of ultra-wideband (UWB) technology has greatly enhanced the capabilities in the field of positioning, providing strong anti-interference, excellent penetration, high positioning accuracy and simplified hardware requirements. Ultra-wideband technology uses extremely short pulses for communication, which contributes to its robustness against interference and excellent positioning performance in non-line-of-sight scenarios, as well as low power spectral density and spectrum reuse points. As a result, UWB overcomes the shortcomings of traditional wireless communication technologies in unknown environments, such as weak signals and positioning errors. In unknown environments, the use of UWB positioning can replace traditional satellite positioning methods.

[0003] In scenarios such as wilderness, mines, or forests, it is impractical to build a large-scale UWB positioning system with numerous base stations and tags due to unpredictable situations and the difficulty of satellite positioning to accurately locate the searcher's position in blind environments.

[0004] Based on this, the present invention proposes a field search and rescue method and device based on ultra-wideband correction to solve the above technical problems. Summary of the invention

[0005] The present invention describes a field search and rescue method and device based on ultra-wideband correction, which can accurately locate the position of rescue personnel without requiring a large-scale UWB positioning system with numerous base stations and tags.

[0006] According to a first aspect, the present invention provides a field search and rescue method based on ultra-wideband correction, wherein the rescue personnel carry a UWB tag, and the search and rescue personnel carry a UWB receiving device, and the method comprises:

[0007] Step 100, obtaining an initial data set of persons to be rescued; wherein the initial data set of persons to be rescued includes the estimated coordinates of the IMU of the search and rescue personnel at the first moment and the distance to the position of the persons to be rescued, the estimated coordinates of the IMU at the second moment and the distance to the position of the persons to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the persons to be rescued;

[0008] Step 102: Determine the position coordinates of the person to be rescued based on the data set of the person to be rescued;

[0009] Step 104: determining the estimated coordinates of the IMU at the fourth moment based on the data set of the person to be rescued and the preset step length;

[0010] Step 106: updating the initial data set of the person to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, to obtain an updated data set of the person to be rescued;

[0011] Step 108, looping through steps 102 to 106 until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than a preset distance.

[0012] According to a second aspect, the present invention provides a field search and rescue device based on ultra-wideband correction, comprising:

[0013] An acquisition unit is configured to acquire an initial data set of a person to be rescued; wherein the initial data set of a person to be rescued includes the estimated coordinates of the IMU of the search and rescue personnel at the first moment and the distance to the position of the person to be rescued, the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued;

[0014] A first data processing unit is configured to determine the position coordinates of the person to be rescued based on the data set of the person to be rescued;

[0015] A second data processing unit is configured to determine the estimated coordinates of the IMU at a fourth moment based on the data set of the person to be rescued and a preset step length;

[0016] A third data processing unit is configured to update the initial data set of the person to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, so as to obtain an updated data set of the person to be rescued;

[0017] The loop unit is configured to loop through steps 102 to 106 until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than a preset distance.

[0018] In a third aspect, an embodiment of this specification further provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method described in any embodiment of this specification is implemented.

[0019] In a fourth aspect, an embodiment of the present specification further provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed in a computer, the computer is caused to execute the method described in any embodiment of the present specification.

[0020] According to the field search and rescue method and device based on ultra-wideband correction provided by the present invention, the estimated coordinates of the IMU of the search and rescue personnel at the first moment are first determined by the IMU. Since the person to be rescued carries a UWB tag and the search and rescue personnel carries a UWB receiving device, the search and rescue personnel can determine the distance from the estimated coordinates of the IMU at the first moment to the position of the person to be rescued through the UWB receiving device. Similarly, the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued are also determined in the above manner, thereby obtaining an initial data set of the person to be rescued, and then according to the data set of the person to be rescued, Determine the position coordinates of the person to be rescued, then determine the estimated coordinates of the IMU at the fourth moment based on the data set of the person to be rescued and the preset step size, and update the initial data set of the person to be rescued based on the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, to obtain the updated data set of the person to be rescued, and repeat steps 102 to 106 until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than the preset distance, the person to be rescued is found, and the search and rescue mission is ended. Through the above configuration, the position of the person to be rescued can be accurately located without the need for a large-scale UWB positioning system with many base stations and tags. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic flow chart of a field search and rescue method based on ultra-wideband correction according to an embodiment is shown;

[0023] Figure 2 A schematic block diagram of a field search and rescue device based on ultra-wideband correction according to an embodiment is shown;

[0024] Figure 3 A schematic diagram showing a positioning method with a UWB tag and a UWB receiving device according to an embodiment is shown;

[0025] Figure 4 A schematic diagram of UWB ranging correction IMU positioning according to an embodiment is shown;

[0026] Figure 5 A schematic diagram showing a positioning deviation according to an embodiment is shown;

[0027] Figure 6 A schematic diagram showing a positioning deviation according to an embodiment is shown;

[0028] Figure 7 A schematic diagram showing the distance between a searcher and a person to be rescued according to an embodiment;

[0029] Figure 8 A schematic diagram showing a motion trajectory of a ROS car according to an embodiment is shown;

[0030] Fig. 9 A schematic diagram of a test robot platform according to an embodiment is shown;

[0031] Fig.10 A schematic diagram showing a distance from a person to be rescued according to an embodiment;

[0032] Fig.11 A schematic diagram of a positioning deviation according to an embodiment is shown. DETAILED DESCRIPTION

[0033] The solution provided by the present invention is described below in conjunction with the accompanying drawings.

[0034] Figure 1 FIG. 1 is a flow chart of a field search and rescue method based on ultra-wideband correction according to an embodiment. It can be understood that the method can be executed by any device, equipment, platform, or device cluster with computing and processing capabilities. The rescue personnel carry UWB tags, and the search and rescue personnel carry UWB receiving devices, such as Figure 1 As shown, the method includes:

[0035] Step 100, obtaining an initial data set of the person to be rescued; wherein the initial data set of the person to be rescued includes the estimated coordinates of the IMU of the search and rescue personnel at the first moment and the distance to the position of the person to be rescued, the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued;

[0036] Step 102: Determine the position coordinates of the person to be rescued based on the data set of the person to be rescued;

[0037] Step 104: Determine the estimated coordinates of the IMU at the fourth moment based on the data set of the person to be rescued and the preset step length;

[0038] Step 106: updating the initial data set of the person to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, to obtain an updated data set of the person to be rescued;

[0039] Step 108, looping through steps 102 to 106 until the estimated coordinates of the IMU and the distance to the location of the person to be rescued are less than a preset distance.

[0040] In this embodiment, the estimated coordinates of the IMU of the search and rescue personnel at the first moment are first determined by the IMU. Since the rescue personnel carry UWB tags and the rescue personnel carry UWB receiving devices, the search and rescue personnel can determine the distance from the estimated coordinates of the IMU at the first moment to the position of the rescue personnel through the UWB receiving device. Similarly, the estimated coordinates of the IMU at the second moment and the distance to the position of the rescue personnel, and the estimated coordinates of the IMU at the third moment and the distance to the position of the rescue personnel are also determined by the above method, thereby obtaining the initial data set of the rescue personnel, and then determining the position of the rescue personnel according to the data set of the rescue personnel. The coordinates of the IMU are set, and then the estimated coordinates of the IMU at the fourth moment are determined according to the data set of the person to be rescued and the preset step size, and the initial data set of the person to be rescued is updated according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, so as to obtain the updated data set of the person to be rescued, and steps 102 to 106 are executed repeatedly until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than the preset distance, the person to be rescued is found, and the search and rescue mission is ended. Through the above configuration, the position of the person to be rescued can be accurately located without the need for a large-scale UWB positioning system with many base stations and tags.

[0041] In one embodiment of the present invention, the position coordinates of the person to be rescued are determined by the following formula:

[0042]

[0043] In the formula, (X t ', Y t ') is the position coordinate of the person to be rescued, (x' t ,y' t ) is the estimated coordinate of the IMU at the first moment, dis t is the distance from the estimated coordinates of the IMU at the first moment to the position of the rescuer, (x' t+1 ,y' t+1 ) is the estimated coordinate of the IMU at the second moment, dis t+1 The distance from the estimated coordinates of the IMU at the second moment to the position of the rescuer, (x' t+2 ,y' t+2 ) is the estimated coordinate of the IMU at the third moment, dis t+2 It is the distance from the estimated coordinates of the IMU at the third moment to the position of the person to be rescued.

[0044] like Figure 3As shown in the figure, in this embodiment, it is the real position of the person to be rescued (person to be rescued) at a time point and the position of the rescuer (rescuer). One UWB tag is carried by the person to be rescued, and the other UWB receiving device is carried by the rescuer. The searcher (UWB receiving device) is initially located at the origin (x0, y0), (x t ,y t )、(x t+1 ,y t+1 ) and (x t+2 ,y t+2 ) represent the actual coordinates of the searcher at time points t, t+1, and t+2, respectively. However, {(x t ,y t )}(t=1,2,…) is unknown and can only be estimated by using IMU, expressed as (x′ t ,y′ t )、(x′ t+1 ,y′ t+1 ) and (x′ t+2 ,y′ t+2 ). t The distance between them is {d t}. It should be noted that searcher t 、searcher t+1 、searcher t+2 and can also be regarded as three base stations (three different locations of the searcher in the figure), and the distance between them and the rescued person is dis t 、dis t+1 and dis t+2 .

[0045] In one embodiment of the present invention, the estimated coordinates of the IMU at the fourth moment are determined by the following formula:

[0046]

[0047] In the formula, (x' t+3 ,y' t+3 ) is the estimated coordinate of the IMU at the fourth moment, d t is the preset step size.

[0048] In one embodiment of the present invention, the initial data set of the person to be rescued is updated according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, so as to obtain the updated data set of the person to be rescued, including:

[0049] The estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued are assigned to the estimated coordinates of the IMU at the first moment and the distance to the position of the person to be rescued in the data set, the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued are assigned to the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued in the data set, and the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued are assigned to the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued in the data set, so as to update the initial data set of the person to be rescued.

[0050] In one embodiment of the present invention, the initial data set of the person to be rescued is updated according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, so as to obtain the updated data set of the person to be rescued, including:

[0051] Correcting the estimated coordinates of the IMU at the fourth moment according to the initial data set of the person to be rescued to obtain corrected coordinates;

[0052] The data set of the person to be rescued is updated according to the corrected coordinates and the distance to the position of the person to be rescued.

[0053] In this embodiment, since the position estimated by the IMU is not equal to the actual position, the estimated coordinates of the IMU at the fourth moment need to be corrected to obtain corrected coordinates to improve the accuracy of the final positioning result.

[0054] like Figure 4 As shown, in this embodiment, the searcher leaves (x′ t+2 ,y′ t+2 ) and moves towards that point (X′ t ,Y′ t ), and reach the target position (x′) t+3 ,y′ t+3 However, due to the positioning bias caused by the IMU, the actual position is different from the IMU estimate, (x t+3 ,y t+3 )≠(x′ t+3 ,y′ t+3 ). UWB can accurately measure the distance between and, that is, dis t+3 Therefore, the actual position is in a circle with the center (X t+3 ,Y t+3 ), the radius is dis t+3 Because for us (X t+3 ,Y t+3 ) is unknown, so (X′) obtained by the above steps t ,Y′ t ) result to ensure the accuracy of the final positioning result.

[0055] In one embodiment of the present invention, the corrected coordinates are determined by the following formula:

[0056]

[0057] In the formula, (x″ t+3 ,y″ t+3 ) is the coordinate after correction, dis t+3 It is the distance from the estimated coordinates of the IMU at the fourth moment to the position of the person to be rescued.

[0058] In one embodiment of the present invention, after the initial data set of the person to be rescued is updated according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued to obtain the updated data set of the person to be rescued, the method further includes:

[0059] According to the updated data set of the persons to be rescued, the collinearity degree of the estimated coordinates of all IMUs in the data set is determined;

[0060] When the degree of collinearity is less than a preset threshold, an element in the updated data set of persons to be rescued is replaced with an element in the initial data set of persons to be rescued, thereby determining the latest data set of persons to be rescued.

[0061] In this embodiment, the above steps are called collinearity test method. When the three base station positions (estimated coordinates of IMU) are almost collinear, the distance difference between them may be small, resulting in unstable calculation results and increased errors. Even a small deviation in the base station position can lead to significant positioning errors.

[0062] In this embodiment, the collinearity of the estimated coordinates of all IMUs is determined by the following formula:

[0063] Cr t =|(x′ t+1 -x′ t )×(y″′ t+2 -y′ t )-(x″′ t+2 -x′ t )×(y′ t+1 -y′ t )|

[0064] When Cr t When it is less than (a small value close to 0, such as 0.1), the collinearity of the three points is very high, so there is a problem in calculating the coordinates of the rescue point, and it is necessary to use (x′ t-1 ,y′ t-1 ) instead of (x′ t ,y′ t). If this method still fails, directly change the rescue point (X′ t-1 ,Y′ t-1 ) is replaced by (X′ t ,Y′ t ). The detailed formula is as follows.

[0065]

[0066] In this embodiment, the simulation tool used in the present invention is MATLAB 2014b, which is run on a computer equipped with an Intel(R) Core(TM) i7 2.80GHz processor, 16GB RAM and a 32-bit Windows 10 operating system. The environment in the 1000×1000 blind area is simulated, and the rescued person is in place. The searcher moves the step length from the origin. During the simulation process, we simulate the ranging information of UWB by calculating the straight-line distance between the searcher and the rescued person, that is, the ranging error of UWB gradually decreases from 10 to 0. The maximum step length is 20, and the positioning error of IMU is within random 3.

[0067] like Figure 5 As shown in the figure, in this embodiment, the simulation results of cases a) and b) are shown. For these two cases, when the iteration is 1. After 74 iterations, by using the correction method of the present invention, it is reduced to 10, and when not using the correction method of the present invention, it is reduced to 44. The simulation results confirm that positioning using the correction method of the present invention can solve the positioning error caused by IMU technology and correct the positioning deviation of the rescued person in time. It should be pointed out that Figure 3 The fluctuations of the two curves are significant. The reason for this phenomenon is that the position of the searcher at three adjacent time points may be close to a straight line, resulting in a large positioning error.

[0068] like Figure 6 As shown, in this embodiment, the simulation results of cases b) and c) are shown. After solving the collinearity problem, the average value dropped from the initial 28.5 to 16.9.

[0069] like Figure 7 As shown, in this embodiment, the actual distance between the searcher and the rescued person in situations a) and c) is shown.

[0070] like Figure 8 As shown, in this embodiment, by using the peer-to-peer UWB positioning strategy, researchers can effectively gradually approach the rescued person. However, the approach speed is very low, which is 251.5 after 74 iterations. After applying the correction method and collinearity test method of the present invention, it is reduced to 40.9.

[0071] Two conclusions were drawn from the above simulation experiments:

[0072] First, the peer-to-peer UWB positioning strategy can effectively solve the search problem in blind environments;

[0073] 2. Application of the correction method and collinearity test method of the present invention can effectively improve the positioning accuracy and speed of the point-to-point ultra-wideband positioning strategy.

[0074] like Fig. 9 As shown, in this embodiment, the method of the present invention is verified using a robot platform. The researchers used a Robot Operating System (ROS) vehicle equipped with an IMU sensor and a UWB receiving device, and the size of the experimental platform test area was 500cm×500cm. The position of the rescued person was set to (400cm, 300cm) and equipped with a UWB tag. The searcher (ROS vehicle) started from the position (0cm, 0cm) with a maximum step length of 20cm.

[0075] like Fig.10 , 11 As shown, in this embodiment, both figures show that the positioning deviation and the distance to the rescued person decrease with each step. By introducing the correction circle method and the collinear test method, a) the positioning deviation is reduced from 128.6cm to 69.1cm, and the positioning accuracy is improved by 46.3%; b) the researchers can find the rescued person earlier (the search speed is increased by 13.3%). The simulation results show that the method we proposed can effectively realize search and rescue positioning in blind environments and has strong resistance to environmental interference. We continue to compare the positioning accuracy of the initial peer positioning method with our improved algorithm. Fig.11 It shows that in the first 26 positioning attempts, our updated algorithm is more accurate than the original peer positioning method in terms of the distance between the positioning target point and the actual target point. The original peer positioning method includes four major error instances. However, using our updated algorithm, the number of major error instances has been reduced from 4 to 2. The results show that the updated algorithm has stronger anti-interference ability. At the same time, the average positioning error of the 26 initial methods has been reduced from 128.6 meters to 69.1 meters, and the positioning accuracy has been improved by 46.3%. This comparison shows the superiority of our algorithm.

[0076] Advantages of the invention:

[0077] 1. The present invention solves the problem of poor performance of traditional positioning technology in blind environments and designs a positioning method with only one UWB tag and one UWB receiving device.

[0078] 2. In order to solve the potential positioning deviation problem in the positioning process, the present invention designs a correction strategy. This strategy solves the problem of low positioning accuracy caused by sensor noise, reduces positioning errors, and improves the reliability of positioning results.

[0079] 3. The present invention designs a three-point collinearity rule evaluation method, which solves the challenges of verifying the validity of base station points, ensuring the accuracy of selected base station points, and improving positioning stability.

[0080] The above describes specific embodiments of the present invention. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0081] According to another aspect of the embodiment, the present invention provides a field search and rescue device based on ultra-wideband correction. Figure 2 FIG. 1 is a schematic block diagram of a field search and rescue device based on ultra-wideband correction according to an embodiment. It can be understood that the device can be implemented by any device, equipment, platform and device cluster with computing and processing capabilities. Figure 2 As shown, the device includes: an acquisition unit 200, a first data processing unit 202, a second data processing unit 204, a third data processing unit 206 and a circulation unit 208. The main functions of each component unit are as follows:

[0082] The acquisition unit 200 is configured to acquire an initial data set of the person to be rescued; wherein the initial data set of the person to be rescued includes the estimated coordinates of the IMU of the search and rescue personnel at the first moment and the distance to the position of the person to be rescued, the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued;

[0083] The first data processing unit 202 is configured to determine the position coordinates of the person to be rescued based on the data set of the person to be rescued;

[0084] The second data processing unit 204 is configured to determine the estimated coordinates of the IMU at the fourth moment based on the data set of the person to be rescued and the preset step length;

[0085] The third data processing unit 206 is configured to update the initial data set of the person to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, so as to obtain an updated data set of the person to be rescued;

[0086] The loop unit 208 is configured to execute steps 102 to 106 in a loop until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than a preset distance.

[0087] According to another embodiment, there is also provided a computer-readable storage medium having a computer program stored thereon, which, when executed in a computer, causes the computer to execute a combination of Figure 1 The method described.

[0088] According to another embodiment of the present invention, there is also provided an electronic device, comprising a memory and a processor, wherein the memory stores an executable code, and when the processor executes the executable code, the Figure 1 The method described.

[0089] The various embodiments of the present invention are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0090] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the present invention can be implemented by hardware, software, firmware or any combination thereof. When implemented by software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium.

[0091] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made on the basis of the technical solution of the present invention should be included in the scope of protection of the present invention.

Claims

1. A field search and rescue method based on ultra-wideband correction, characterized in that: The person to be rescued carries a UWB tag, and the search and rescue personnel carries a UWB receiving device. The method includes: Step 100, obtaining an initial data set of persons to be rescued; wherein the initial data set of persons to be rescued includes the estimated coordinates of the IMU of the search and rescue personnel at the first moment and the distance to the position of the persons to be rescued, the estimated coordinates of the IMU at the second moment and the distance to the position of the persons to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the persons to be rescued; Step 102: Determine the position coordinates of the person to be rescued based on the data set of the person to be rescued; Step 104: determining the estimated coordinates of the IMU at the fourth moment based on the data set of the person to be rescued and the preset step length; Step 106: updating the initial data set of the person to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, to obtain an updated data set of the person to be rescued; Step 108, looping through steps 102 to 106 until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than a preset distance.

2. The method according to claim 1, characterized in that: The position coordinates of the person to be rescued are determined by the following formula: In the formula, (X t ', Y t ') is the position coordinate of the person to be rescued, (x' t ,y' t ) is the estimated coordinate of the IMU at the first moment, dis t is the distance from the estimated coordinates of the IMU at the first moment to the position of the person to be rescued, (x' t+1 ,y' t+1 ) is the estimated coordinate of the IMU at the second moment, dis t+1 The distance from the estimated coordinates of the IMU at the second moment to the position of the person to be rescued, (x' t+2 ,y' t+2 ) is the estimated coordinate of the IMU at the third moment, dis t+2 It is the distance from the estimated coordinates of the IMU at the third moment to the position of the person to be rescued.

3. The method according to claim 2, characterized in that The estimated coordinates of the IMU at the fourth moment are determined by the following formula: In the formula, (x' t+3 ,y' t+3 ) is the estimated coordinate of the IMU at the fourth moment, d t is the preset step size.

4. The method according to claim 3, characterized in that The method of updating the initial data set of persons to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued to obtain an updated data set of persons to be rescued includes: Assign the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued to the estimated coordinates of the IMU at the first moment and the distance to the position of the person to be rescued in the data set, assign the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued to the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued in the data set, assign the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued to the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued in the data set, so as to update the initial data set of persons to be rescued.

5. The method according to claim 4, characterized in that The method of updating the initial data set of persons to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued to obtain an updated data set of persons to be rescued includes: Correcting the estimated coordinates of the IMU at the fourth moment according to the initial data set of the person to be rescued to obtain corrected coordinates; The initial data set of the person to be rescued is updated according to the corrected coordinates and the distance to the position of the person to be rescued.

6. The method according to claim 5, characterized in that The corrected coordinates are determined by the following formula: In the formula, (x" t+3 ,y" t+3 ) is the coordinate after the correction, dis t+3 is the distance from the estimated coordinates of the IMU at the fourth moment to the position of the person to be rescued.

7. The method according to claim 6, characterized in that After the initial data set of the person to be rescued is updated according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued to obtain the updated data set of the person to be rescued, the method further includes: Determine the collinearity of the estimated coordinates of all IMUs in the data set according to the updated data set of the persons to be rescued; When the collinearity degree is less than a preset threshold, an element in the updated data set of persons to be rescued is replaced by an element in the initial data set of persons to be rescued, thereby determining the latest data set of persons to be rescued.

8. A field search and rescue device based on ultra-wideband correction, characterized in that: include: An acquisition unit is configured to acquire an initial data set of a person to be rescued; wherein the initial data set of a person to be rescued includes the estimated coordinates of the IMU of the search and rescue personnel at the first moment and the distance to the position of the person to be rescued, the estimated coordinates of the IMU at the second moment and the distance to the position of the person to be rescued, and the estimated coordinates of the IMU at the third moment and the distance to the position of the person to be rescued; A first data processing unit is configured to determine the position coordinates of the person to be rescued based on the data set of the person to be rescued; A second data processing unit is configured to determine the estimated coordinates of the IMU at a fourth moment based on the data set of the person to be rescued and a preset step length; A third data processing unit is configured to update the initial data set of the person to be rescued according to the estimated coordinates of the IMU at the fourth moment and the distance to the position of the person to be rescued, so as to obtain an updated data set of the person to be rescued; The loop unit is configured to loop through steps 102 to 106 until the estimated coordinates of the IMU and the distance to the position of the person to be rescued are less than a preset distance.

9. An electronic device, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: A computer program is stored thereon, and when the computer program is executed in a computer, the computer is caused to execute the method according to any one of claims 1 to 7.

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