Fusion positioning method and system based on UWB and Bluetooth

Abstract

The invention discloses a fusion positioning method and system based on UWB and Bluetooth. The method comprises the following steps: arranging a plurality of UWB beacons or WeChat base stations as UWB positioning nodes, sending UWB signals to the plurality of UWB positioning nodes through a positioning tag, and determining a UWB positioning result of the positioning tag according to the UWB signals received by the positioning tag; arranging the plurality of Bluetooth beacons as Bluetooth positioning nodes, sending Bluetooth signals to the plurality of Bluetooth positioning nodes through a positioning tag, and determining a Bluetooth positioning result of the positioning tag according to the Bluetooth signals received by the positioning tag; and carrying out geometric modeling on the positions of the UWB positioning node and the Bluetooth positioning node, and based on a geometric modeling result, carrying out fusion processing on a UWB positioning result and a Bluetooth positioning result by adopting a filtering algorithm to determine the position of the positioning tag. The scheme of the invention realizes high-precision and reliable positioning, and is suitable for various indoor and outdoor positioning scenes.

Description

Technical Field

[0001] The present invention belongs to the field of positioning technology, and in particular relates to a fusion positioning method and system based on ultra-wideband (UWB) and Bluetooth. Background Art

[0002] The application of positioning technology has become popular. From smart homes to smart cities and IoT applications, they all rely on the support of positioning technology. For example, in the field of smart homes, positioning technology can be used to automatically adjust smart lights, adjusting the brightness and color of lights according to the location and activity status of the room where the residents are located. In smart cities, positioning technology can be used to optimize urban traffic management, help drivers find the nearest parking space, and reduce traffic congestion and vehicle emissions. In the field of IoT, positioning technology can be used to track the location of logistics goods and realize real-time monitoring and management of the logistics supply chain.

[0003] New positioning technologies are constantly emerging, including UWB (Ultra-Wideband) and Bluetooth positioning technology. Traditional UWB positioning technology is mainly based on the principles of TOF (Time of Flight) and TDOA (Time Difference of Arrival), and determines the location of the device by measuring the propagation time or arrival time difference of UWB signals. Bluetooth positioning technology uses the propagation characteristics of Bluetooth signals for positioning, usually by measuring signal strength or arrival time difference to determine the location of the device. UWB positioning technology has attracted much attention for its high accuracy and large positioning range, while Bluetooth positioning technology is favored for its low cost and flexible deployment.

[0004] However, traditional positioning technologies have some limitations in some aspects, such as low positioning accuracy, limited positioning range, etc. In particular, the application of UWB or Bluetooth positioning technology alone still has some limitations, such as UWB has accuracy problems in certain environments, and Bluetooth is unstable under the influence of multipath effects. Summary of the invention

[0005] In order to solve the deficiencies in the prior art, the present invention provides a fusion positioning method and system based on UWB and Bluetooth to solve the technical problem of accurately and reliably positioning the orientation of an object in different scenarios.

[0006] In order to solve the above technical problems, the present invention adopts the following technical solutions.

[0007] The present invention first discloses a fusion positioning method based on UWB and Bluetooth, which includes the following steps: Step 1: Arrange multiple UWB beacons or WeChat base stations as UWB positioning nodes, send UWB signals to multiple UWB positioning nodes through positioning tags, and determine the UWB positioning result of the positioning tag according to the UWB signal received by the positioning tag; Step 2, arranging multiple Bluetooth beacons as Bluetooth positioning nodes, sending Bluetooth signals to the multiple Bluetooth positioning nodes through the positioning tag, and determining the Bluetooth positioning result of the positioning tag according to the Bluetooth signal received by the positioning tag; Step 3: geometrically model the positions of the UWB positioning node and the Bluetooth positioning node, and based on the geometric modeling results, use a filtering algorithm to fuse the UWB positioning result and the Bluetooth positioning result to determine the position of the positioning tag.

[0008] The present invention further includes the following preferred embodiments: The determining of the UWB positioning result or the Bluetooth positioning result of the positioning tag further includes: When the positioning tag detects only one UWB positioning node or one Bluetooth positioning node, the position of the positioning node is used as the positioning result of the positioning tag.

[0009] The determining of the UWB positioning result of the positioning tag further comprises: When the positioning tag detects multiple UWB positioning nodes, the time difference of the UWB signal from the positioning tag to the multiple UWB positioning nodes is measured using the TOF or TDOA algorithm, the distance between the tag and each node is calculated based on the time difference, and the UWB positioning result of the positioning tag is determined based on multiple distances.

[0010] The positioning method is used for object tracking and positioning, personnel positioning and navigation positioning.

[0011] The method further comprises: performing geometric modeling on the positions of the UWB positioning node and the Bluetooth positioning node, fusing the UWB positioning result and the Bluetooth positioning result based on the geometric modeling result, and determining the position of the positioning tag. Use the TOF algorithm and AOA algorithm to measure the distance and angle of UWB and Bluetooth signals from the positioning tag to each UWB positioning node and Bluetooth base station respectively; According to the distance and angle information, a geometric model of positioning tags and positioning nodes is established; According to the geometric model and the actual UWB beacon position and Bluetooth base station position, the location information of the positioning tag obtained by UWB and Bluetooth measurements is calculated; According to the signal strength of UWB and Bluetooth, the confidence of geometric modeling is calculated by weighted summation to obtain UWB measurement confidence, Bluetooth measurement confidence and UWB and Bluetooth fusion measurement confidence. The three confidence information are normalized as the variance of measurement noise and applied to the Kalman filter program. The Kalman filter algorithm is used to fuse the three sets of positioning tag position data to obtain the final positioning tag position.

[0012] The fusion process using the Kalman filter algorithm further includes: Assume that the positioning results of UWB and Bluetooth are and , system status ,in is the target location; Let the state transfer matrix , the state equation is expressed as ,in is the process noise; The observation equation is expressed as: , in is the observation noise; The Kalman filter prediction equation is as follows: , in is the Kalman prediction estimate at time k-1, that is, the estimated target position at time k-1; is the state covariance matrix at time k-1; is the process noise covariance matrix; The update equation is: , , , is the identity matrix; is the measurement noise covariance matrix; Finally, the fused target position is obtained .

[0013] The present invention also discloses a fusion positioning system based on UWB and Bluetooth using the above-mentioned fusion positioning method based on UWB and Bluetooth, comprising: A UWB positioning module is used to arrange multiple UWB beacons or WeChat base stations as UWB positioning nodes, send UWB signals to multiple UWB positioning nodes through positioning tags, and determine the UWB positioning result of the positioning tag according to the UWB signal received by the positioning tag; A Bluetooth positioning module is used to arrange multiple Bluetooth beacons as Bluetooth positioning nodes, send Bluetooth signals to multiple Bluetooth positioning nodes through positioning tags, and determine the Bluetooth positioning result of the positioning tag according to the Bluetooth signal received by the positioning tag; The fusion positioning module is used to perform geometric modeling on the positions of the UWB positioning node and the Bluetooth positioning node, and based on the geometric modeling results, adopt a filtering algorithm to fuse the UWB positioning results and the Bluetooth positioning results to determine the position of the positioning tag.

[0014] Accordingly, the present application also discloses a terminal, including a processor and a storage medium; The storage medium is used to store instructions; The processor is used to operate according to the instructions to execute the steps of the aforementioned UWB and Bluetooth based fusion positioning method.

[0015] Correspondingly, the present application also discloses a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the aforementioned UWB and Bluetooth-based fusion positioning method are implemented.

[0016] The beneficial effect of the present invention is that, compared with the prior art, the present invention provides a fusion positioning method and system based on UWB and Bluetooth, realizes the fusion positioning technology based on UWB and Bluetooth, is suitable for various indoor and outdoor positioning scenarios, and provides high-precision and reliable positioning services for various application scenarios, including object tracking, personnel positioning, navigation, etc., provides reliable positioning services for smart homes, Internet of Things, smart cities and other fields, and brings users a more convenient and intelligent experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a flow chart of the fusion positioning method based on UWB and Bluetooth in the present invention.

[0018] Figure 2 This is the overall architecture diagram of the fusion positioning in the present invention.

[0019] Figure 3 It is a schematic diagram of the effective recognition range of the UWB sensor in the present invention.

[0020] Figure 4 It is a schematic diagram of the UWB and Bluetooth fusion positioning scenario in the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clear, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0022] The embodiments described in this application are only some embodiments of the present invention, not all embodiments. Based on the spirit of the present invention, other embodiments obtained by ordinary technicians in this field without creative work are all within the protection scope of the present invention.

[0023] In view of the shortcomings of the prior art, the present invention proposes a fusion positioning method and system based on UWB and Bluetooth, which integrates UWB and Bluetooth positioning technologies and utilizes their complementary advantages to help improve the accuracy and stability of positioning. UWB beacons or WeChat base stations and Bluetooth beacons are used as positioning nodes to receive signals sent by positioning tags and perform positioning. For devices that only detect one positioning node, the position of the node is used as the positioning coordinate; for devices that detect multiple positioning nodes, the distance between the device and the node is calculated, and then the device position is determined based on the geometric relationship between the device and the node. At the same time, the present invention also utilizes the TOF and TDOA methods of UWB combined with the Bluetooth positioning method to achieve high-precision positioning of the device position. The fusion positioning technology of the present invention will bring more reliable and intelligent positioning solutions to fields such as smart homes, smart cities, and Internet of Things applications.

[0024] See also Figure 1 As shown, the fusion positioning method based on UWB and Bluetooth disclosed in the present invention includes the following steps: Step 1: Arrange multiple UWB beacons or WeChat base stations as UWB positioning nodes, send UWB signals to multiple UWB positioning nodes through positioning tags, and determine the UWB positioning result of the positioning tag according to the UWB signal received by the positioning tag.

[0025] like Figure 2 As shown, the framework of the present invention can be divided into UWB positioning, Bluetooth positioning and fusion module (control unit).

[0026] For UWB positioning in the positioning system, at least three UWB beacons or WeChat base stations are deployed as positioning nodes at predefined locations indoors or outdoors. The location distribution covers the area to be positioned.

[0027] The positioning tag of the device to be located carries a UWB module and sends UWB signals to the surrounding UWB beacons or WeChat base stations. Each UWB beacon or WeChat base station receives and processes the UWB signal sent by the positioning tag and records the arrival time or flight time of the signal, such as Figure 3 shown.

[0028] The positioning tag is located by receiving signals from surrounding UWB beacons or WeChat base stations.

[0029] When the positioning tag detects only one positioning node, the position of the node is used as the positioning coordinates of the device positioning tag; When the positioning tag detects multiple positioning nodes, the TOF or TDOA algorithm is used to measure the time difference of the UWB signal from the positioning tag to each UWB beacon or WeChat base station to further improve the positioning accuracy, and then the distance between the tag and each node is calculated by the time difference based on the geometric relationship between the device and the node and the distance formula to determine the device location. Specifically: First, the TOF algorithm and AOA algorithm are used to measure the distance and angle of the UWB signal from the positioning tag to each UWB positioning node. Then, according to the distance and angle information, a geometric model of the positioning tag and the positioning node is established; Finally, the location information of the positioning tag obtained only by UWB measurement is calculated based on the geometric model and the actual UWB beacon position.

[0030] Step 2: Arrange multiple Bluetooth beacons as Bluetooth positioning nodes, send Bluetooth signals to multiple Bluetooth positioning nodes through positioning tags, and determine the Bluetooth positioning result of the positioning tags according to the Bluetooth signals received by the positioning tags.

[0031] For Bluetooth positioning in the positioning system, at least three Bluetooth beacons are arranged as positioning nodes at predefined locations indoors or outdoors, and the location distribution covers the area to be positioned.

[0032] The positioning tag of the device to be located carries a Bluetooth module and sends Bluetooth signals to the surrounding Bluetooth beacons. Each Bluetooth beacon receives and processes the Bluetooth signal sent by the positioning tag and records the signal strength and arrival time.

[0033] The positioning tag performs positioning by receiving signals from surrounding Bluetooth beacons.

[0034] Similarly, when the tag detects only one positioning node, the position of the node is used as the positioning coordinates of the device positioning tag; When the tag detects multiple positioning nodes, it measures the distance from the device to each node and then determines the location of the device based on the geometric relationship between the device and the nodes.

[0035] First, the TOF algorithm and AOA algorithm are used to measure the distance and angle of the Bluetooth signal from the positioning tag to each Bluetooth positioning node; Then, based on the distance and angle information, a geometric model of the positioning tags and positioning nodes is established; Finally, the location information of the positioning tag obtained only by Bluetooth measurement is calculated based on the geometric model and the actual Bluetooth base station position.

[0036] Step 3: geometrically model the positions of the UWB positioning node and the Bluetooth positioning node, and based on the geometric modeling results, use a filtering algorithm to fuse the UWB positioning results and the Bluetooth positioning results to determine the position of the positioning tag.

[0037] The fusion module fuses the positioning data of the UWB positioning module and the Bluetooth positioning module. Using the Bluetooth beacon or UWB WeChat base station as the positioning node, the positioning tag receives nearby signals for positioning. Figure 4 It is a schematic diagram of the UWB and Bluetooth fusion positioning scenario in the present invention.

[0038] The fusion module further comprises: A detection unit, used for detecting received UWB signals and Bluetooth signals; The positioning unit is used to determine the position of the positioning tag of the device to be positioned according to the received UWB signal and Bluetooth signal; specifically, the distance between the positioning tag and the UWB beacon or WeChat base station is determined according to the flight time of the UWB signal; the position of the positioning tag is determined according to the time difference when the UWB signal is received at different positioning nodes.

[0039] The data processing unit is used to process and analyze positioning data, fuse the positioning data from the TOF algorithm and the TDOA algorithm, and perform geometric modeling on the positioning data from the UWB positioning module and the Bluetooth positioning module, including the node position and the tag position, and determine the position of the positioning tag based on the geometric relationship to improve the positioning accuracy and stability. Among them: For a device that detects only one positioning node, the location of that node is used as the final positioning result of the device; For devices that detect multiple positioning nodes, the positioning results of UWB and Bluetooth positioning technologies obtained by comprehensive analysis of TOF and TDOA algorithms are used. According to the AOA algorithm and signal phase difference algorithm, the angle between the device and each node is calculated, and a geometric model is established to calculate the tag position. After filtering the angle and distance data, the final position of the device is determined based on the geometric relationship between the device and the node. Specifically: First, the TOF algorithm and AOA algorithm are used to measure the distance and angle of UWB and Bluetooth signals from the positioning tag to each UWB positioning node and Bluetooth base station respectively; Then, based on the distance and angle information, a geometric model of the positioning tags and positioning nodes is established; Finally, based on the geometric model and the actual UWB beacon position and Bluetooth base station position, the location information of the positioning tag obtained by UWB and Bluetooth measurements is calculated.

[0040] The above steps established three geometric models and calculated three sets of positioning tag location information. Now, according to the signal strength of UWB and Bluetooth, the confidence of geometric modeling is calculated (weighted sum) to obtain UWB measurement confidence, Bluetooth measurement confidence and UWB and Bluetooth fusion measurement confidence. The three confidence information are normalized as the variance of measurement noise and applied to the Kalman filter program. Finally, the Kalman filter algorithm is used to fuse the three sets of positioning tag location data to obtain the final positioning tag location.

[0041] The fusion process using the Kalman filter algorithm further includes: Assume that the positioning results of UWB and Bluetooth are and , system status ,in is the target location; Let the state transfer matrix , the state equation is expressed as ,in is the process noise; The observation equation is expressed as: , in is the observation noise; The Kalman filter prediction equation is as follows: , in is the Kalman prediction estimate at time k-1, that is, the estimated target position at time k-1; is the state covariance matrix at time k-1; is the process noise covariance matrix; The update equation is: , , , is the identity matrix; is the measurement noise covariance matrix; Finally, the fused target position is obtained .

[0042] Corresponding positioning services are provided according to the position of the positioning tag, and the positioning services may include object tracking, personnel positioning, and navigation positioning.

[0043] The beneficial effect of the present invention is that, compared with the prior art, the present invention provides a fusion positioning method and system based on UWB and Bluetooth, realizes the fusion positioning technology based on UWB and Bluetooth, is suitable for various indoor and outdoor positioning scenarios, and provides high-precision and reliable positioning services for various application scenarios, including object tracking, personnel positioning, navigation, etc., provides reliable positioning services for smart homes, Internet of Things, smart cities and other fields, and brings users a more convenient and intelligent experience.

[0044] The present invention may be a system, a method and / or a computer program product. The present invention also discloses a UWB and Bluetooth-based fusion positioning system based on the aforementioned UWB and Bluetooth-based fusion positioning method, comprising: A UWB positioning module is used to arrange multiple UWB beacons or WeChat base stations as UWB positioning nodes, send UWB signals to multiple UWB positioning nodes through positioning tags, and determine the UWB positioning result of the positioning tag according to the UWB signal received by the positioning tag; A Bluetooth positioning module is used to arrange multiple Bluetooth beacons as Bluetooth positioning nodes, send Bluetooth signals to multiple Bluetooth positioning nodes through positioning tags, and determine the Bluetooth positioning result of the positioning tag according to the Bluetooth signal received by the positioning tag; The fusion positioning module is used to perform geometric modeling on the positions of the UWB positioning node and the Bluetooth positioning node, and based on the geometric modeling results, adopt a filtering algorithm to fuse the UWB positioning results and the Bluetooth positioning results to determine the position of the positioning tag.

[0045] Based on the spirit of the present invention, those skilled in the art can easily think that a computer program product can be obtained based on the aforementioned UWB and Bluetooth-based fusion positioning method. The computer program product may include a computer-readable storage medium, which carries computer-readable program instructions for enabling a processor to implement various aspects of the present disclosure. That is, the present application also includes a terminal, including a processor and a storage medium; the storage medium is used to store instructions; the processor is used to operate according to the instructions to perform the steps of the aforementioned UWB and Bluetooth-based fusion positioning method.

[0046] Computer readable storage medium can be a tangible device that can keep and store the instructions used by the instruction execution device. Computer readable storage medium can be, for example, - but not limited to - electrical storage device, magnetic storage device, optical storage device, electromagnetic storage device, semiconductor storage device or any suitable combination of the above. More specific examples (non-exhaustive list) of computer readable storage medium include: portable computer disk, hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static random access memory (SRAM), portable compact disk read-only memory (CD-ROM), digital versatile disk (DVD), memory stick, floppy disk, mechanical encoding device, such as punch card or groove protrusion structure with instructions stored thereon and any suitable combination of the above. Computer readable storage medium used here is not interpreted as instantaneous signal itself, such as radio wave or other free propagating electromagnetic wave, electromagnetic wave propagated by waveguide or other transmission medium (for example, light pulse by optical fiber cable) or electrical signal transmitted by wire.

[0047] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0048] The computer program instructions for performing the operations of the present disclosure may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of the computer-readable program instructions to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA) or a programmable logic array (PLA), the electronic circuit may execute the computer-readable program instructions, thereby implementing various aspects of the present disclosure.

[0049] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in the relevant field should understand that the specific implementation methods of the present invention can still be modified or replaced by equivalents, and any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A fusion positioning method based on UWB and Bluetooth, characterized in that: The following steps are involved: Step 1: Arrange multiple UWB beacons or WeChat base stations as UWB positioning nodes, send UWB signals to multiple UWB positioning nodes through positioning tags, and determine the UWB positioning result of the positioning tag according to the UWB signal received by the positioning tag; Step 2, arranging multiple Bluetooth beacons as Bluetooth positioning nodes, sending Bluetooth signals to the multiple Bluetooth positioning nodes through the positioning tag, and determining the Bluetooth positioning result of the positioning tag according to the Bluetooth signal received by the positioning tag; Step 3: geometrically model the positions of the UWB positioning node and the Bluetooth positioning node, and based on the geometric modeling results, use a filtering algorithm to fuse the UWB positioning result and the Bluetooth positioning result to determine the position of the positioning tag.

2. The fusion positioning method based on UWB and Bluetooth according to claim 1, characterized in that: The determining of the UWB positioning result or the Bluetooth positioning result of the positioning tag further includes: When the positioning tag detects only one UWB positioning node or one Bluetooth positioning node, the position of the positioning node is used as the positioning result of the positioning tag.

3. The fusion positioning method based on UWB and Bluetooth according to claim 2, characterized in that: The determining of the UWB positioning result of the positioning tag further comprises: When the positioning tag detects multiple UWB positioning nodes, the time difference of the UWB signal from the positioning tag to the multiple UWB positioning nodes is measured using the TOF or TDOA algorithm, the distance between the tag and each node is calculated based on the time difference, and the UWB positioning result of the positioning tag is determined based on multiple distances.

4. The fusion positioning method based on UWB and Bluetooth according to claim 3 is characterized in that: The positioning method is used for object tracking and positioning, personnel positioning and navigation positioning.

5. The fusion positioning method based on UWB and Bluetooth according to claim 4, characterized in that: The method further comprises: performing geometric modeling on the positions of the UWB positioning node and the Bluetooth positioning node, fusing the UWB positioning result and the Bluetooth positioning result based on the geometric modeling result, and determining the position of the positioning tag. Use the TOF algorithm and AOA algorithm to measure the distance and angle of UWB and Bluetooth signals from the positioning tag to each UWB positioning node and Bluetooth base station respectively; According to the distance and angle information, a geometric model of positioning tags and positioning nodes is established; According to the geometric model and the actual UWB beacon position and Bluetooth base station position, the location information of the positioning tag obtained by UWB and Bluetooth measurements is calculated; The confidence of geometric modeling is calculated by weighted summation based on the signal strength of UWB and Bluetooth to obtain the UWB measurement confidence, Bluetooth measurement confidence and UWB and Bluetooth fusion measurement confidence. The three confidence information are normalized as the variance of measurement noise and applied to the Kalman filter program. The Kalman filter algorithm is used to fuse the three sets of positioning tag position data to obtain the final positioning tag position. The fusion process using the Kalman filter algorithm further includes: Assume that the positioning results of UWB and Bluetooth are and , system status ,in is the target location; Let the state transfer matrix , the state equation is expressed as ,in is the process noise; The observation equation is expressed as: ， in is the observation noise; The Kalman filter prediction equation is as follows: ， in is the Kalman prediction estimate at time k-1, that is, the estimated target position at time k-1; is the state covariance matrix at time k-1; is the process noise covariance matrix; The update equation is: ， ， ， is the identity matrix; is the measurement noise covariance matrix; Finally, the fused target position is obtained .

6. A fusion positioning system based on UWB and Bluetooth, characterized in that: include: A UWB positioning module is used to arrange multiple UWB beacons or WeChat base stations as UWB positioning nodes, send UWB signals to multiple UWB positioning nodes through positioning tags, and determine the UWB positioning result of the positioning tag according to the UWB signal received by the positioning tag; A Bluetooth positioning module is used to arrange multiple Bluetooth beacons as Bluetooth positioning nodes, send Bluetooth signals to multiple Bluetooth positioning nodes through positioning tags, and determine the Bluetooth positioning result of the positioning tag according to the Bluetooth signal received by the positioning tag; The fusion positioning module is used to perform geometric modeling on the positions of the UWB positioning node and the Bluetooth positioning node, and based on the geometric modeling results, adopt a filtering algorithm to fuse the UWB positioning results and the Bluetooth positioning results to determine the position of the positioning tag.

7. The UWB and Bluetooth-based fusion positioning system according to claim 6, characterized in that: The UWB positioning module and the Bluetooth positioning module are further used for: When the positioning tag detects only one UWB positioning node or one Bluetooth positioning node, the position of the positioning node is used as the positioning result of the positioning tag.

8. The UWB and Bluetooth-based fusion positioning system according to claim 7, characterized in that: The UWB positioning module is further used for: When the positioning tag detects multiple UWB positioning nodes, the time difference of the UWB signal from the positioning tag to the multiple UWB positioning nodes is measured using the TOF or TDOA algorithm, the distance between the tag and each node is calculated based on the time difference, and the UWB positioning result of the positioning tag is determined based on multiple distances.

9. The UWB and Bluetooth-based fusion positioning system according to claim 8, characterized in that: The positioning system is used for object tracking and positioning, personnel positioning and navigation positioning.

10. The UWB and Bluetooth-based fusion positioning system according to claim 9, characterized in that: The fusion positioning module is further used for: Use the TOF algorithm and AOA algorithm to measure the distance and angle of UWB and Bluetooth signals from the positioning tag to each UWB positioning node and Bluetooth base station respectively; According to the distance and angle information, a geometric model of positioning tags and positioning nodes is established; According to the geometric model and the actual UWB beacon position and Bluetooth base station position, the location information of the positioning tag obtained by UWB and Bluetooth measurements is calculated; The confidence of geometric modeling is calculated by weighted summation based on the signal strength of UWB and Bluetooth to obtain the UWB measurement confidence, Bluetooth measurement confidence and UWB and Bluetooth fusion measurement confidence. The three confidence information are normalized as the variance of measurement noise and applied to the Kalman filter program. The Kalman filter algorithm is used to fuse the three sets of positioning tag position data to obtain the final positioning tag position. The fusion process using the Kalman filter algorithm further includes: Assume that the positioning results of UWB and Bluetooth are and , system status ,in is the target location; Let the state transfer matrix , the state equation is expressed as ,in is the process noise; The observation equation is expressed as: ， in is the observation noise; The Kalman filter prediction equation is as follows: ， in is the Kalman prediction estimate at time k-1, that is, the estimated target position at time k-1; is the state covariance matrix at time k-1; is the process noise covariance matrix; The update equation is: ， ， ， is the identity matrix; is the measurement noise covariance matrix; Finally, the fused target position is obtained .

11. A terminal comprising a processor and a storage medium; characterized in that: The storage medium is used to store instructions; The processor is used to operate according to the instruction to execute the steps of the UWB and Bluetooth based fusion positioning method according to any one of claims 1-5.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the UWB and Bluetooth-based fusion positioning method described in any one of claims 1 to 5 are implemented.

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