Positioning method and positioning system based on side-mounted UWB nodes

Abstract

The embodiment of the invention provides a positioning method and a positioning system based on side-mounted UWB nodes. Through arrangement of three different antennas, the UWB node is conveniently and laterally installed on a wall or a vertical rod in a chemical plant area, the coordinate position of a to-be-measured target can be obtained through a single node, and the UWB node is not only suitable for a complex chemical environment, but also controllable in cost. Furthermore, according to the positioning method and system based on the side-mounted UWB node provided by the embodiment of the invention, by matching the direction characteristics of different antennas and adding the step of judging whether the horizontal azimuth angle and the vertical pitch angle are accurate or not, the problem of the positioning accuracy of the UWB node introduced due to side mounting is effectively avoided, and the accuracy of a positioning result is ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of chemical plant area positioning, and in particular to a positioning method and a positioning system based on a side-mounted UWB node. Background Art

[0002] In the chemical industry, production plants are generally large in area. In order to ensure safe production and regulatory requirements, specific equipment or personnel need to be accurately positioned.

[0003] At present, conventional UWB positioning requires four positioning nodes. The tag communicates with the four positioning nodes through UWB, measures the TOA value (Time of Arrival), calculates the distance between the tag and each positioning node, and uses the least squares algorithm to calculate the location information of the tag based on multiple distance values. However, it is difficult to ensure more than three nodes that can be directly viewed in the complex chemical plant environment, so high-precision positioning is impossible; if you want to ensure more than three nodes that can be directly viewed, you must increase the density of deployed nodes. Since the cost of the beacon itself and the construction and deployment cost are very high, this will cause the system cost to rise sharply.

[0004] In order to solve the high cost problem of the traditional TOA positioning system based on more than 3 UWB nodes, patent CN115442886 A publicly proposed a single base station positioning method for UWB-AOA, and patent CN116017683A publicly proposed a single base station positioning method for Bluetooth AOA. Although these two positioning methods can achieve three-dimensional positioning of personnel by deploying a single base station, the base station antenna must use an 8-antenna array, the antenna area is large and the cost is high, and it must be installed on the ceiling (i.e. installed on the ceiling like a light bulb). However, in the environment of a chemical plant, most of the scenes that require high-precision positioning do not have ceilings, which cannot meet the ceiling deployment conditions of this single base station positioning node, so these two positioning technologies cannot be applied in chemical scenes.

[0005] Therefore, it is necessary to improve the prior art to overcome the above defects in the prior art. Summary of the invention

[0006] Therefore, the present invention aims to solve the current problem that there is no technical problem that can be applied to complex chemical scenes and can achieve low-cost positioning.

[0007] To solve the above technical problems, the present invention provides a positioning method based on a side-mounted UWB node, wherein the UWB node includes a UWB antenna device, and the UWB antenna device includes a first antenna, a second antenna and a third antenna, which is used for positioning targets in a chemical plant area, wherein the positioning tag information carried by the target to be measured is obtained; based on the positioning tag information, the first antenna responds to and obtains the distance information from the UWB node to the target to be measured, the second antenna responds to and obtains the horizontal azimuth angle from the UWB node to the target to be measured, and the third antenna responds to and obtains the vertical pitch angle from the UWB node to the target to be measured; based on the distance information, the horizontal azimuth angle and the vertical pitch angle, the three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area is calculated and obtained respectively.

[0008] In one embodiment, the three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area is calculated and obtained based on the distance information, the horizontal azimuth angle and the vertical pitch angle, respectively, including:

[0009] x=D*sinΦ*cosθ

[0010] y=D*sinΦ*sinθ

[0011] z=D*cosΦ,

[0012] Wherein, (x, y, z) is the three-dimensional coordinate position, D is the distance information, θ is the horizontal azimuth angle, and Φ is the vertical pitch angle.

[0013] In one embodiment, before the step of respectively calculating and obtaining the three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area based on the distance information, the horizontal azimuth angle and the vertical pitch angle, a step of determining whether the horizontal azimuth angle and the vertical pitch angle are accurately available is also included.

[0014] In one embodiment, determining whether the horizontal azimuth angle and the vertical pitch angle are accurate and available includes: obtaining the signal strength of the positioning tag information sensed by the first antenna, recorded as RSSI1; obtaining the signal strength of the positioning tag information sensed by the second antenna, recorded as RSSI2; obtaining the signal strength of the positioning tag information sensed by the third antenna, recorded as RSSI3; calculating the difference between RSSI1 and RSSI2 to obtain a first difference; calculating the difference between RSSI1 and RSSI3 to obtain a second difference; if the first difference and the second difference are both greater than a preset strength threshold, determining that the horizontal azimuth angle and the vertical pitch angle are accurate and available; if the first difference and the second difference are both less than the preset strength threshold, determining that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unavailable; if the magnitude relationship between the first difference, the second difference and the preset strength threshold does not satisfy the above two conditions, adopting an auxiliary determination condition to determine whether the horizontal azimuth angle and the vertical pitch angle are accurate and available.

[0015] In one embodiment, the auxiliary determination condition is adopted to determine whether the horizontal azimuth angle and the vertical pitch angle are accurately available, including: determining whether the horizontal azimuth angle is within the range of 30° to 150°, and if so, determining that the horizontal azimuth angle and the vertical pitch angle are accurately available; otherwise, determining that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unavailable.

[0016] In one of the embodiments, the auxiliary determination condition is adopted to determine whether the horizontal azimuth angle and the vertical pitch angle are accurately available, including: retrieving the two-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area at the last time, and comparing it with the current two-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area; if the comparison difference meets the conventional threshold condition, then it is determined that the horizontal azimuth angle and the vertical pitch angle are accurately available; otherwise, it is determined that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unavailable.

[0017] The present invention also provides a positioning system based on a side-mounted UWB node, which is used for positioning a target to be measured in a chemical plant area. The positioning system based on a side-mounted UWB node includes at least one UWB node; the UWB node includes a UWB antenna device, and the UWB antenna device includes a first antenna, a second antenna, and a third antenna; the first antenna is a distance measuring antenna, and is used to implement the distance test of the target to be measured using the TOF technology; the second antenna is an angle measuring antenna, and the second antenna and the first antenna are combined to implement the horizontal azimuth angle test of the target to be measured using the AOA technology; the third antenna is an angle measuring antenna, and the third antenna and the first antenna are combined to implement the vertical pitch angle test of the target to be measured using the AOA technology.

[0018] In one embodiment, the first antenna is an omnidirectional antenna, the second antenna is a directional antenna, and the third antenna is a directional antenna.

[0019] In one embodiment, the first antenna, the second antenna and the third antenna form an equilateral triangle array.

[0020] In one embodiment, the UWB node is side mounted on a preset wall in the chemical plant area or on a preset pole in the chemical plant area.

[0021] The technical solution provided by the present invention has the following advantages:

[0022] The positioning method and system based on the side-mounted UWB node provided by the embodiment of the present invention can be conveniently side-mounted on the wall or pole in the chemical plant area through three different antenna arrangements, so that a single node can obtain the coordinate position of the target to be measured, which is not only adaptable to complex chemical environments but also cost-controlled. Furthermore, the positioning method and system based on the side-mounted UWB node provided by the embodiment of the present invention effectively avoids the positioning accuracy problem of the UWB node introduced by the side-mounting by matching the directional characteristics of different antennas and adding the steps of determining whether the horizontal azimuth angle and the vertical pitch angle are accurate, thereby ensuring the accuracy of the positioning result. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0024] Figure 1 A schematic diagram of a UWB antenna device provided by an embodiment of the present invention;

[0025] Figure 2 A schematic diagram of a UWB node provided by an embodiment of the present invention that has been side-mounted on a preset wall or a preset pole;

[0026] Figure 3 A schematic diagram of a flow chart of a positioning method based on a side-mounted UWB node provided in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the application of the positioning system based on the side-mounted UWB node provided by the embodiment of the invention in a real chemical plant scene;

[0028] Figure 5 for Figure 2A schematic diagram of the available positioning range of a UWB node in the illustrated embodiment;

[0029] Figure 6 A schematic diagram of another UWB antenna device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0031] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0032] In the present invention, unless otherwise stated, the example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0033] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0034] Here we first explain some terms involved in the embodiments of the present invention. Ultra Wide Band (UWB) technology is a wireless carrier communication technology that does not use a sinusoidal carrier, but uses nanosecond non-sinusoidal narrow pulses to transmit data, so the spectrum range it occupies is very wide. UWB node positioning technology has the advantages of low system complexity, low power spectrum density of transmitted signals, insensitivity to channel fading, low interception capability, and high positioning accuracy. It is particularly suitable for high-speed wireless access in dense multipath places such as indoors. TOF (Time off light, time of flight) technology can be broadly understood as a technology that further understands certain properties of ions or media by measuring the time it takes for an object, particle or wave to fly a certain distance in a fixed medium (the medium / distance / time are all known or measurable). The ToF ranging method belongs to a two-way ranging technology, which mainly uses the flight time of a signal between two asynchronous transceivers (Transceiver) (or reflected surface) to measure the distance between nodes. Angle-of-Arrival (AOA): The positioning algorithm based on the angle of arrival of the signal is a typical positioning algorithm based on ranging. It uses certain hardware devices to sense the arrival direction of the transmitting node signal, calculate the relative direction or angle between the base station and the tag (terminal), and then use triangulation or other methods to calculate the position of the unknown node. The positioning algorithm based on the angle of arrival (AOA) of the signal is a common wireless sensor network node self-positioning algorithm with low algorithm communication overhead.

[0035] This embodiment provides a positioning system based on a side-mounted UWB node, which is used for positioning a target to be measured in a chemical plant area, wherein the target to be measured can be a person, or a stationary or moving object, such as an automatic robot, a mobile car, etc. The positioning tag needs to be set on the target to be measured, and the positioning system based on the side-mounted UWB node responds to the information of the positioning tag. Specifically, the positioning tag has a built-in power supply battery, that is, it is powered wirelessly, so that it can be carried by the target to be measured. The positioning tag has an identification code that uniquely corresponds to the target, and the corresponding target can be uniquely determined by reading the identification code of the positioning tag.

[0036] The positioning system based on the side-mounted UWB node includes at least one UWB node 100. The UWB node 100 can obtain the information on the positioning tag (i.e., the unique corresponding target identification code), thereby determining the position coordinates of the target to be measured by determining the position of the positioning tag, thereby achieving positioning and tracking of the target to be measured. Specifically, the UWB nodes all include batteries for power supply. Therefore, the setting of the UWB nodes does not require wiring, that is, there is no need for weak current construction, which eliminates the safety hazards caused by weak current construction. This not only saves manpower, material resources and space, but is also suitable for chemical production plants with high safety requirements that are not convenient for wiring, thereby improving application efficiency.

[0037] like Figure 1 As shown, the UWB node 100 includes a UWB antenna device 10, and the UWB antenna device 10 includes a first antenna 101, a second antenna 102 and a third antenna 103. Among them, the first antenna 101 is a ranging antenna, and is used to implement the distance of the target to be measured (equivalent to the positioning tag carried by the target to be measured) using the TOF technology. The second antenna 102 is an angle measuring antenna, and the second antenna 102 is combined with the first antenna 101 to implement the horizontal azimuth angle θ of the target to be measured using the AOA technology. The third antenna 103 is also an angle measuring antenna, and the third antenna 103 is combined with the first antenna 101 to implement the vertical pitch angle Φ of the target to be measured using the AOA technology.

[0038] The UWB node 100 is installed on a preset wall in the chemical plant area or on a preset pole in the chemical plant area. Figure 2 , a schematic diagram of a UWB node 100 that has been side-mounted on a preset wall or a preset pole. Figure 3 As shown, the embodiment of the present invention also provides a positioning method based on the above-mentioned side-mounted UWB node 100, which specifically includes the steps of:

[0039] S1: Get the positioning tag carried by the target to be measured (i.e. Figure 2 (middle label) information;

[0040] S2: Based on the positioning tag information, the first antenna 101 responds and obtains the distance information D from the UWB node 100 to the target to be measured, the second antenna 102 responds and obtains the horizontal azimuth angle θ from the UWB node 100 to the target to be measured, and the third antenna 103 responds and obtains the vertical pitch angle Φ from the UWB node 100 to the target to be measured;

[0041] S3: Based on the distance information D, the horizontal azimuth angle θ and the vertical pitch angle Φ, respectively calculate and obtain the three-dimensional coordinate position (x, y, z) of the target to be measured in the coordinate system of the chemical plant area. Among them, the horizontal azimuth angle θ refers to the rotation angle around the tangent direction of the horizontal plane; the vertical pitch angle Φ refers to the rotation angle around the normal direction of the horizontal plane. Among them, Figure 3 The dotted step T shown in FIG. 1 is an optional step.

[0042] In a specific embodiment, the calculation process of step S3 includes formula 1 to formula 3:

[0043] x=D*sinΦ*cosθ (Formula 1)

[0044] y=D*sinΦ*sinθ (Formula 2)

[0045] z=D*cosΦ (Formula 3)

[0046] It can be seen from the above equation that the three-dimensional coordinate positioning of the positioning tag can be achieved through a single UWB node 100, that is, the distance information, horizontal direction angle and vertical pitch angle data are obtained through the communication interaction between the positioning tag and the UWB node to complete the positioning of the target to be measured, and this positioning method meets the side-mounting conditions of the chemical scene.

[0047] refer to Figure 4 , a schematic diagram of the application of the positioning system based on the side-mounted UWB node provided by an embodiment of the present invention in a real chemical plant scenario. Figure 4 The chemical production area in the figure has a total of 7 device areas, from device 1 to device 7, with a spacing of about 5m between each device, and serious obstruction between devices. The positioning system based on the side-mounted UWB node provided in the embodiment of the present invention can install positioning nodes (i.e., UWB nodes 100) at the four positions shown in the figure, respectively, to achieve full-area two-dimensional positioning of the production area of ​​the chemical plant, that is, the positioning system based on the side-mounted UWB node provided in the embodiment includes four UWB nodes 100.

[0048] If in Figure 4 In the production area of ​​the chemical plant shown in the figure, the traditional UWB two-dimensional positioning is used, and the number of positioning nodes far exceeds the current deployment number of 4 UWB nodes 100. At the same time, due to Figure 3 The chemical plant area shown does not have the conditions for ceiling installation, and the conventional UWB-AOA and Bluetooth-AOA single-node positioning methods cannot be used in this area. Therefore, the positioning system and positioning method based on the side-mounted UWB node provided in the embodiment of the present invention realize the simple installation of the side-mounted installation from the installation and deployment method in the actual complex chemical plant area scenario, and at the same time reduce the overall system cost from the number of positioning node deployments. The reduction in the number of positioning nodes also reduces the construction cost. At the same time, according to the positioning needs of complex chemical scenes, the UWB node 100 in the positioning system based on the side-mounted UWB node provided in the embodiment of the present invention can also be plug-and-play, without being restricted by the traditional UWB target positioning that requires 3 or more positioning nodes and the restrictions of installation and deployment.

[0049] Continue to refer Figure 1In this embodiment, the first antenna 101, the first antenna 102 and the third antenna 103 are all directional antennas, and the direction of each antenna is outward. In the specific implementation of the application, the following difficulties will be encountered. The first antenna 101, the first antenna 102 and the third antenna 103 form a UWB node 100. After the UWB node 100 is side-mounted, the first antenna 101, the first antenna 102 and the third antenna 103 will produce a front side relative to a preset wall or a preset pole, and a back side opposite to the front side. Whether the positioning tag is on the front or back side of the antenna, it can receive the signal of the UWB node 100, that is, the positioning tag is on both the front and back sides of the antenna, and the UWB node will measure the distance, horizontal azimuth, and vertical pitch angle. Based on the principle of UWB-AOA, it can be seen that only when the positioning tag is within the range of 30° to 150° on the front side of the antenna, can the UWB node 100 obtain accurate horizontal azimuth and vertical pitch angle. The available positioning range of the UWB node 100 is as follows: Figure 5 Therefore, if the located tag is at the back of the UWB node 100, the measured values ​​of the horizontal azimuth angle and the vertical pitch angle are inaccurate. If the positioning system still uses the obtained horizontal azimuth angle and the vertical pitch angle for positioning calculation at this time, this will lead to positioning errors of the target to be measured.

[0050] Further, in order to solve the problem of possible positioning errors caused by side mounting, the present invention provides a preferred embodiment. Figure 6 As shown, in this embodiment, the first antenna 101 in the UWB antenna device 10 is an omnidirectional antenna, the second antenna 102 is a directional antenna, and the third antenna 103 is a directional antenna. When the positioning tag is on the front side of the UWB node 100, the signal strength of the first antenna 101 is weaker than the signal strength of the second antenna 102 (or the third antenna 103) when compared with the second antenna 102 (or the third antenna 103); and when the positioning tag is on the back side of the UWB node 100, the signal strength of the first antenna 101 is stronger than the signal strength of the second antenna 102 (or the third antenna 103) when compared with the second antenna 102 (or the third antenna 103). By introducing an omnidirectional antenna, this embodiment effectively avoids the problem that the target to be measured cannot be distinguished and determined when it is located on the front and back sides of the UWB node 100.

[0051] Furthermore, the first antenna 101, the second antenna 102 and the third antenna 103 form an equilateral triangle array, and by ensuring the same spacing between the antennas, the signal strength measurement influencing factors of each antenna are further ensured to be consistent, which is beneficial to the accuracy of the subsequent method for determining whether the horizontal azimuth angle and the vertical pitch angle are accurate.

[0052] Accordingly, the embodiment of the present invention further provides a preferred positioning method based on the above side-mounted UWB node. The preferred positioning method, between the above step S2 and step S3, further includes a step of determining whether the horizontal azimuth angle θ and the vertical pitch angle Φ are accurate and available.

[0053] In one embodiment, the step of determining whether the horizontal azimuth angle θ and the vertical pitch angle Φ are accurate and available comprises the following steps:

[0054] T1: obtaining the signal strength of the positioning tag information sensed by the first antenna 101, recorded as RSSI1;

[0055] T2: obtaining the signal strength of the positioning tag information sensed by the second antenna 102, recorded as RSSI2;

[0056] T3: obtaining the signal strength of the positioning tag information sensed by the third antenna 103, recorded as RSSI3;

[0057] T4: Calculate the difference between RSSI1 and RSSI2 to obtain a first difference; calculate the difference between RSSI1 and RSSI3 to obtain a second difference; if the first difference and the second difference are both greater than the preset strength threshold, it is determined that the horizontal azimuth angle θ and the vertical pitch angle Φ are accurate and available; if the first difference and the second difference are both less than the preset strength threshold, it is determined that the horizontal azimuth angle θ and the vertical pitch angle Φ are inaccurate and unavailable; if the magnitude relationship between the first difference, the second difference and the preset strength threshold does not satisfy the above two situations, an auxiliary determination condition is adopted to determine whether the horizontal azimuth angle and the vertical pitch angle are accurate and available. Among them, the above-mentioned "preset strength threshold" is related to the gain of the first antenna, the second antenna, and the third antenna, and different gain sizes determine the size of the preset strength threshold. Exemplarily, the gain of the first antenna 101 is 2dBi, and the gain of the second and third antennas is 10dBi, then the preset strength threshold is approximately 8dB.

[0058] Under normal circumstances, the first difference, the second difference and the preset threshold judgment condition can be used to determine whether the location of the positioning tag is on the front or back of the UWB node 100. However, in actual working conditions, due to the time-varying characteristics of the wireless channel and signal shielding, the signal strength (RSSI value) may fluctuate. Therefore, in order to ensure the robustness of the algorithm, it is necessary to adopt auxiliary judgment conditions to deal with the situation where the relationship between the first difference, the second difference and the preset strength threshold does not meet the above two judgment conditions.

[0059] In one embodiment, the auxiliary determination condition is adopted to determine whether the horizontal azimuth angle θ and the vertical pitch angle Φ are accurate and available, including the steps of:

[0060] T41: Determine whether the horizontal azimuth angle θ is within the range of 30° to 150°;

[0061] T42: If located, determine that the horizontal azimuth angle θ and the vertical pitch angle Φ are accurate and available; otherwise, determine that the horizontal azimuth angle θ and the vertical pitch angle Φ are inaccurate and unavailable.

[0062] This judgment condition is based on the principle of UWB-AOA. Only when the positioning tag is within the range of 30° to 150° in front of the antenna can the UWB node 100 obtain accurate horizontal azimuth and vertical pitch angles. Therefore, when the horizontal azimuth angle θ is within the range of 30° to 150°, it can be determined that the horizontal azimuth angle θ and the vertical pitch angle Φ are accurate and available.

[0063] In other embodiments, the taking of auxiliary determination conditions to determine whether the horizontal azimuth angle and the vertical pitch angle are accurate and available includes:

[0064] T51: Retrieve the last three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area

[0065] T52: comparing the last three-dimensional coordinate position retrieved and the current three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area;

[0066] T53: If the comparison difference meets the conventional threshold condition, it is determined that the horizontal azimuth angle and the vertical pitch angle are accurate and usable; otherwise, it is determined that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unusable.

[0067] Among them, the conventional threshold condition is mainly determined based on some conventional characteristics of the target to be measured. If the target to be measured is a person (that is, the positioning tag is carried by the person), the conventional threshold condition can be the average speed. For example, the person is located 10 meters in front of the antenna in the last second, and the person jumps to 10 meters on the back in the next second. Since it is impossible for a person to teleport 20 meters in one second, this does not conform to the normal movement speed of a person, and the measurement result on the back can be discarded.

[0068] The positioning method and positioning system based on side-mounted UWB nodes provided in the embodiments of the present invention effectively avoid the positioning accuracy problem of UWB nodes introduced due to side-mounting by matching the directional characteristics of different antennas and by adding the step of determining whether the horizontal azimuth angle and the vertical pitch angle are accurate, thereby ensuring the accuracy of the positioning results.

[0069] For the specific definition of the above positioning method, please refer to the definition of the positioning system above, which will not be repeated here. Each module in the above positioning method can be implemented in whole or in part by software, hardware and a combination thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

[0070] Obviously, the embodiments described above are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, ordinary technicians in this field can make other different forms of changes or modifications without creative work, which should fall within the scope of protection of the present invention.

Claims

1. A positioning method based on a side-mounted UWB node, used for positioning a target to be measured in a chemical plant area, wherein the UWB node comprises a UWB antenna device, wherein the UWB antenna device comprises a first antenna, a second antenna and a third antenna, wherein: Obtain the positioning tag information carried by the target to be measured; Based on the positioning tag information, the first antenna responds and obtains the distance information from the UWB node to the target to be measured, the second antenna responds and obtains the horizontal azimuth angle from the UWB node to the target to be measured, and the third antenna responds and obtains the vertical pitch angle from the UWB node to the target to be measured; Based on the distance information, the horizontal azimuth angle and the vertical pitch angle, the three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area is calculated and acquired respectively.

2. A positioning method based on a side-mounted UWB node according to claim 1, characterized in that: The method of respectively calculating and acquiring the three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area based on the distance information, the horizontal azimuth angle and the vertical pitch angle includes: x=D*sinΦ*cosθ y=D*sinΦ*sinθ z=D*cosΦ, Wherein, (x, y, z) is the three-dimensional coordinate position, D is the distance information, θ is the horizontal azimuth angle, and Φ is the vertical pitch angle.

3. A positioning method based on a side-mounted UWB node according to claim 1, characterized in that: Before the step of "calculating and obtaining the three-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area based on the distance information, the horizontal azimuth angle and the vertical pitch angle", it also includes a step of determining whether the horizontal azimuth angle and the vertical pitch angle are accurately available.

4. A positioning method based on side-mounted UWB nodes according to claim 3, characterized in that: The determining whether the horizontal azimuth angle and the vertical pitch angle are accurate and available includes: Obtain the signal strength of the positioning tag information sensed by the first antenna, recorded as RSSI1; Obtain the signal strength of the positioning tag information sensed by the second antenna, recorded as RSSI2; Obtain the signal strength of the positioning tag information sensed by the third antenna, recorded as RSSI3; Calculate the difference between RSSI1 and RSSI2 to obtain a first difference; calculate the difference between RSSI1 and RSSI3 to obtain a second difference; If the first difference and the second difference are both greater than a preset strength threshold, it is determined that the horizontal azimuth angle and the vertical pitch angle are accurate and usable; if the first difference and the second difference are both less than the preset strength threshold, it is determined that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unusable; If the magnitude relationship between the first difference, the second difference and the preset intensity threshold does not satisfy the above two conditions, an auxiliary determination condition is adopted to determine whether the horizontal azimuth angle and the vertical pitch angle are accurate and available.

5. A positioning method based on side-mounted UWB nodes according to claim 4, characterized in that: The taking of the auxiliary determination condition to determine whether the horizontal azimuth angle and the vertical pitch angle are accurate and available includes: It is determined whether the horizontal azimuth angle is within the range of 30° to 150°. If so, it is determined that the horizontal azimuth angle and the vertical pitch angle are accurate and usable; otherwise, it is determined that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unusable.

6. A positioning method based on side-mounted UWB nodes according to claim 4, characterized in that: The taking of the auxiliary determination condition to determine whether the horizontal azimuth angle and the vertical pitch angle are accurate and available includes: The last two-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area is retrieved, and compared with the current two-dimensional coordinate position of the target to be measured in the coordinate system of the chemical plant area. If the comparison difference meets the conventional threshold conditions, it is determined that the horizontal azimuth angle and the vertical pitch angle are accurate and usable; otherwise, it is determined that the horizontal azimuth angle and the vertical pitch angle are inaccurate and unusable.

7. A positioning system based on side-mounted UWB nodes, used for positioning targets in chemical plants, characterized in that: The system includes at least one UWB node; The UWB node comprises a UWB antenna device, wherein the UWB antenna device comprises a first antenna, a second antenna and a third antenna; The first antenna is a ranging antenna and is used to measure the distance of a target to be measured using TOF technology; The second antenna is an angle measuring antenna, and the second antenna is combined with the first antenna to implement the measurement of the horizontal azimuth angle of the target to be measured by using the AOA technology; The third antenna is an angle measuring antenna, and the third antenna is combined with the first antenna to implement the use of AOA technology to test the vertical pitch angle of the target to be measured.

8. A positioning system based on side-mounted UWB nodes according to claim 7, characterized in that: The first antenna is an omnidirectional antenna, the second antenna is a directional antenna, and the third antenna is a directional antenna.

9. A positioning system based on side-mounted UWB nodes according to claim 8, characterized in that: The first antenna, the second antenna and the third antenna form an equilateral triangle array.

10. A positioning system based on side-mounted UWB nodes according to claim 7, characterized in that: The UWB node is side mounted on a preset wall in the chemical plant area or on a preset pole in the chemical plant area.

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