UWB-based positioning method, device, equipment and medium

Abstract

The embodiments of the present disclosure disclose a positioning method, device, equipment and medium based on UWB, which belongs to the field of UWB communication technology, and solves the technical problem of low positioning efficiency caused by using two UWB base stations in the prior art. The positioning device based on UWB may include a UWB base station and a processor, wherein the UWB base station includes two signal receivers, and the two signal receivers are integrated on the above-mentioned UWB base station to receive the pulse signal sent by the tag. The processor is connected to the above-mentioned UWB base station, and is used to locate the tag that sends the pulse signal according to the arrival time difference of the pulse signals received by the two signal receivers. The present disclosure only requires one base station, and the ranging and positioning process is more efficient, which reduces the ranging time and improves the capacity of the tag and the overall performance of the system.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of UWB communication technology, and in particular to a UWB-based positioning method, apparatus, device and medium. Background Art

[0002] Ultra Wide Band (UWB) technology is a carrier-free communication technology that uses non-sinusoidal narrow pulses from nanoseconds to microseconds to transmit data, and can transmit extremely low-power signals over a wider spectrum.

[0003] UWB technology has significant advantages in the field of positioning due to its high-precision ranging and strong anti-interference capabilities, and is widely used in indoor positioning, asset tracking, mine monitoring, etc. However, in some special scenarios, such as mine monitoring, it is necessary not only to measure the distance between the tag and the base station, but also to determine the left and right position of the tag relative to the base station.

[0004] The existing technology usually uses two UWB base stations to determine the direction. In order to ensure that there is no interference between them, they need to be separated in time. In this way, a tag needs twice the time of ranging to determine the direction, which will limit the capacity of the tag. At the same time, it is difficult to deploy two base stations in some scenarios due to space limitations. Summary of the invention

[0005] In view of this, the embodiments of the present disclosure are intended to provide a UWB-based positioning method, apparatus, device and medium; capable of solving the technical problem of low positioning efficiency caused by using two UWB base stations in the prior art.

[0006] The technical solution of the embodiment of the present disclosure is implemented as follows:

[0007] In a first aspect, an embodiment of the present disclosure provides a UWB-based positioning device, including:

[0008] A UWB base station including two signal receivers;

[0009] The controller is connected to the UWB base station and is used to locate the tag that sends the pulse signal according to the arrival time difference of the pulse signals received by two signal receivers.

[0010] In a second aspect, a UWB-based positioning method includes:

[0011] Obtaining the signal arrival time difference of pulse signals received by two signal receivers on the same UWB base station;

[0012] The tag sending the pulse signal is positioned according to the time difference.

[0013] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a processor and a memory; the processor is used to execute instructions stored in the memory to implement the UWB-based positioning method described in the second aspect.

[0014] In a fourth aspect, an embodiment of the present disclosure provides a computer storage medium, wherein the storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the UWB-based positioning method as described in the first aspect.

[0015] The disclosed embodiments provide a UWB-based positioning method, apparatus, device and medium; by measuring the arrival time difference of the pulse signals received by two signal receivers, the position of the tag relative to the base station can be accurately calculated. Only one UWB base station and two signal receivers integrated on the UWB base station are required, which simplifies the system architecture, reduces hardware costs and deployment complexity compared to traditional solutions that require two or more base stations. Since only one base station is required, the ranging and positioning process is more efficient, the ranging time is reduced, and the capacity of the tag and the overall performance of the system are improved. UWB technology has strong resistance to multipath interference and can provide stable positioning services in complex environments. It is suitable for a variety of application scenarios such as indoor positioning, asset tracking, and mine monitoring. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 The figure is a schematic diagram of bilateral two-way ranging in the related technology.

[0017] Figure 2 This is a schematic diagram of determining whether a tag is on the left or right using two base stations.

[0018] Figure 3 A schematic diagram of a UWB-based positioning device provided in an embodiment of the present disclosure.

[0019] Figure 4 A schematic diagram of another UWB-based positioning device provided in an embodiment of the present disclosure.

[0020] Figure 5 A schematic diagram of another UWB-based positioning device is provided for an embodiment of the present disclosure.

[0021] Figure 6 A schematic diagram of a receiving timing of a UWB-based positioning device provided in an embodiment of the present disclosure.

[0022] Figure 7 A schematic diagram of first-reaching path determination provided in an embodiment of the present disclosure.

[0023] Figure 8 A schematic diagram of another first-reaching path determination provided in an embodiment of the present disclosure.

[0024] Fig. 9 A flowchart of first-reaching path determination provided in an embodiment of the present disclosure.

[0025] Fig.10 A flowchart of a UWB-based positioning method provided in an embodiment of the present disclosure.

[0026] Fig.11 A schematic diagram of the structure of an electronic device provided in an embodiment of the present disclosure.

[0027] The above drawings show clear embodiments of the present disclosure, which will be described in more detail below. These drawings and text descriptions are not intended to limit the scope of the present disclosure in any way, but to illustrate the concepts of the present disclosure to those skilled in the art by referring to specific embodiments. DETAILED DESCRIPTION

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the disclosure will be more comprehensive and complete and to fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0029] In addition, the accompanying drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0030] UWB ranging technology has been widely used. The transmitter and receiver realize the ranging function through the interaction of multiple messages. In scenarios such as mine tunnels, the base station in a long and narrow channel not only needs to measure the distance of the tag, but also needs to know whether the tag is on the left or right of the base station.

[0031] In the related art, refer to Figure 1 and Figure 2, the base station first sends a ranging request message, that is, sends message 1 (Ranging Request) to the tag. After receiving the ranging request, the tag sends a ranging response message (RangingResponse), that is, sends message 2 back to the base station. After receiving the ranging response message, the base station sends a confirmation message (Ranging Confirmation), that is, sends message 3 to the tag to confirm that the ranging is completed. Through the interaction of these three messages, the round-trip time (RTT) of the signal can be calculated between the base station and the tag, and thus the distance between the two can be calculated.

[0032] Referring to Figure 2 , in the prior art, two UWB base stations, UWB base station 1 and UWB base station 2, respectively perform ranging communication with the tag to obtain two distance values d1 and d2. By calculating the difference between d1 and d2, the position of the tag relative to the base station is judged. If d1 > d2, the tag is on the right side of the base station; if d1 < d2, the tag is on the left side of the base station.

[0033] The ranging method in the related art requires at least two UWB base stations, which increases the cost of the system and the complexity of deployment. In order to ensure that the communication between the two base stations does not interfere, ranging needs to be carried out separately in time, which doubles the positioning time of a single tag and limits the capacity of the tag. In order to ensure that the communication between the two base stations does not interfere, ranging needs to be carried out separately in time, which doubles the positioning time of a single tag and limits the capacity of the tag. Secondly, when setting two base stations, in order to prevent mutual interference between the two base stations, they need to be separated in time. In this way, from the perspective of time, it takes twice the ranging time for a tag to judge left or right, which will limit the capacity of the tag.

[0034] Based on this, the present disclosure first provides a UWB-based positioning device, referring to Figure 3 , which may include a UWB base station 10 and a controller 1. Among them, the UWB base station 10 includes two signal receivers, and each signal receiver includes a receiving channel, that is, the two signal receivers respectively include a first signal receiver and a second signal receiver. Among them, the first signal receiver corresponds to receiving channel 1, and the second signal receiver corresponds to receiving channel 2. The two signal receivers are integrated on the above-mentioned UWB base station 10 to receive the pulse signals sent by the tag. The controller 1 is connected to the above-mentioned UWB base station 10 and is used to locate the tag that sends the pulse signal according to the time difference of arrival of the pulse signals received by the two signal receivers.

[0035] Among them, the UWB base station 10 is responsible for receiving and processing signals from the UWB tag (Tag). The UWB base station 10 can be fixedly installed at a known location and determine the location of the tag by measuring the arrival time or arrival time difference of the signal. The controller 1 is responsible for processing the signal received by the base station in the UWB positioning system and calculating the location of the tag. The controller 1 is connected to the UWB base station 10 and achieves high-precision positioning through complex algorithms and data processing. The controller can also be integrated into the above-mentioned UWB base station 10.

[0036] In some examples, reference Figure 4 In order to ensure the synchronization and accurate measurement of the two signal receivers, the UWB-based positioning device also includes a clock signal transmitter 4 and a time counter 3. The clock signal transmitter 4 is simultaneously connected to the two signal receivers in the UWB base station 10, that is, simultaneously connected to the receiving channel 1 and the receiving channel 2, to ensure that they receive the same clock signal. The time counter 3 is also simultaneously connected to the two signal receivers to record the arrival time of the pulse signal. Each signal receiver corresponds to a receiving channel, that is, the two receivers correspond to the receiving channel 1 and the receiving channel 2 respectively.

[0037] In some examples, the clock signal transmitter 4 ensures that the two signal receivers use the same clock signal, thereby eliminating the influence of clock deviation on the measurement results. The synchronous connection of the time counter 3 enables the two signal receivers to accurately record the arrival time of the pulse signal, thereby improving the measurement accuracy of the arrival time difference. By sharing the clock signal and the time counter 3, the design and implementation of the system are simplified, and the hardware cost and deployment complexity are reduced.

[0038] In some examples, reference Figure 5 In the UWB-based positioning device, in order to receive the pulse signal sent by the tag 5, the device also includes a first antenna 21 and a second antenna 22. The first antenna 21 is connected to the receiving channel 1 of the signal receiver through the first feeder 61, and is used to receive the pulse signal sent by the tag 5. The second antenna 22 is connected to the receiving channel 2 of the signal receiver through the second feeder 62, and is used to receive the pulse signal sent by the tag 5. Among them, the lengths of the first feeder 61 and the second feeder 62 are equal within the threshold range.

[0039] The first antenna 21 and the second antenna 22 are connected to the signal receiver through two feeders to ensure stable signal transmission. The lengths of the first feeder 61 and the second feeder 62 are equal within the threshold range to ensure that the time delay of signal transmission is consistent, thereby improving the accuracy of measurement. By matching the feeder lengths, the signal transmission time difference caused by the feeder length difference is reduced, and the positioning accuracy based on the arrival time difference is improved.

[0040] In some examples, the controller 1 is connected to the UWB base station 10 or integrated into the UWB base station 1, and is used to locate the tag 5 that sends the pulse signal according to the arrival time difference of the pulse signals received by two signal receivers.

[0041] The tag 5 is a small, lightweight electronic device, which is usually attached to an object or person to be located. It communicates with the UWB base station 10 by sending and receiving UWB pulse signals, thereby achieving a positioning function.

[0042] In some examples, reference Figure 6 The UWB data sent by the tag end may include pilot information and data information, and the connection position between the pilot information and the data information is the sending timestamp.

[0043] Since the signal receiver does not know the time when the tag 5 sends the pulse signal, the receiving channel of the signal receiver can be opened in advance to ensure that the pulse information will not be missed. Figure 6 As shown, two receiving channels, namely receiving channel 1 and receiving channel 2, are to be opened simultaneously, and the time counter 3 starts from a certain initial value t 0 Start counting, so that for the timestamp position sent by tag 5, two different timestamps can be estimated on receiving channel 1 and receiving channel 2, namely the timestamp t estimated by the first channel 1 and the estimated timestamp t of the second channel 2 , respectively expressed as follows:

[0044] t 1 =t 0 +et 1 +dt 1

[0045] t 2 =t 0 +et 2 +dt 2

[0046] Among them, dt 1 dt 2 The difference is caused by the different distances of the pulse signal in space. et itself is the time deviation caused by the clock offset between the sender and the receiver. However, since our two channels use the same clock source, the offset is a fixed value, et 1 et 2 The difference is 0. Then subtract the two:

[0047] t 1 -t 2 =dt 1 -dt 2

[0048] If the difference is less than 0, it means that label 5 is on the left side of the chip, otherwise it is on the right side of the chip.

[0049] In some examples, the controller 1 may first determine an amplitude threshold of the received signal to determine whether the received pulse signal is valid. The setting of the amplitude threshold may be adjusted according to the actual environment and signal strength to ensure that the received signal is a pulse signal from the tag 5, rather than noise or other interference signals. The specific setting method is not described in detail in this example implementation.

[0050] The number of time interval points caused by the first antenna 21 and the second antenna 22, that is, the signal arrival time difference caused by the antenna spacing, is determined. The number of time interval points can be calculated based on the physical spacing of the antennas and the propagation speed of the signal.

[0051] For example, assuming that the physical distance between the first antenna 21 and the second antenna 22 is meters, the propagation speed of the signal is Meters per second (usually the speed of light, i.e. m / s), time interval points It can be calculated by the following formula:

[0052]

[0053] in:

[0054] is the physical spacing of the antennas.

[0055] is the propagation speed of the signal.

[0056] Assuming the physical spacing of the antennas Meters, the speed of signal propagation Meters / second.

[0057] Second

[0058] In practical applications, the time interval points Usually it is necessary to convert to the number of sampling points. Assume that the sampling rate of the system is Hz, then the number of time interval points The corresponding number of sampling points for:

[0059]

[0060] Assume that the sampling rate of the system is fs = 1 GHz (i.e. 10 9 Hz):

[0061]

[0062] In order to ensure the accuracy of the calculation, it is usually The integer part of , that is, 3 sampling points.

[0063] Continue to refer to Figure 5 , the lengths of the first feeder 61 and the second feeder 62 are the same, so that after the pulse signal reaches the two antennas, it passes through the feeders of the same length to reach the two receiving channels. The difference in timestamps is caused by the distance between the antennas. However, in actual testing, it was found that due to the close spacing between the two receiving channels in a single chip and power leakage at the interface between the feeder and the chip, the received signal has coupled energy at the interface between the chip and the feeder, and this coupled energy increases with the increase in the transmit power.

[0064] Reference Figure 7 When using UWB for timestamp calculation, it is generally necessary to estimate the timestamp of the point corresponding to the direct path position (first path position), and the judgment of the direct path is obtained by receiving the signal power. Starting from time 0, the first point where the channel estimation amplitude value is greater than the amplitude threshold is the direct path, such as Figure 7 The first reach path position is shown in .

[0065] Reference Figure 5 and Figure 8 , each signal receiver corresponds to a receiving channel. The pulse with a large amplitude value at the back of the figure is the receiving signal pulse of tag 5 reaching the antenna of receiving channel 1, and the pulse with a relatively small amplitude value at the front is the signal of tag 5 reaching the antenna of receiving channel 2 and then coupled to the receiving pulse of receiving channel 1 after passing through the feeder. It is because of the existence of this coupled pulse that the first arrival path judgment of receiving channel 1 is wrong, such as Figure 8 The misjudged first arrival path shown in causes a deviation in its timestamp, thus affecting the accuracy of the tag position determination.

[0066] Figure 8 The distance between the position of the first pulse and the position of the second pulse is determined by the antenna distance of the two channels. As mentioned above, if the UWB base station 10 adopts a sampling rate of 1G and the antenna distance is 1 meter, the distance between the two pulses is approximately 3 points on the time coordinate.

[0067] It should be noted that Figure 7 and Figure 8 The unit on the time coordinate is nanoseconds, and the amplitude value is a scalar without setting the unit.

[0068] At this time, the time point is set to 0, the pulse signal is collected, and the amplitude value of the collected signal is calculated to determine whether the amplitude value of the collected pulse signal is greater than the above amplitude threshold. If it is greater than the above amplitude threshold, subsequent operations are performed. The amplitude values ​​corresponding to the preset number of time points after the current time can be obtained, where the preset number is greater than the number of time interval points. Specifically, the preset number can be T+1, T+2, T+3, etc., which will not be described in detail in this example implementation.

[0069] Taking the above preset time interval as T+2 as an example, when a pulse signal greater than the amplitude threshold is collected, the current time point is defined as I dxfp， Its amplitude value is recorded as P_I dxfp , continue to calculate the amplitude value of the next T+2 points: P_I dxfp +1,P_I dxfp +2, ..., P_I dxfp +T+2, there are a total of T+3 points of amplitude value. The amplitude value curve is obtained by fitting.

[0070] When the above amplitude value curve does not meet the preset conditions, the position corresponding to the current time point is determined to be the position of the first path, and the current timestamp is recorded. If the preset conditions are met, it is determined that there is coupling, that is, Figure 8 If the above situation occurs, it is necessary to reset the above time point to zero and start collecting pulse signals again.

[0071] In some examples, the preset condition may be that the amplitude in the amplitude value curve decreases first and then increases as the time point increases, and the amplitude value after the increase is greater than the maximum amplitude value before the increase. The preset condition may also be customized according to user needs, which will not be described in detail in this example implementation.

[0072] For details, please refer to Fig. 9, step S901 can be executed first. Starting from time coordinate 0, calculate the channel estimation amplitude value P_fp at each time point. Then execute step S902 to determine whether the amplitude value P_fp at the current time point is greater than the amplitude threshold. If P_fp is not greater than the threshold, continue to check the next time point, that is, return to execute step S901. If P_fp is greater than the threshold, proceed to the next step and execute step S903 to calculate the amplitude values at the subsequent T + 2 time points, namely P_fp+1, P_fp+2,..., P_fp+T+2. And execute step S904 to initialize the variable a = 0 and determine whether a < T - 1 holds. If it does not hold, execute step S905, and the current time point is the position of the first arrival path, record the timestamp. If it holds, enter and execute step S906 to determine whether P_fp+a is less than P_fp+a+1. If P_fp+a >= P_fp+a+1, it indicates that the amplitude value starts to decrease, execute step S907, a++, that is, increment a by 1, and then return to execute step S906. If P_fp+a < P_fp+a+1, it indicates that the amplitude value is increasing, then execute step S908, record the current index b = a + 1, and record the amplitude value P_max = P_fp+a. Then execute step S909 to determine whether b <= T + 2 holds. If it does not hold, execute step S905. If it holds, execute step S910 to determine whether P_fp+b is greater than P_max. If P_fp+b <= P_max, execute step S911 to update the values of P_max and b. That is, increment the value of b by 1. If P_fp+b > P_max, execute step S912 to determine that the current time point is not the position of the direct path. And execute step S901.

[0073] Execute the above steps for each signal receiver, then obtain two timestamps, and then use the difference between the two timestamps as the time difference of arrival. The above method can be used to locate the pulse signal of the transmitting tag 5.

[0074] The UWB-based positioning device in the embodiment of the present disclosure can accurately calculate the position of the tag 5 relative to the base station by measuring the arrival time difference of the pulse signals received by the two signal receivers. Only one UWB base station 10 and two signal receivers integrated on the UWB base station 10 are required. Compared with the traditional solution that requires two or more base stations, the system architecture is simplified, the hardware cost and deployment complexity are reduced. Since only one base station is required, the ranging and positioning process is more efficient, the ranging time is reduced, and the capacity of the tag 5 and the overall performance of the system are improved. UWB technology has strong anti-multipath interference capabilities and can provide stable positioning services in complex environments. It is suitable for indoor positioning, asset tracking, mine monitoring and other application scenarios. By determining the amplitude threshold and time interval points of the received signal, the system can accurately capture the arrival time difference of the pulse signal, thereby achieving high-precision positioning of the tag 5. The setting of the amplitude threshold ensures that only valid pulse signals are used for positioning calculations, avoiding the influence of noise and other interference signals. The determination of the time interval points ensures the accuracy of the positioning calculation, because the antenna spacing and signal propagation speed directly affect the calculation of the signal arrival time difference. By setting the above amplitude value curve and preset conditions, the error caused by signal coupling between the two signal receivers is solved, thereby improving the positioning accuracy.

[0075] The present disclosure also provides a positioning method based on UWB, referring to Fig.10 As shown, it may include steps S1010 to S1020.

[0076] In step S1010, the signal arrival time difference of pulse signals received by two signal receivers on the same UWB base station is obtained.

[0077] In step S1020, the tag sending the pulse signal is located according to the arrival time difference.

[0078] The specific details of step S1010 and step S1020 may refer to the description of the UWB-based positioning device, which will not be described in detail here.

[0079] like Fig.11 As shown, the electronic device 1100 may include: at least one processor 1110 , a memory 1120 , and a communication interface 1130 .

[0080] The memory 1120 is used to store programs. Specifically, the programs may include program codes, and the program codes include computer operation instructions.

[0081] The memory 1120 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0082] The processor 1110 is used to execute the computer-executable instructions stored in the memory 1120 to implement the UWB-based positioning method described in the aforementioned method embodiment. The processor 1110 may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present disclosure.

[0083] The electronic device 1100 may also include a communication interface 1130, so that it can communicate and interact with external devices through the communication interface 1130. In a specific implementation, if the communication interface 1130, the memory 1120 and the processor 1110 are implemented independently, the communication interface 1130, the memory 1120 and the processor 1110 can be connected to each other through a bus and complete the communication between each other. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc., but it does not mean that there is only one bus or one type of bus.

[0084] Optionally, in a specific implementation, if the communication interface 1130, the memory 1120 and the processor 1110 are integrated on a chip, the communication interface 1130, the memory 1120 and the processor 1110 can communicate through an internal interface.

[0085] The present disclosure also provides a computer-readable storage medium, which may include: a U disk, a mobile hard disk, a read-only memory, a random access memory, a disk or an optical disk, and other media that can store program codes. Specifically, the computer-readable storage medium stores program instructions, and the program instructions are used for the UWB-based positioning method in the above-mentioned embodiment.

[0086] The embodiments of the present disclosure also provide a computer program product, which includes computer instructions stored in a computer-readable storage medium; a processor of an electronic device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the electronic device executes to implement the UWB-based positioning method of each of the above embodiments.

[0087] Those skilled in the art should be aware that in one or more of the above examples, the functions described in the embodiments of the present disclosure can be implemented using hardware, software, firmware, or any combination thereof. When implemented using 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. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. Storage media can be any available media that can be accessed by general or special-purpose computers.

[0088] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, please refer to the relevant description of other embodiments. The technical features of the above embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0089] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the inventions claimed herein. The present disclosure is intended to cover any variations, uses or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not claimed in the present disclosure.

[0090] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A positioning device based on UWB, characterized in that: include: A UWB base station including two signal receivers; A controller, connected to the UWB base station, for locating a tag that sends the pulse signal according to a time difference of arrival of the pulse signals received by two signal receivers; The step of positioning the tag that sends the pulse signal according to the arrival time difference of the pulse signals received by two signal receivers includes: determining an amplitude threshold of a received signal and a time interval point resulting from a distance between antennas to which two signal receivers are respectively connected; When the amplitude value of the received pulse signal is greater than the amplitude threshold, obtaining an amplitude value curve of a preset number of time points after the current time point; When the amplitude value curves at the preset number of time points do not meet the preset conditions, recording the current timestamp; Determine the arrival time difference according to the difference between the two timestamps, and locate the tag; Wherein, the preset number is greater than the number of time interval points; The preset condition is that the amplitude value in the amplitude value curve decreases first and then increases, and the amplitude value after the increase is greater than the maximum amplitude value before the increase.

2. The UWB-based positioning device according to claim 1, characterized in that: The UWB-based positioning device also includes: A clock signal transmitter, connected to two signal receivers in the UWB base station at the same time; The time counter is connected to two signal receivers in the UWB base station at the same time.

3. The UWB-based positioning device according to claim 1, characterized in that: The antennas connected to the two signal receivers are: A first antenna, connected to a first signal receiver of the two signal receivers through a first feeder line, and used for receiving a pulse signal sent by the tag; A second antenna, connected to the second signal receiver of the two signal receivers through a second feeder line, for receiving the pulse signal sent by the tag; The lengths of the first feeder and the second feeder are equal within a threshold range.

4. The UWB-based positioning device according to claim 1, characterized in that: When the amplitude value curve meets the preset condition, the time point is reset to zero.

5. A positioning method based on UWB, characterized in that: include: Obtaining the signal arrival time difference of pulse signals received by two signal receivers on the same UWB base station; Positioning the tag that sends the pulse signal according to the arrival time difference; The step of obtaining the signal arrival time difference of pulse signals received by two signal receivers on the same UWB base station comprises: determining an amplitude threshold of a received signal and a time interval point resulting from a distance between antennas to which two signal receivers are respectively connected; When the amplitude value of the received pulse signal is greater than the amplitude threshold, obtaining an amplitude value curve of a preset number of time points after the current time point; When the amplitude value curves at the preset number of time points do not meet the preset conditions, recording the current timestamp; Determine the arrival time difference according to the difference between the two timestamps, and locate the tag; Wherein, the preset number is greater than the number of time interval points; The preset conditions include that the amplitude in the amplitude value curve decreases first and then increases as the time point increases, and the amplitude value after the increase is greater than the maximum amplitude value before the increase.

6. The UWB-based positioning method according to claim 5, characterized in that: When the amplitude value curve meets the preset condition, the time point is reset to zero.

7. An electronic device, characterized in that: The electronic device comprises: a processor and a memory; the processor is used to execute instructions stored in the memory to implement the UWB-based positioning method as described in claim 5 or 6.

8. A computer storage medium, characterized in that: The storage medium stores at least one instruction, and the at least one instruction is used to be executed by a processor to implement the UWB-based positioning method as claimed in claim 5 or 6.

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