Remote target positioning method and system based on heterogeneous direct communication networking, and storage medium

Abstract

The invention discloses a remote target positioning method and system based on heterogeneous direct communication networking and a storage medium, and belongs to the technical field of wireless positioning, and the positioning method comprises the steps: obtaining a Wi-Fi target device and an ultra wide band UWB anchor point which are consistent in operation frequency band; establishing a communication link between the Wi-Fi target device and each UWB anchor point, and acquiring timestamp information of a propagation signal in each communication link; calculating the time difference of arrival of propagation signals in each communication link according to the timestamp information; different from an existing positioning method based on Wi-Fi channel state information, the Wi-Fi device positioning method based on the heterogeneous direct connection technology uses the high bandwidth and the high-precision timestamp of the UWB to position the Wi-Fi device based on the heterogeneous direct connection technology, is more suitable for a long-distance propagation scene, and improves the precision of long-distance wireless positioning.

Description

Technical Field

[0001] The present invention belongs to the field of wireless positioning technology, and in particular relates to a long-distance target positioning method, system and storage medium based on heterogeneous direct communication networking. Background Art

[0002] Wireless positioning technology has always been a hot topic of research. As construction machinery develops towards intelligence and unmanned operation, the demand for locating target vehicles has increased significantly to meet the needs of various application scenarios. Although the global positioning system (GPS) has been widely deployed on smartphones and vehicles, the accuracy of GPS tends to decrease in environments where the GPS signal strength decreases, such as remote areas, underground spaces, and local area network construction areas. Since these scenarios cover a large part of people's daily activities, how to accurately locate target users in these large areas becomes an important issue. This invention focuses on studying commonly used Wi-Fi devices, such as vehicle-mounted terminals, Wi-Fi networking devices, smartphones, etc., to achieve long-distance and high-precision positioning. In view of the large number of Wi-Fi devices and their ability to operate continuously, the ability to locate Wi-Fi devices at long distances in areas where GPS coverage may be limited or unreliable is crucial to providing accurate navigation services.

[0003] Existing Wi-Fi positioning methods do face the challenge of achieving long-distance positioning and high-precision positioning at the same time. These methods usually rely on Wi-Fi gateways as anchor points to estimate the location by extracting time-of-flight ToF and angle information from the communication between the target Wi-Fi device and the anchor point. However, significant challenges arise when the signal-to-noise ratio (SNR) at the anchor point drops significantly, especially in long-distance scenarios. In this case, the communication between the target device and the anchor point will be affected by excessive noise or may even fail completely, resulting in degraded positioning performance. Summary of the invention

[0004] The present invention provides a long-distance target positioning method, system and storage medium based on heterogeneous direct communication networking, which ensures the accuracy of long-distance wireless positioning by establishing a heterogeneous direct connection between Wi-Fi and UWB protocols, and according to the time difference of the propagation signal from the Wi-Fi device to each UWB device in the heterogeneous direct communication, and based on the time difference information, the final positioning of the Wi-Fi device is known.

[0005] To achieve the above object, the present invention is implemented by adopting the following technical solutions:

[0006] In a first aspect, the present invention provides a long-distance target positioning method based on heterogeneous direct communication networking, comprising:

[0007] Acquire Wi-Fi target devices and ultra-wideband (UWB) anchor points that operate in the same frequency band;

[0008] Establish a communication link between the Wi-Fi target device and each UWB anchor point, and obtain the timestamp information of the propagation signal in each communication link;

[0009] Calculating the arrival time difference of the propagation signal in each communication link according to the timestamp information;

[0010] The location of the Wi-Fi target device is obtained according to the arrival time difference.

[0011] Optionally, acquiring a Wi-Fi target device and an ultra-wideband UWB anchor point having consistent operating frequency bands includes: enabling the Wi-Fi target device to operate in an 802.11ax 6E mode, and allocating anchor points to each ultra-wideband UWB device operating in a 6 GHz frequency band.

[0012] Optionally, establishing a communication link between the Wi-Fi target device and the UWB anchor point, and acquiring timestamp information of a propagation signal in each communication link includes:

[0013] Downsampling the pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device;

[0014] Modulating and transmitting the Wi-Fi analog signal through a Wi-Fi target device;

[0015] The modulated Wi-Fi analog signal is received and demodulated through the UWB anchor point to obtain the payload of the UWB signal and extract the timestamp information therein.

[0016] Optionally, downsampling the pre-generated UWB signal to obtain and transmit a Wi-Fi analog signal having the same bandwidth as the Wi-Fi target device includes:

[0017] Performing low-pass filtering on the UWB signal to retain the signal having the same bandwidth as the Wi-Fi signal;

[0018] The filtered signal is subjected to decimation processing to obtain a downsampled Wi-Fi analog signal.

[0019] Optionally, receiving and demodulating the modulated Wi-Fi analog signal through the UWB anchor point includes: dividing the modulated Wi-Fi analog signal into subcarriers through Fourier transform, and obtaining a symbol sequence corresponding to each subcarrier through orthogonal amplitude demodulation.

[0020] Optionally, calculating the arrival time difference of propagation signals in each communication link according to the timestamp information includes:

[0021] Introducing a wireless synchronization mechanism between the Wi-Fi target device and each UWB anchor point;

[0022] A hyperbolic equation is constructed between the synchronized Wi-Fi target device and each UWB anchor point, and the distance difference between the Wi-Fi target device and each UWB anchor point is calculated according to the hyperbolic equation. The calculation formula is as follows:

[0023] ,

[0024] in, is the distance difference between the Wi-Fi target device and UWB anchor point A and the Wi-Fi target device and UWB anchor point B. The coordinates of the Wi-Fi target device are , the positions of UWB anchor point A and UWB anchor point B are and ;

[0025] The arrival time difference of the transmission signal of the Wi-Fi target device at each UWB anchor point is measured according to the distance difference, and the calculation formula is as follows:

[0026] ,

[0027] in, is the arrival time difference of the transmitted signal at each UWB anchor point.

[0028] Optionally, acquiring the location of the Wi-Fi target device according to the arrival time difference includes:

[0029] Obtain each hyperbola intersection point according to the hyperbola equation between the Wi-Fi target device and each UWB;

[0030] The positioning result of the Wi-Fi target device is obtained based on the intersection points of each hyperbola.

[0031] Optionally, the obtaining the positioning result of the Wi-Fi target device based on each hyperbola intersection point includes:

[0032] Get the channel impulse response of each UWB anchor point. The calculation formula is as follows:

[0033] ,

[0034] in, is the channel impulse response function of the anchor point at time t, is The impulse function of the impulse signal arriving at time;

[0035] The weights of the intersection points of each hyperbola are obtained according to the channel impulse response information. The calculation formula is as follows:

[0036]

[0037] Among them, m and n represent different UWB anchor points, is the weight of the hyperbola intersection between anchor point m and anchor point n;

[0038] The Wi-Fi target device is jointly located according to the weight of the hyperbola intersection point. The calculation formula is as follows:

[0039] ,

[0040] in, is the location of the Wi-Fi target device, K represents the number of UWB anchor points, Represents the coordinates of the intersection of the hyperbola between anchor point m and anchor point n.

[0041] In a second aspect, the present invention provides a long-distance target positioning system based on heterogeneous direct communication networking, comprising:

[0042] Heterogeneous networking building module: used to obtain Wi-Fi target devices and ultra-wideband (UWB) anchor points that operate in the same frequency band;

[0043] Heterogeneous direct connection module: used to establish a communication link between the Wi-Fi target device and each UWB anchor point, and obtain the timestamp information of the propagation signal in each communication link;

[0044] A time difference calculation module: used to calculate the arrival time difference of the propagation signal in each communication link according to the timestamp information;

[0045] Multi-anchor positioning module: used to obtain the location of the Wi-Fi target device according to the arrival time difference.

[0046] In a third aspect, the present invention provides a computer storage medium having a computer program stored thereon. When the computer program is executed by a processor, the long-distance target positioning method based on heterogeneous direct communication networking as described in any step of the first aspect is implemented.

[0047] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: by selecting UWB devices and Wi-Fi devices with the same working frequency band to build a heterogeneous network, and using the high configurability of Wi-Fi devices to transmit specially designed payloads to simulate UWB signals, the high bandwidth and high-precision timestamps of low-power UWB devices are used to locate Wi-Fi devices, and the influence of low signal-to-noise ratio is small, making the present invention more applicable in the scenario of long-distance transmission, ensuring the accuracy of long-distance wireless positioning, and even if the distance between the target and the anchor point exceeds 200 meters, UWB can still successfully record the timestamp of the Wi-Fi simulated data packet, solving the problem in the prior art that when using Wi-Fi devices as anchor points, the channel state information is not affected by the signal-to-noise ratio. The channel is seriously affected, and longer transmission distances and more complex environments will lead to inaccurate channel state information; for complex indoor reflection environments, UWB's timestamp recording mechanism is based on the first peak in the channel impulse response for recording, and subsequent reflection signals will not affect the recorded timestamp, so that the timestamp in complex environments is still accurate, and can provide high-precision positioning information; and, different from the wired optical cable clock synchronization scheme in related research, the wireless synchronization mechanism adopted in this invention can well achieve synchronization between different devices and eliminate the inherent crystal oscillator error of the equipment; by utilizing UWB's unique channel impulse response information based on different hyperbolas with different weights to achieve joint positioning of multiple anchor point information, the positioning accuracy can be greatly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 The figure is a flow chart of a long-distance target positioning method based on heterogeneous direct communication networking in an embodiment of the present invention;

[0049] Figure 2 The figure shows a schematic diagram of establishing a Wi-Fi-UWB heterogeneous direct connection in an embodiment of the present invention;

[0050] Figure 3 FIG. 1 is a schematic diagram showing a method of calculating the time difference of a propagation signal from a Wi-Fi device to different UWB devices according to a UWB timestamp in an embodiment of the present invention;

[0051] Figure 4 FIG. 1 is a schematic diagram showing a method of performing joint positioning of Wi-Fi devices based on time difference in an embodiment of the present invention;

[0052] Figure 5 Shown is a schematic diagram of using a Wi-Fi device to simulate a UWB signal in an embodiment of the present invention;

[0053] Figure 6 The figure shows a principle diagram of a wireless synchronization mechanism in a heterogeneous network in an embodiment of the present invention;

[0054] Figure 7 FIG. 4 is a schematic diagram of a channel impulse response of a UWB anchor point in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0056] Example 1

[0057] like Figure 1 As shown, this embodiment proposes a long-distance target positioning method based on heterogeneous direct communication networking, including:

[0058] Acquire Wi-Fi target devices and ultra-wideband (UWB) anchor points that operate in the same frequency band;

[0059] Establish a communication link between the Wi-Fi target device and each UWB anchor point, and obtain the timestamp information of the propagation signal in each communication link;

[0060] Calculating the arrival time difference of the propagation signal in each communication link according to the timestamp information;

[0061] The location of the Wi-Fi target device is obtained according to the arrival time difference.

[0062] Wi-Fi UWB joint positioning technology WULoc (Wi-Fi UWB Location) is an innovative long-distance and high-precision positioning design for Wi-Fi devices. WULoc establishes a connection between a Wi-Fi target device and a UWB anchor point in the same operating frequency band, collects timestamp data from multiple links between the target and the anchor point, and finally calculates high-resolution positioning based on the collected time difference information. This overcomes the limitation that UWB and Wi-Fi cannot communicate directly. Even if the Wi-Fi device is far away from the UWB anchor point, high-resolution timestamp collection can be achieved, improving the accuracy of long-distance wireless positioning.

[0063] Example 2

[0064] Based on Example 1, this example also makes the following design.

[0065] The long-distance target positioning method based on heterogeneous direct communication is specifically divided into the following steps:

[0066] Step 1: Heterogeneous Network Construction

[0067] Unlike traditional positioning methods that use Wi-Fi base stations as anchor points, WULoc assigns anchor points to ultra-wideband technology UWB devices operating in the 6GHz band, which overlaps with the Wi-Fi 802.11ax 6E band.

[0068] Step 2: Heterogeneous direct connection

[0069] like Figure 2 As shown in the figure, using heterogeneous direct connection technology, WULoc can establish a one-way communication link from the Wi-Fi target device working in 802.11ax 6E mode to the UWB anchor point. Through data packet simulation, a specially customized Wi-Fi data packet is identified and received as a UWB data packet at the UWB anchor point. After receiving the simulated UWB data packet, the UWB anchor point can extract the accurate timestamp.

[0070] In order to establish efficient cross-technology communication from UWB to Wi-Fi, such as Figure 5 As shown, the high configurability of Wi-Fi devices is used to transmit specially designed payloads to simulate UWB signals. Since the UWB protocol bandwidth is much higher than the Wi-Fi protocol bandwidth, the UWB signal to be transmitted is first generated, the simulated UWB signal is embedded in the Wi-Fi data packet, and the UWB 500MHz signal is reduced to the same 80MHz signal as Wi-Fi through downsampling, and then the signal is modulated and transmitted through the Wi-Fi device. To achieve downsampling, the signal must first be low-pass filtered, and the calculation formula is as follows:

[0071] ,

[0072] Among them, s represents the complex frequency variable, which is the variable in Laplace transform and represents the frequency characteristics of the system; is the cutoff frequency, which indicates the frequency point at which the filter begins to significantly attenuate the signal, and n is the order of the filter.

[0073] After filtering, the signal retains the low-frequency 80MHz information, and then through the formula Complete downsampling, where is the sampling point of the original signal before sampling, M is the downsampling coefficient, is the signal point after sampling.

[0074] The Wi-Fi modulated signal is received through the UWB anchor point, and the signal in the entire bandwidth is divided into subcarriers based on Parsval's theorem and Fourier transform. The time domain signal is converted into the Wi-Fi orthogonal amplitude modulation point using orthogonal amplitude demodulation, and the symbol sequence corresponding to each subcarrier is solved, thereby inferring the payload of the Wi-Fi protocol.

[0075] Since there are errors in the forced conversion process of the signal, the error of the signal simulation time domain will be manifested in the frequency domain. Therefore, it is necessary to pre-select a special cyclic prefix length and a special UWB preamble sequence according to the error. The error calculation formula is as follows:

[0076] ,

[0077] Among them, U[k] is the frequency domain sequence of the analog signal, V[k] is the frequency domain sequence of the standard signal, u(t) is the time domain sequence of the analog signal, and v(t) is the time domain sequence of the standard signal.

[0078] Step 3: Time difference calculation

[0079] WULoc uses the high power output of Wi-Fi devices to achieve long-distance positioning, while using the high sampling rate of UWB to improve the accuracy of Wi-Fi target positioning. In this way, the signal broadcast by the Wi-Fi device is received by multiple UWB anchor points, such as Figure 3 As shown, by measuring the arrival time difference of the Wi-Fi signal at each anchor point, the signal propagation speed is used to determine the distance between the Wi-Fi target and each anchor point.

[0080] Due to the inherent bias of devices, the heterogeneous network is introduced in advance. Figure 6 A wireless synchronization mechanism is used to achieve high-precision synchronization between devices. The clock calculation formula is as follows:

[0081] ,

[0082] in, and Send for wireless synchronization source, The timestamp of the target sending record, The time recorded by anchor point A when data packet 1 is received locally. The time recorded by anchor point B when data packet 1 is received locally. The time recorded by anchor point A when data packet 2 is received locally. The time recorded by anchor point B when data packet 2 is received locally. The time recorded by anchor point A when data packet 1 is received locally. The time recorded by anchor point B when packet 3 is received locally.

[0083] After synchronizing the devices, the path difference between UWB anchor point A and UWB anchor point B and the Wi-Fi target is calculated. To calculate the time difference between the propagation signal reaching the two anchor points , the formula is as follows:

[0084]

[0085] Then we can calculate: .

[0086] Based on the hyperbolic formula, assuming the target position is , the positions of anchor point A and anchor point B are and , we can get the distance difference between the target and the anchor point, and the formula is as follows:

[0087]

[0088] From this, the hyperbolic equation of the time difference and coordinates can be calculated.

[0089] Step 4: Multi-anchor positioning

[0090] In WULoc, it is necessary to obtain a unique positioning result by comprehensively calculating the TDoA data between multiple anchor points. Two anchor points can only determine two curves based on the hyperbola equation, such as Figure 4 As shown, multiple hyperbolic equations are established through multiple anchor points to obtain more intersection points, and the target position is located based on different weights of the intersection points.

[0091] like Figure 7 As shown, WULoc needs to obtain the first peak of the channel impulse response of different anchor points to give different weights to different anchor points, where the calculation formula of the channel impulse response is as follows:

[0092]

[0093] in, is the channel impulse response function of the anchor point at time t, is The impulse function of the impulse signal arriving at time .

[0094] WULoc gives weights to different hyperbolic intersection points according to the different channel impulse response amplitudes of different anchor points, and finally realizes the joint positioning of the target. The calculation formula is as follows:

[0095] ,

[0096] Among them, the hyperbolic corner weights of anchor points m and n are The calculation formula is: ,in, is the location of the Wi-Fi target device, K represents the number of UWB anchor points, represents the coordinates of the intersection of the hyperbola between anchor point m and anchor point n, is the channel impulse response of anchor point m, is the channel impulse response of anchor point n.

[0097] WULoc leverages the inherent capabilities of UWB technology to achieve long-range and high-precision positioning for Wi-Fi target devices. UWB anchors have signal reception capabilities with extremely low signal-to-noise ratios (SNRs), which enables them to reliably extract timestamps from Wi-Fi-UWB communications, even over long distances. In addition, the shortest path from the Wi-Fi target device to the UWB anchor is marked with a high-precision (15.62 picosecond level) timestamp, which is the key to accurate time difference calculation, helping to achieve precise positioning of Wi-Fi target devices.

[0098] Example 3

[0099] This embodiment provides a long-distance target positioning system based on heterogeneous direct communication networking, including:

[0100] Heterogeneous networking building module: Select Wi-Fi target devices and ultra-wideband UWB anchor points with the same operating frequency band as networking communication devices;

[0101] Heterogeneous direct connection module: Establish efficient cross-technology communication from the UWB anchor point to the Wi-Fi target device, so that the UWB anchor point can successfully identify the signal transmitted by the Wi-Fi target device and record the timestamp information;

[0102] Time difference calculation module: wirelessly synchronize multiple UWB anchor points, calculate the time difference using the timestamp information obtained from different UWB anchor points, and construct the hyperbolic equation using the time difference information and the anchor point position;

[0103] Multi-anchor positioning module: The weights of different anchor points are calculated according to the channel impulse response information of the UWB node, the intersection points are calculated using the hyperbola in the time difference calculation module as potential positions, and different potential positions are given different weights to achieve joint positioning.

[0104] Example 4

[0105] This embodiment provides a computer storage medium on which a computer program is stored. When the computer program is executed by a processor, the long-distance target positioning method based on heterogeneous direct communication networking as described in any step of Embodiment 2 is implemented.

[0106] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0107] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0108] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0109] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0110] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A long-distance target positioning method based on heterogeneous direct communication networking, characterized in that: include: Acquire Wi-Fi target devices and ultra-wideband (UWB) anchor points that operate in the same frequency band; Establish a communication link between the Wi-Fi target device and each UWB anchor point, and obtain the timestamp information of the propagation signal in each communication link; Calculating the arrival time difference of the propagation signal in each communication link according to the timestamp information; The location of the Wi-Fi target device is obtained according to the arrival time difference.

2. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 1 is characterized in that: The obtaining of the Wi-Fi target device and the ultra-wideband UWB anchor point with the same operating frequency band includes: making the Wi-Fi target device operate in 802.11ax 6E mode, and allocating the anchor point to each ultra-wideband UWB device operating in the 6 GHz frequency band.

3. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 1 is characterized in that: The establishing of a communication link between the Wi-Fi target device and the UWB anchor point and obtaining timestamp information of propagation signals in each communication link includes: Downsampling the pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device; Modulating and transmitting the Wi-Fi analog signal through a Wi-Fi target device; The modulated Wi-Fi analog signal is received and demodulated through the UWB anchor point to obtain the payload of the UWB signal and extract the timestamp information therein.

4. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 3 is characterized in that: The method of downsampling the pre-generated UWB signal to obtain and transmit a Wi-Fi analog signal having the same bandwidth as the Wi-Fi target device includes: Performing low-pass filtering on the UWB signal to retain the signal having the same bandwidth as the Wi-Fi signal; The filtered signal is subjected to decimation processing to obtain a downsampled Wi-Fi analog signal.

5. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 3 or 4 is characterized in that: The method of receiving and demodulating the modulated Wi-Fi analog signal through the UWB anchor point includes: dividing the modulated Wi-Fi analog signal into subcarriers through Fourier transform, and obtaining a symbol sequence corresponding to each subcarrier through orthogonal amplitude demodulation.

6. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 1 is characterized in that: The calculating the arrival time difference of the propagation signal in each communication link according to the timestamp information includes: Introducing a wireless synchronization mechanism between the Wi-Fi target device and each UWB anchor point; A hyperbolic equation is constructed between the synchronized Wi-Fi target device and each UWB anchor point, and the distance difference between the Wi-Fi target device and each UWB anchor point is calculated according to the hyperbolic equation. The calculation formula is as follows: ， in, is the distance difference between the Wi-Fi target device and UWB anchor point A and the Wi-Fi target device and UWB anchor point B. The coordinates of the Wi-Fi target device are , the positions of UWB anchor point A and UWB anchor point B are and ; The arrival time difference of the transmission signal of the Wi-Fi target device at each UWB anchor point is measured according to the distance difference, and the calculation formula is as follows: ， in, is the arrival time difference of the transmitted signal at each UWB anchor point.

7. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 6 is characterized in that: The acquiring the location of the Wi-Fi target device according to the arrival time difference includes: Obtain each hyperbola intersection point according to the hyperbola equation between the Wi-Fi target device and each UWB; The positioning result of the Wi-Fi target device is obtained based on the intersection points of each hyperbola.

8. The long-distance target positioning method based on heterogeneous direct communication networking according to claim 7 is characterized in that: The obtaining of the positioning result of the Wi-Fi target device based on each hyperbola intersection point includes: Get the channel impulse response of each UWB anchor point. The calculation formula is as follows: ， in, is the channel impulse response function of the anchor point at time t, is The impulse function of the impulse signal arriving at time; The weights of the intersection points of each hyperbola are obtained according to the channel impulse response information. The calculation formula is as follows: ， Among them, m and n represent different UWB anchor points, is the weight of the hyperbola intersection between anchor point m and anchor point n; The Wi-Fi target device is jointly located according to the weight of the hyperbola intersection point. The calculation formula is as follows: ， in, is the location of the Wi-Fi target device, K represents the number of UWB anchor points, Represents the coordinates of the intersection of the hyperbola between anchor point m and anchor point n.

9. A long-distance target positioning system based on heterogeneous direct communication networking, characterized in that: include: Heterogeneous networking building module: used to obtain Wi-Fi target devices and ultra-wideband (UWB) anchor points that operate in the same frequency band; Heterogeneous direct connection module: used to establish a communication link between the Wi-Fi target device and each UWB anchor point, and obtain the timestamp information of the propagation signal in each communication link; A time difference calculation module: used to calculate the arrival time difference of the propagation signal in each communication link according to the timestamp information; Multi-anchor positioning module: used to obtain the location of the Wi-Fi target device according to the arrival time difference.

10. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the long-distance target positioning method based on heterogeneous direct communication networking as described in any one of claims 1 to 8 is implemented.

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