A long-distance target positioning method and system based on a heterogeneous direct connection communication network and a storage medium

Abstract

The application discloses a long-distance target positioning method and system based on a heterogeneous direct connection communication network and a storage medium, and belongs to the technical field of wireless positioning. The positioning method comprises the following steps: acquiring a Wi-Fi target device and an ultra-wideband (UWB) anchor point with consistent operating frequency bands; 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 a time difference of arrival (TDOA) of the propagation signal in each communication link according to the timestamp information; and acquiring positioning of the Wi-Fi target device according to the TDOA. Different from an existing positioning method based on Wi-Fi channel state information, the application is based on a heterogeneous direct connection technology, uses high bandwidth and high-precision timestamp of UWB to position the Wi-Fi device, is more suitable in a long-distance propagation scene, and improves the precision of long-distance wireless positioning.

Description

Technical Field

[0001] This invention belongs to the field of wireless positioning technology, and particularly relates to a method, system and storage medium for long-distance target positioning based on heterogeneous direct-connection communication networking. Background Technology

[0002] Wireless positioning technology has always been a hot research topic. With the development of construction machinery towards intelligence and unmanned operation, the demand for target vehicle positioning has increased significantly to meet the needs of various application scenarios. Although the Global Positioning System (GPS) is widely deployed in smartphones and vehicles, its accuracy often decreases in environments with weakened GPS signal strength, 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 achieve accurate positioning of target users in these large areas has become an important problem. This invention focuses on researching commonly used Wi-Fi devices, such as vehicle terminals, Wi-Fi networking equipment, and smartphones, to achieve long-distance and high-precision positioning. Given the sheer number of Wi-Fi devices and their continuous operation capability, the ability to perform long-distance positioning of Wi-Fi devices in areas where GPS coverage may be limited or unreliable is crucial for providing accurate navigation services.

[0003] Existing Wi-Fi positioning methods do indeed face the challenge of simultaneously achieving long-range and high-precision positioning. These methods typically rely on a Wi-Fi gateway as an anchor point, estimating 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-range scenarios. In such cases, communication between the target device and the anchor point can be affected by excessive noise, or even fail completely, leading to a degraded positioning performance. Summary of the Invention

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

[0005] To achieve the above objectives, the present invention is implemented using the following technical solution:

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

[0007] Acquire Wi-Fi target devices and UWB anchor points that operate on the same frequency band;

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

[0009] The arrival time difference of the propagated signal in each communication link is calculated based on the timestamp information;

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

[0011] Optionally, obtaining Wi-Fi target devices and UWB anchor points with the same operating frequency band includes: enabling the Wi-Fi target devices to operate in 802.11ax 6E mode and assigning anchor points to each UWB device operating in the 6GHz frequency band.

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

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

[0014] The Wi-Fi analog signal is modulated and transmitted by the target Wi-Fi 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, the step of downsampling the pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device and transmitting it includes:

[0017] The UWB signal is low-pass filtered to retain the signal with the same bandwidth as the Wi-Fi signal;

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

[0019] Optionally, the step 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 the symbol sequence corresponding to each subcarrier by using quadrature amplitude demodulation.

[0020] Optionally, calculating the time difference of arrival of the propagating signal in each communication link based on the timestamp information includes:

[0021] A wireless synchronization mechanism is introduced 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. The distance difference between the Wi-Fi target device and each UWB anchor point is calculated based on the hyperbolic equation. The calculation formula is as follows:

[0023] ,

[0024] in, The distance difference between the Wi-Fi target device and UWB anchor point A is given by [reference to a coordinate system]. The positions of UWB anchor point A and UWB anchor point B are respectively and ;

[0025] The arrival time difference of the Wi-Fi target device's transmitted signal at each UWB anchor point is measured based on the distance difference, and the calculation formula is as follows:

[0026] ,

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

[0028] Optionally, obtaining the location of the Wi-Fi target device based on the time difference of arrival includes:

[0029] The intersection points of each hyperbola are obtained based on the hyperbolic equation between the Wi-Fi target device and each UWB;

[0030] The location results of the Wi-Fi target device are obtained based on the intersection points of each hyperbola.

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

[0032] The channel impulse response of each UWB anchor point is obtained, and the calculation formula is as follows:

[0033] ,

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

[0035] The weights of the hyperbola intersections are obtained based on the channel impulse response information, and the calculation formula is as follows:

[0036]

[0037] Where m and n represent different UWB anchor points, The weights of the intersection points of the hyperbolic points m and n;

[0038] Joint localization of Wi-Fi target devices is performed based on the weights of the intersection points of the hyperbolas, calculated using the following formula:

[0039] ,

[0040] in, The location of the Wi-Fi target device, where K represents the number of UWB anchor points. This represents the coordinates of the intersection of the hyperbola formed by anchor points m and n.

[0041] Secondly, the present invention provides a long-range target positioning system based on heterogeneous direct-connection communication networking, comprising:

[0042] Heterogeneous networking construction module: used to acquire Wi-Fi target devices and UWB anchor points with the same operating frequency band;

[0043] Heterogeneous direct connection module: used to establish communication links between Wi-Fi target devices and each UWB anchor point, and to obtain the timestamp information of the signals propagating in each communication link;

[0044] Time difference calculation module: used to calculate the arrival time difference of the propagating signals in each communication link based on the timestamp information;

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

[0046] Thirdly, the present invention provides a computer storage medium storing a computer program thereon, which, when executed by a processor, implements the long-distance target positioning method based on heterogeneous direct-connection communication networking as described in any step of the first aspect.

[0047] Compared with existing technologies, the beneficial effects achieved by this invention are as follows: By selecting UWB and Wi-Fi devices operating in the same frequency band to construct a heterogeneous network, and utilizing the high configurability of Wi-Fi devices to transmit specially designed payloads to simulate UWB signals, this invention achieves high bandwidth and high-precision timestamps for Wi-Fi device positioning using low-power UWB devices. It is less affected by low signal-to-noise ratios, making this invention more suitable for long-distance propagation scenarios and ensuring the accuracy of long-distance wireless positioning. Even if the distance between the target and the anchor point exceeds 200 meters, UWB can still successfully record the timestamps of Wi-Fi simulated data packets, solving the problem in existing technologies where the channel state information of Wi-Fi devices used as anchor points is limited by the signal-to-noise ratio. The channel's influence is significant; longer transmission distances and more complex environments can lead to inaccurate channel state information. For complex indoor reflection environments, UWB's timestamp recording mechanism records the first peak in the channel impulse response, and subsequent reflections do not affect the recorded timestamp, ensuring accuracy even in complex environments and providing high-precision positioning information. Furthermore, unlike wired optical cable clock synchronization schemes in related research, the wireless synchronization mechanism used in this invention effectively achieves synchronization between different devices, eliminating inherent crystal oscillator errors. By utilizing UWB's unique channel impulse response information based on different hyperbolas with varying weights, joint positioning of multiple anchor points can be achieved, significantly improving positioning accuracy. Attached Figure Description

[0048] Figure 1 The diagram shown is a flowchart of a long-distance target positioning method based on heterogeneous direct-connection communication networking in one embodiment of the present invention;

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

[0050] Figure 3 The diagram shown is a schematic of the principle of calculating the time difference of the propagated signal from the Wi-Fi device to different UWB devices based on the UWB timestamp in one embodiment of the present invention;

[0051] Figure 4 The diagram shown is a schematic diagram of the principle of joint positioning of Wi-Fi devices based on time difference in one embodiment of the present invention;

[0052] Figure 5 The diagram shown is a schematic of a Wi-Fi device simulating a UWB signal in one embodiment of the present invention.

[0053] Figure 6 The diagram shown is a schematic of the wireless synchronization mechanism in a heterogeneous network according to one embodiment of the present invention.

[0054] Figure 7 The diagram shown is a schematic representation of the channel impulse response of a UWB anchor point in one embodiment of the present invention. Detailed Implementation

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

[0056] Example 1

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

[0058] Acquire Wi-Fi target devices and UWB anchor points that operate on the same frequency band;

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

[0060] The arrival time difference of the propagated signal in each communication link is calculated based on the timestamp information;

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

[0062] Wi-Fi UWB Joint Positioning Technology (WULoc) is an innovative long-distance and high-precision positioning solution for Wi-Fi devices. WULoc establishes a connection between the Wi-Fi target device and the UWB anchor point operating on the same frequency band. It then collects timestamp data from multiple links between the target and the anchor point. Finally, it 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, it can still achieve high-resolution timestamp collection, thus improving the accuracy of long-distance wireless positioning.

[0063] Example 2

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

[0065] The long-range target localization 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 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, utilizing heterogeneous direct connection technology, WULoc can establish a unidirectional communication link between a Wi-Fi target device operating in 802.11ax 6E mode and a UWB anchor point. Through packet emulation, a specially customized Wi-Fi packet is recognized and received as a UWB packet at the UWB anchor point. After receiving the simulated UWB packet, the UWB anchor point can extract a precise timestamp.

[0070] 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 a specially designed payload to simulate UWB signals. Since the bandwidth of the UWB protocol is much higher than that of the Wi-Fi protocol, the UWB signal to be transmitted is first generated, and the simulated UWB signal is embedded within the Wi-Fi data packet. The UWB 500MHz signal is downsampled to the same 80MHz signal as Wi-Fi, and then the Wi-Fi device modulates and transmits this signal. Achieving downsampling first requires low-pass filtering of the signal, the calculation formula of which is as follows:

[0071] ,

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

[0073] The filtered signal retains information from the low-frequency 80MHz range, and then... (The sentence is incomplete and requires more context to translate accurately.) Complete downsampling, among which, These are the original signal sampling points before sampling, and M is the downsampling coefficient. These are the sampled signal points.

[0074] By receiving Wi-Fi modulated signals through UWB anchor points, the signal within the entire bandwidth is divided into subcarriers based on Pasval's theorem and Fourier transform. Orthogonal amplitude demodulation is used to convert the time-domain signal into Wi-Fi's orthogonal amplitude modulation points, and the symbol sequence corresponding to each subcarrier is solved, thereby inferring the payload of the Wi-Fi protocol.

[0075] Because the forced conversion process of the signal contains errors, the errors in the analog time domain will manifest in the frequency domain. Therefore, it is necessary to pre-select a special cyclic prefix length and a special UWB preamble sequence based on the errors. The error calculation formula is as follows:

[0076] ,

[0077] Where 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 utilizes the high power output of Wi-Fi devices for long-range positioning, while leveraging the high sampling rate of UWB to improve the accuracy of Wi-Fi target positioning. Through this method, the signal broadcast by the Wi-Fi device is received by multiple UWB anchor points, such as... Figure 3 As shown, the distance between the Wi-Fi target and each anchor point is determined by measuring the time difference of arrival of the Wi-Fi signal at each anchor point and using the signal propagation speed.

[0080] Due to inherent biases in the equipment, pre-introducing such biases into heterogeneous networks is crucial. Figure 6 The wireless synchronization mechanism is used to achieve high-precision synchronization between devices. Its clock is calculated using the following formula:

[0081] ,

[0082] in, and Sending for wireless synchronization source, Send the timestamp of the record to the target. For anchor point A, record the time when data packet 1 was received locally. For the time when data packet 1 was received locally at anchor point B, For the time when data packet 2 was received locally at anchor point A, For the time when data packet 2 was received locally at anchor point B, For anchor point A, record the time when data packet 1 was received locally. The time when data packet 3 was received locally at anchor point B.

[0083] After synchronizing between devices, the path difference between UWB anchor point A and UWB anchor point B and the Wi-Fi target is used. To calculate the time difference between the arrival of the propagating signal at the two anchor points. The formula is as follows:

[0084]

[0085] Therefore, it can be calculated that: .

[0086] Based on the hyperbolic formula, assuming the target position is... The positions of anchor point A and anchor point B are respectively and The distance difference between the target and the anchor point can be calculated using the following formula:

[0087]

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

[0089] Step 4: Multi-anchor point positioning

[0090] In WULoc, a unique positioning result is obtained by comprehensively calculating the TDoA data between multiple anchor points. Two anchor points can only determine two curves based on the hyperbolic 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 the different weights of the intersection points.

[0091] like Figure 7 As shown, WULoc needs to obtain the first peak value of the channel impulse response for different anchor points to assign different weights to different anchor points. The formula for calculating the channel impulse response is as follows:

[0092]

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

[0094] WULoc assigns different weights to the hyperbola intersection points based on the different channel impulse response amplitudes at different anchor points, ultimately achieving joint localization of the target. The calculation formula is as follows:

[0095] ,

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

[0097] WULoc leverages the inherent capabilities of UWB technology to achieve long-range and high-precision positioning of Wi-Fi target devices. UWB anchors possess extremely low signal-to-noise ratio (SNR) signal reception capabilities, enabling them to reliably extract timestamps from Wi-Fi-UWB communication, even over long distances. Furthermore, the shortest path from the Wi-Fi target device to the UWB anchor is marked with a high-precision (15.62 picosecond level) timestamp, crucial for accurate time difference calculations and contributing to precise positioning of Wi-Fi target devices.

[0098] Example 3

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

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

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

[0102] Time difference calculation module: wirelessly synchronizes multiple UWB anchor points, calculates the time difference using the timestamp information obtained from different UWB anchor points, and constructs a hyperbola equation using the time difference information and anchor point positions;

[0103] Multi-anchor point positioning module: Calculates the weights of different anchor points based on the channel impulse response information of UWB nodes, uses the hyperbola in the time difference calculation module to calculate the intersection points as potential locations, and assigns different weights to different potential locations to achieve joint positioning.

[0104] Example 4

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

[0106] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0108] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0109] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0110] The embodiments of the present invention have been described above with reference to the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims. All of these forms are within the protection scope of the present invention.

Claims

1. A method for long-range target localization based on heterogeneous direct-connection communication networking, characterized in that, include: Acquire Wi-Fi target devices and UWB anchor points that operate on the same frequency band; Establish communication links between the Wi-Fi target device and each UWB anchor point, and obtain the timestamp information of the signals propagating in each communication link; Calculate the arrival time difference of the propagated signal in each communication link based on the timestamp information; The location of the Wi-Fi target device is obtained based on the time difference of arrival. The step of establishing a communication link between the Wi-Fi target device and the UWB anchor point, and obtaining the timestamp information of the signals propagating in each communication link, includes: The pre-generated UWB signal is downsampled to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device; The Wi-Fi analog signal is modulated and transmitted by the target Wi-Fi 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.

2. The long-range target positioning method based on heterogeneous direct-connection communication networking according to claim 1, characterized in that, The process of obtaining Wi-Fi target devices and UWB anchor points with the same operating frequency band includes: enabling the Wi-Fi target devices to operate in 802.11ax 6E mode and assigning anchor points to each UWB device operating in the 6GHz frequency band.

3. The long-range target positioning method based on heterogeneous direct-connection communication networking according to claim 1, characterized in that, The step of downsampling the pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device and transmitting it includes: The UWB signal is low-pass filtered to retain the signal with the same bandwidth as the Wi-Fi signal; The filtered signal is decimated to obtain a downsampled Wi-Fi analog signal.

4. The long-range target positioning method based on heterogeneous direct-connection communication networking according to claim 1 or 3, characterized in that, The step of receiving and demodulating the modulated Wi-Fi analog signal via the UWB anchor point includes: dividing the modulated Wi-Fi analog signal into subcarriers through Fourier transform, and obtaining the symbol sequence corresponding to each subcarrier by using quadrature amplitude demodulation.

5. The long-range target positioning method based on heterogeneous direct-connection communication networking according to claim 1, characterized in that, The step of calculating the arrival time difference of the propagated signal in each communication link based on the timestamp information includes: A wireless synchronization mechanism is introduced 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. The distance difference between the Wi-Fi target device and each UWB anchor point is calculated based on the hyperbolic equation. The calculation formula is as follows: ， in, The distance difference between the Wi-Fi target device and UWB anchor point A is given by [reference to a coordinate system]. The positions of UWB anchor point A and UWB anchor point B are respectively and ; The arrival time difference of the Wi-Fi target device's transmitted signal at each UWB anchor point is measured based on the distance difference, and the calculation formula is as follows: ， in, This represents the time difference of arrival of the transmitted signal at each UWB anchor point.

6. The long-range target positioning method based on heterogeneous direct-connection communication networking according to claim 5, characterized in that, The step of obtaining the location of the Wi-Fi target device based on the time difference of arrival includes: The intersection points of each hyperbola are obtained based on the hyperbolic equation between the Wi-Fi target device and each UWB; The location results of the Wi-Fi target device are obtained based on the intersection points of each hyperbola.

7. The long-range target positioning method based on heterogeneous direct-connection communication networking according to claim 6, characterized in that, The method of obtaining the location result of the Wi-Fi target device based on the intersection of each hyperbola includes: The channel impulse response of each UWB anchor point is obtained, and the calculation formula is as follows: ， in, Is the anchor point at? The channel impulse response function at time t. Is The impulse function of the impulse signal arriving at time t; The weights of the hyperbola intersections are obtained based on the channel impulse response information, and the calculation formula is as follows: ， in, and These represent different UWB anchor points. anchor point and anchor points The weight of the intersection points of the hyperbola; Joint localization of Wi-Fi target devices is performed based on the weights of the intersection points of the hyperbolas, calculated using the following formula: ， in, The location of the Wi-Fi target device, where K represents the number of UWB anchor points. Represented by anchor point and anchor points The coordinates of the intersection of the hyperbolas.

8. A long-range target positioning system based on heterogeneous direct-connection communication networking, characterized in that, include: Heterogeneous networking construction module: used to acquire Wi-Fi target devices and UWB anchor points with the same operating frequency band; Heterogeneous direct connection module: used to establish communication links between Wi-Fi target devices and each UWB anchor point, and to obtain the timestamp information of the signals propagating in each communication link; Time difference calculation module: used to calculate the arrival time difference of the propagating signals in each communication link based on the timestamp information; Multi-anchor positioning module: used to obtain the location of the Wi-Fi target device based on the arrival time difference; The step of establishing a communication link between the Wi-Fi target device and the UWB anchor point, and obtaining the timestamp information of the signals propagating in each communication link, includes: The pre-generated UWB signal is downsampled to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device; The Wi-Fi analog signal is modulated and transmitted by the target Wi-Fi 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.

9. A computer storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the long-distance target positioning method based on heterogeneous direct-connection communication networking as described in any one of claims 1-7.

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