Positioning following device and system based on UWB technology

Abstract

The invention provides a UWB technology-based positioning following device and system, the scheme adopts an SOC chip form, a hardware module oriented to minimum system integration is realized, the core of the whole positioning following scheme is constructed through a single SOC chip, and BOM materials can be reduced as much as possible to reduce the cost of the scheme; and meanwhile, the scheme can be compatible with other data channel applications under the condition that key functions are not influenced, the scheme implementation cost is reduced, and the positioning and following scheme which is better in practicability and higher in accuracy can be implemented by facing application scenes of different industries.

Description

Technical Field

[0001] The present application relates to the field of information technology, and in particular to a positioning and following device and system based on UWB technology. Background Art

[0002] Positioning and tracking technology has always been an application that the market pays more attention to. The rise of international standards and industry alliances also verifies this trend.

[0003] For example, the FiRa (Fine Ranging Consortium) alliance was established in 2019 to promote the standardization and commercial application of UWB (UltraWide Band) technology, and provide technical support, marketing and cooperation opportunities for member companies. At the same time, it actively participates in and promotes the formulation of UWB technical standards and related policies, and promotes the development of UWB technology worldwide.

[0004] CCC (Car Connectivity Consortium) is a global cross-industry organization dedicated to developing standards for smartphone-to-car connectivity solutions. In July 2021, CCC defined UWB as the core technology of the third-generation digital key and released the CCC R3 (third-generation digital key) specification. Based on NFC / BLE / UWB, the process and security strategy for vehicle and key positioning and unlocking were developed.

[0005] There is no unified standard for positioning, safety, and following applications in the industrial and consumer markets, but the market demand is huge. There are a wide variety of products for consumer and industrial applications, and the demand is varied, such as automated guided vehicles (AGVs), luggage following, special equipment vehicle positioning and following, asset tracking and anti-lost areas. And it can be expanded to many pure consumer scenarios: robot dogs, drone formations, golf carts, etc.

[0006] Ultra Wide Band (UWB) technology is a wireless carrier communication technology that does not use carrier technology, but uses nanosecond non-sinusoidal narrow pulses to transmit data. UWB technology is insensitive to channel fading and has good adaptability to multipath propagation environments. It can provide positioning accuracy of several centimeters and is suitable for dense multipath locations such as indoors.

[0007] Existing UWB positioning technology has been widely used in fixed spaces, such as libraries, government offices, digital exhibition halls, mines, etc. Common layout positioning methods include: two-dimensional layout of rooms, one-dimensional positioning layout of tunnels, and regional presence positioning. Generally, base stations are installed at fixed locations in the venue. A single base station uses TOF (Time of Flight) and multiple base stations use TDOA (Time Difference of Arrival) to measure the distance and direction between the tag and the base station. Finally, the spatial position and other information of the tag are solved by fusion of data from multiple base stations. In order to face more complex occasions and applications, UWB+ fusion positioning technology has gradually been developed, which can achieve larger dimensions and more accurate positioning through other positioning methods such as WIFI, BLE, and 5G technology.

[0008] However, for single device positioning and following in the consumer and industrial following fields, the current UWB positioning and following solutions have the following problems:

[0009] Cost: Existing solutions use multiple base stations for positioning. Although the positioning range and capacity are large, the cost of a single device and the installation and maintenance costs are very high, which is not suitable for positioning a single device.

[0010] Power consumption and size: In traditional methods, except for tags, most base stations use active power supply, and the equipment is relatively large, which limits its use in the consumer field;

[0011] Data refresh rate: There are already multiple base station applications. In order to accommodate more tag capacity, tag positioning generally uses a lower frequency to communicate with the base station to avoid channel pollution and untimely response caused by multiple tags in the space initiating positioning requests at the same time. However, personal items, especially positioning and tracking vehicles, require timely and effective data refresh to ensure that the location of the tag body is not lost.

[0012] Interference problem: UWB distance and angle measurement uses high-frequency pulse technology, and the measurement process is sensitive to surrounding interference, which is prone to measurement failure and result jitter. Fixed-site positioning systems are generally installed in open locations that are not easily interfered with, while the positioning and tracking of moving objects are affected by many external environments and require specific industry application algorithms to be optimized.

[0013] Integration method: Traditional integration methods generally require data to be aggregated to the server, which requires large fixed asset investments and complex integration methods. Personal products generally do not have the concept of system integration, and only need to be connected to the computer / mobile phone APP.

[0014] High complexity: In the automotive field where human and financial resources are very abundant, the CCC Vehicle Key Alliance has defined a complete vehicle entry and exit logic. However, the system is costly, complex to use, and difficult to integrate, which exceeds the capabilities of small and medium-sized customers.

[0015] Application logic: Specific positioning and tracking for personal consumption and industrial vehicles requires a specific industry application logic to help terminal equipment manufacturers integrate UWB applications more easily. Currently, there is no mature positioning and tracking logic for such applications. Summary of the invention

[0016] One object of the present application is to provide a positioning and following device and system based on UWB technology.

[0017] To achieve the above-mentioned purpose, the present application provides a positioning and following device based on UWB technology, the device adopts the form of SOC chip, including real-time critical system ranging and positioning service and non-real-time system function service, the real-time critical system ranging and positioning service realizes ranging and positioning based on bilateral two-way ranging principle, and the non-real-time system function service realizes other non-real-time function services besides ranging and positioning service by utilizing the idle time slots between key frames in bilateral two-way ranging principle;

[0018] The device comprises a UWB antenna tag and a base station. The UWB antenna tag of the device adopts a single antenna and the base station adopts a dual antenna. When the dual antenna is adopted, a PDOA algorithm is used to achieve positioning. In the process of achieving positioning, a preset filtering method is used to reduce interference.

[0019] Furthermore, the UWB antenna tag uses a ceramic antenna, the base station uses a PCB dual antenna, and the PCB dual antenna and other circuit parts of the base station are provided with a shielding cover.

[0020] Furthermore, the device is provided with a low-power sleep mode, and when the sleep conditions are met, the device selects overall sleep or partial sleep.

[0021] Furthermore, the maximum positioning distance of the device is at least 25 meters, and when the measurement conditions are met, the measurement distance accuracy is less than plus or minus 10 cm, and the angle accuracy is less than plus or minus 5°.

[0022] Furthermore, when the device is in an environment of multiple UWB positioning systems, data channels of different UWB positioning systems are distinguished by network identifiers.

[0023] Furthermore, a preset filtering method is used to reduce interference during the positioning process, including:

[0024] In the process of positioning, the Kalman filter algorithm is used to filter abnormal jitter of data to reduce interference.

[0025] Furthermore, a preset filtering method is used to reduce interference during the positioning process, including:

[0026] In the process of realizing positioning based on the PDOA algorithm, the ranging achievement rate corresponding to the dual antennas under different incident angles is determined, the corresponding status mark is generated, and the effective measurement data is filtered according to the status mark to reduce interference.

[0027] Furthermore, a preset filtering method is used to reduce interference during the positioning process, including:

[0028] Using the method of dynamically identifying the effective area, the angle range that produces linear angle increments is corrected and identified in real time during movement.

[0029] Furthermore, the data refresh rate application scenario and power consumption requirement of the device are set.

[0030] The embodiment of the present application further provides a positioning and following system based on UWB technology, characterized in that the system includes a plurality of positioning and following devices based on UWB technology.

[0031] Compared with the prior art, the present application provides a positioning and following solution based on UWB technology. The solution adopts the form of SOC chip and realizes a hardware module for minimum system integration. The core of the entire positioning and following solution is constructed by a single SOC chip, which can reduce BOM materials as much as possible to reduce the cost of the solution. At the same time, the solution includes real-time critical system ranging and positioning services and non-real-time system function services in terms of functions, wherein the real-time critical system ranging and positioning services are based on the bilateral two-way ranging principle to realize ranging and positioning, and the non-real-time system function services use the idle time slots between key frames in the bilateral two-way ranging principle to realize other non-system function services other than ranging and positioning services, thereby ensuring that key functions are not affected, and being compatible with other data channel applications, reducing the implementation cost of the solution. In addition, the UWB antenna tag of the device adopts a single antenna and the base station adopts a dual antenna. When the dual antenna is adopted, the PDOA algorithm is used to realize positioning; in the process of realizing positioning, a preset filtering method is used to reduce interference, thereby being able to face the application scenarios of different industries and realize a positioning and following solution with better practicality and higher accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0033] Figure 1 A schematic diagram of key frames and idle time slots when a positioning and following device based on UWB technology performs data processing in an embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of data before the data is processed using the Kalman filter algorithm in the embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of data after the data is processed using the Kalman filter algorithm in an embodiment of the present application;

[0036] Figure 4 A schematic diagram of the relationship between the phase difference and the incident angle when measuring an embodiment of the present application;

[0037] Figure 5 This is a schematic diagram of the state marking in the process of implementing positioning using the PDOA algorithm in an embodiment of the present application;

[0038] Figure 6 A schematic diagram of the relationship between the actual position angle and the observation angle in the embodiment of the present application;

[0039] The same or similar reference numerals in the drawings represent the same or similar components. DETAILED DESCRIPTION

[0040] The present application is described in further detail below in conjunction with the accompanying drawings.

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] The embodiment of the present application provides a positioning and following device based on UWB technology, which adopts the form of a SOC chip and implements a hardware module for minimum system integration. The control communication interface between the SOC chip and the whole system can generally adopt a wired connection form, such as a serial interface, CAN (Controller Area Network) interface, SPI (Serial Peripheral Interface), etc., or a wireless connection form, such as Bluetooth, etc. By using a single SOC chip to build the core of the entire positioning and following solution, the BOM materials can be reduced as much as possible to reduce the cost of the solution.

[0043] The device can include at least two parts in terms of functional implementation: real-time critical system ranging and positioning services and non-real-time system function services. The real-time critical system ranging and positioning services can implement ranging and positioning based on the principle of DoubleSide Two Way Range (DS-TWR), and the non-real-time system function services use the idle time slots between key frames in the principle of DoubleSide Two Way Range to implement other non-system function services other than ranging and positioning services, thereby ensuring that key functions are not affected and being compatible with other data channel applications, reducing the implementation cost of the solution.

[0044] In actual scenarios, the real-time critical system ranging and positioning service can be used to implement the in-band positioning interaction process and perform sensorless ranging and positioning services. In addition to the ranging and positioning service itself, other functions also need to be carried by the UWB channel, such as OTA (Over The Air) upgrades, communication data other than positioning (device status, interaction, etc.), security interactions (authentication, secret key interaction), tag / key entry / exit processes, host computer communication, etc. These non-real-time system function services can be completed in the idle time slots between key frames.

[0045] UWB data frames have a relatively strict transmission timing, and each data frame must be sent in a specified time slot. Based on the DS-TWR principle, a basic ranging process needs to be completed by three steps (Poll, Response0-N, Final), which is the three interactions of the DS-TWR process. The ranging process must meet the timing requirements. The time slots corresponding to the above three steps are the key frames of DS-TWR, and there are idle time slots between key frames, which can be used to complete the processing of non-real-time system function services to avoid affecting the processing of subsequent key frames, such as Figure 1 As shown, this solution is compatible with other data channel applications while ensuring that key functions are not affected, thereby reducing the implementation cost of the solution.

[0046] The device includes a UWB antenna tag and a base station. The UWB antenna tag of the device uses a single antenna, and the base station uses a dual antenna. When the dual antenna is used, the PDOA algorithm is used to achieve positioning. In order to ensure the accuracy of the solution, the maximum positioning distance of the device is generally at least 25 meters, the distance accuracy is less than plus or minus 10 cm, and the angle accuracy is less than plus or minus 5°. In actual scenarios, the accuracy of the ranging solution can be achieved through the following software and hardware designs: 1. Directivity of antenna design; impedance matching, etc.; 2. Design stability of hardware PCB power supply; 3. The software algorithm calculates the distance and angle data according to the principle of PDOA, and corrects and adjusts according to the actual measurement results; the accuracy of plus or minus 10 cm and the angle accuracy of plus or minus 5° can be guaranteed by setting the specifications when the product leaves the factory.

[0047] In addition, the positioning and following device of this embodiment adopts a preset filtering method to reduce interference during the positioning process, thereby being able to face application scenarios in different industries and realize a positioning and following solution with better practicality and higher accuracy.

[0048] In some embodiments of the present application, the SOC chip is provided separately in the form of a minimum hardware system. Factors such as antenna position placement, power optimization, shielding cover efficiency and overall module size are fully considered during the design phase. By encapsulating related functions in software and hardware, the risk of system instability is reduced.

[0049] Specifically, in terms of hardware, ceramic antennas can be used for UWB antenna tags, because ceramic antennas can reduce the antenna area and provide omnidirectional performance, thereby improving the performance of the solution. For base stations, PCB (Printed Circuit Board) dual antennas can be used, and shielding covers can be provided on the PCB dual antennas and other circuit parts to reduce the impact of radio frequency interference. In addition, since UWB technology is sensitive to power supply noise, etc., the success rate and accuracy of detection can be guaranteed by strengthening the design of the power supply part, providing power bus optimization, more decoupling capacitors, etc.

[0050] In terms of software, when used as a ranging module, the device of this solution can provide complete functions that have been tested and mature: including time-sensitive services such as ranging, positioning, and OTA. At the same time, it can provide callback functions called by idle time slices. Developers can add some time-insensitive codes to these callback functions to achieve more efficient processing.

[0051] In addition, the device is provided with a low-power sleep mode, and when the sleep conditions are met, the whole sleep or partial sleep is selected. At the beginning of the design of this solution, the time-slice working method can be considered, and low-power sleep is inserted in the segment that executes the ranging positioning and following logic, thereby reducing the working power consumption of the entire device. Specifically, the main work and power consumption of UWB comes from the RF (Radio Frequency) module being turned on to send and receive signals. When the RF module does not need to work, the rest of the entire SOC chip can be either in sleep as a whole or in part. This choice comes from whether there are additional tasks to perform. Under a single ranging task, overall sleep is usually chosen at this time. If there are other tasks, you can choose not to sleep and continue to run as needed.

[0052] In actual scenarios, the issue of system compatibility also needs to be considered. Since each individual UWB system will monopolize the UWB channel, when multiple UWB tags coexist, interference within the UWB system and between UWB systems is a problem that must be solved. In the solution of the embodiment of the present application, the interference of multiple positioning tags in the system is solved through the TDMA (Time Division Multiple Access) private protocol. Because UWB does not have the function of frequency hopping, when the device is in an environment of multiple UWB systems, the data channels of different UWB systems can be distinguished through the network identifier (PANID), thereby avoiding interference between systems and solving the problem of system compatibility.

[0053] In actual scenarios, the interference in the positioning and tracking process in the embodiment of the present application may mainly come from the following points: jitter of measurement data: data jitter caused by interference from moving objects and abnormal noise. Exceeding the measurement range: invalid data detected in the unmeasurable area outside the measurement range. Errors caused by the anchor height and polarization of the tag itself.

[0054] For the above problems, corresponding filtering methods can be used to reduce the corresponding interference in the process of positioning. First, for the jitter of the measurement data, the Kalman filter algorithm can be used to filter the abnormal jitter of the data in the process of positioning to reduce the interference. Figure 2 and Figure 3 The data are compared before and after being processed by the Kalman filter algorithm. It can be seen that after adopting the Kalman filter algorithm, the data jitter is significantly reduced, and the interference caused by moving objects and abnormal noise can be effectively eliminated.

[0055] For the problem of exceeding the measurement range, in the UWB positioning system, the angle of arrival (AOA) can be estimated indirectly by estimating the phase difference between the signals received by different antennas. This method of estimating the AOA count based on the phase difference is called PDOA. Compared with other solutions, PDOA can provide higher angle accuracy. Taking a scenario in which this solution is applied as an example, the relationship between the phase difference α of the pulse response and the incident angle θ can be as follows: Figure 4 As shown, the horizontal axis is the incident angle θ, the vertical axis is the phase difference α, the slope of interval a is 3, and the slope of interval b is 0.6, which means that the measurement error of the phase angle of interval a (incident angle greater than 60 degrees) is 5 times larger than the error of the incident angle of the green part (within 60 degrees). Therefore, for the method of using PDOA ranging and positioning, it is necessary to limit the measurement angle to not be too large, and it is generally appropriate to limit it to within the range of ±60°, that is, ±60° is set as the measurement range, and the area outside the range of ±60° can be defined as an unmeasurable area.

[0056] Due to the above definition, in the process of realizing positioning based on the PDOA algorithm, the ranging achievement rate corresponding to the dual antennas under different incident angles is determined, and the corresponding status mark is generated, which is used as a state machine to identify the normal measurement range. The measurement range is identified according to the status mark to reduce interference.

[0057] In actual scenarios, for the positioning measurement of the PDOA algorithm, the ranging process errors caused by different incident angles generate multiple state tags, which are used as a state machine to identify the normal measurement range. Figure 5 Taking the dual-antenna measurement scenario shown in the figure as an example, Flag0, Flag1, and Flag2 represent the status marks that meet different measurement requirements under the DS-TWR ranging model. Among them, Flag0 means that neither of the two antennas of the base station receives the first wave signal from the UWB antenna tag; Flag1 means that one antenna of the base station receives the first wave signal from the UWB antenna tag; Flag 2 means that both antennas of the base station receive the first wave signal from the UWB antenna tag. Figure 5 It can be seen that the curve of Flag2 is close to 100% in the front area of ​​the antenna, but far less than 50% on the back and sides. Similarly, based on the curves of Flag0 and 2, we can get the conclusion that "the proportion of Flag 2 on the front of the antenna is very high, and the proportion of Flag 0 and Flag 1 on the back of the antenna is very high". Therefore, based on such characteristics, we can distinguish the front and back of the antenna and then identify the normal measurement range.

[0058] In addition, when using a preset filtering method to reduce interference during positioning, you can also use a method to dynamically identify the effective area to correct and identify the angle range that produces linear angle increments in real time during movement to reduce interference. The implementation principle is based on the fact that the increment ratio of the abnormal area does not meet the needs of linear growth, and is used to quickly identify and measure effective angles in a static environment. Figure 6 From the scene shown, it can be seen that when in the front measurement area, the horizontal axis is the actual position angle and the vertical axis is the observation angle, that is, within the range of ±72 degrees on the front, the observation angle and the actual position angle are consistent; beyond this range, there is no linear relationship between the two. Therefore, it is possible to determine whether the current position is in the ±72° range by judging whether the observation angle is linearly related to the actual position angle, thereby correcting and identifying the angle range that produces linear angle increments in real time during movement.

[0059] In addition, in the embodiment of the present application, the data refresh rate application scenario and power consumption requirement of the device are set. For example, when facing a device such as a moving vehicle that needs to update data in real time, the data refresh rate can be set to 100Hz. Furthermore, if factors such as multi-network interference are considered in actual applications, it is appropriate to set it to 50Hz. In this way, a larger response bandwidth can be provided even for high-speed following vehicle products.

[0060] The measurement and functional modules built with a single SOC chip can achieve the most cost-optimized and simplest system. For personal positioning and following applications, the system does not need to build a complex positioning system, and does not require installation and debugging. With a single multi-antenna base station as the center, a closed system with multiple UWB antenna tags working simultaneously is built, which can be applied to the positioning and following requirements of individuals and small groups.

[0061] In other embodiments of the present application, a positioning and following system based on UWB technology is also provided. The system may include a plurality of the aforementioned devices, thereby constructing a positioning and following system required by the user through these devices according to the needs of actual application scenarios.

[0062] Therefore, the solution of the embodiment of the present application can realize a low-cost, easy-to-integrate, efficient and effective real-time positioning system. System integrators can directly use standard modules or integrate the minimum software and hardware system of the solution to realize a stable and reliable positioning and following system in the shortest time, which can be applied to automatic guided vehicles, luggage following, special equipment vehicle positioning and following, asset tracking and anti-lost scenarios.

[0063] In particular, the methods and / or embodiments in the embodiments of the present application may be implemented as computer software programs. For example, the embodiments of the present disclosure include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes program code for executing the method shown in the flowchart. When the computer program is executed by the processing unit, the above functions defined in the method of the present application are executed.

[0064] It should be noted that the computer-readable medium described in the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0065] In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, device, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0066] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0067] The flow chart or block diagram in the accompanying drawings shows the possible architecture, function and operation of the equipment, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated system for hardware that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0068] As another aspect, the present application further provides a computer-readable medium, which may be included in the device described in the above embodiment; or may exist independently without being assembled into the device. The above computer-readable medium carries one or more computer program instructions, which may be executed by a processor to implement the methods and / or technical solutions of the above multiple embodiments of the present application.

[0069] It should be noted that the present application can be implemented in software and / or a combination of software and hardware, for example, can be implemented using an application specific integrated circuit (ASIC), a general purpose computer or any other similar hardware device. In certain embodiments, the software program of the present application can be executed by a processor to implement the above steps or functions. Similarly, the software program of the present application (including related data structures) can be stored in a computer-readable recording medium, for example, a RAM memory, a magnetic or optical drive or a floppy disk and similar devices. In addition, some steps or functions of the present application can be implemented using hardware, for example, as a circuit that cooperates with a processor to perform each step or function.

[0070] For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic features of the present application. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive, and the scope of the present application is limited by the attached claims rather than the above description, so it is intended to include all changes that fall within the meaning and scope of the equivalent elements of the claims in the present application. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it is obvious that the word "comprising" does not exclude other units or steps, and the singular does not exclude the plural. Multiple units or devices stated in the device claim can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to represent names, and do not represent any specific order. The numerical order of the serial numbers corresponding to the steps does not represent any specific execution order, and each step can be executed in any order combination under the premise of conforming to the execution logic.

Claims

1. A positioning and following device based on UWB technology, characterized in that: The device adopts the form of a SOC chip, including a real-time critical system ranging and positioning service and a non-real-time system function service, wherein the real-time critical system ranging and positioning service realizes ranging and positioning based on the bilateral two-way ranging principle, and the non-real-time system function service realizes other non-system function services other than ranging and positioning service by utilizing the idle time slots between key frames in the bilateral two-way ranging principle; The device comprises a UWB antenna tag and a base station. The UWB antenna tag of the device adopts a single antenna and the base station adopts a dual antenna. When the dual antenna is adopted, a PDOA algorithm is used to achieve positioning. In the process of achieving positioning, a preset filtering method is used to reduce interference.

2. The method according to claim 1, characterized in that The UWB antenna tag uses a ceramic antenna, the base station uses a PCB dual antenna, and the PCB dual antenna and other circuit parts of the base station are provided with a shielding cover.

3. The method according to claim 1, characterized in that The device is provided with a low power consumption sleep mode, and when the sleep conditions are met, the device can select the whole sleep mode or the partial sleep mode.

4. The method according to claim 1, characterized in that The maximum positioning distance of the device is at least 25 meters, the distance accuracy is less than plus or minus 10 cm, and the angle accuracy is less than plus or minus 5°.

5. The method according to claim 1, characterized in that: When the device is in an environment of multiple UWB positioning systems, data channels of different UWB positioning systems are distinguished by network identifiers.

6. The method according to claim 1, characterized in that Preset filtering methods are used to reduce interference during positioning, including: In the process of positioning, the Kalman filter algorithm is used to filter abnormal jitter of data to reduce interference.

7. The method according to claim 1, characterized in that Preset filtering methods are used to reduce interference during positioning, including: In the process of realizing positioning based on the PDOA algorithm, the ranging achievement rate corresponding to the dual antennas under different incident angles is determined, the corresponding state mark is generated, and the measurement range is identified according to the state mark to reduce interference.

8. The method according to claim 1, characterized in that: Preset filtering methods are used to reduce interference during positioning, including: Using the method of dynamically identifying the effective area, the angle range that produces linear angle increments is corrected and identified in real time during movement.

9. The method according to claim 1, characterized in that: The data refresh rate application scenario and power consumption requirement setting of the device.

10. A positioning and following system based on UWB technology, characterized in that: The system comprises a plurality of devices according to any one of claims 1 to 9.

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