A UWB distance-adaptive weighted localization method for indoor corridor areas

Abstract

This invention discloses a UWB distance adaptive weighted positioning method for indoor corridor areas, comprising the following steps: (1) combining any 3 of the n UWB base stations in the positioning area to obtain M UWB base station combinations; (2) calculating the total measurement distance corresponding to each UWB base station combination; (3) using trilateration for each of the M UWB base station combinations to obtain M initial positioning coordinates of tags; (4) using interquartile range (IMR) to remove outlier coordinates from the M initial positioning coordinates of tags, and the remaining initial positioning coordinates of tags constitute a tag initial positioning coordinate dataset; (5) calculating the weight of each initial positioning coordinate of tags in the tag initial positioning coordinate dataset using distance adaptive weighting; (6) performing a weighted sum operation on each initial positioning coordinate of tags in the tag initial positioning coordinate dataset based on the obtained weight of each initial positioning coordinate of tags to obtain the final positioning coordinates of tags; This invention can reduce the final positioning error of tags in indoor corridor areas.

Description

Technical Field

[0001] This invention relates to the field of indoor positioning technology, and specifically to a UWB distance adaptive weighted positioning method for indoor corridor areas. Background Technology

[0002] Ultra-wideband (UWB) is a low-energy, narrow-pulse, high-bandwidth wireless positioning technology. Compared to other wireless positioning technologies such as WiFi, Bluetooth, and radio frequency identification (RFID), UWB has gradually become one of the mainstream indoor positioning technologies due to its advantages such as low transmission power, large bandwidth, wide signal coverage, and high ranging accuracy. However, due to the complex structure of indoor environments, UWB signals are inevitably affected by multipath effects and non-line-of-sight (NLOS) factors during propagation, leading to abnormal distance measurements, excessive tag positioning errors, low positioning accuracy, and a decline in overall system positioning performance. Corridors are a typical structural area in indoor scenarios, typically characterized by their long, narrow shape and numerous corners. Furthermore, the surrounding walls are mostly made of highly reflective reinforced concrete, making the multipath effect and NLOS factors even more pronounced in these areas, resulting in larger distance measurement errors. Therefore, researching high-precision positioning methods to mitigate the impact of multipath effects and NLOS errors on UWB positioning accuracy in indoor corridors is crucial.

[0003] Existing methods for combating multipath effects and reducing NLOS errors mainly include single filtering, introducing robust constraints, and multi-sensor fusion. Although these methods have improved positioning accuracy to some extent, they still have drawbacks such as insignificant error reduction, high cost, and high computational complexity. Summary of the Invention

[0004] Purpose of the invention: The purpose of this invention is to provide a UWB distance adaptive weighted positioning method for indoor corridor areas, which solves the technical problem that the UWB signal in indoor corridor areas is affected by multipath effect and NLOS factors, resulting in large tag positioning error and low accuracy.

[0005] Technical solution: The present invention provides a UWB distance-adaptive weighted positioning method for indoor corridor areas, comprising the following steps:

[0006] (1) Combine any 3 of the n UWB base stations in the positioning area to obtain M combinations of UWB base stations;

[0007] (2) Calculate the total measurement distance for each UWB base station combination;

[0008] (3) Use the trilateration method to obtain M initial positioning coordinates of tags for each of the M UWB base station combinations. Each UWB base station combination corresponds to a unique initial positioning coordinate of the tag.

[0009] (4) The outlier coordinates of the initial positioning coordinates of the M labels are removed by the interquartile range method, and the remaining initial positioning coordinates of the labels constitute the initial positioning coordinate dataset of the labels.

[0010] (5) Calculate the weight of each initial positioning coordinate of a label in the initial positioning coordinate dataset by using distance adaptive weighting;

[0011] (6) Based on the weight of each initial positioning coordinate, perform a weighted sum operation on the initial positioning coordinates of each label in the initial positioning coordinate dataset to obtain the final positioning coordinates of the label.

[0012] Furthermore, in step (1), the n UWB base stations A1, A2, A3, ..., A in the positioning area are... n Any three can be combined, where n≥4; the j-th UWB base station combination is denoted as B. j It includes three UWB base stations. The number of UWB base station combinations M is obtained as follows:

[0013]

[0014] in, This represents the number of UWB base stations that are randomly selected from n UWB base stations for combination; 1≤j≤M; e1, e2, e3 are the numbers of the UWB base stations, and e1 <e2<e3。

[0015] Furthermore, in step (2), based on the n distance measurement values ​​obtained by the tag, each distance measurement value corresponds to a unique distance from the UWB base station to the tag, and each UWB base station combination contains 3 UWB base stations, the total measurement distance corresponding to each UWB base station combination is calculated; let the n distance measurement values ​​obtained by the tag be denoted as {d1,d2,d3,...,d... n}, the j-th UWB base station combination B j The corresponding total measured distance is denoted as D. j Then we have:

[0016]

[0017] in, UWB base stations Distance measurement to the label; d n Indicates UWB base station A n The distance measurement to the label.

[0018] Furthermore, in step (3), the initial positioning coordinates of the M tags corresponding to the M combinations of UWB base stations are calculated using the trilateration method, as shown in the following formula:

[0019]

[0020] in and These correspond to the three UWB base stations included in the j-th UWB base station combination. and coordinates Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination. UWB base stations Distance measurement to the label; and define

[0021]

[0022] Then equation (1) can be written as:

[0023] Hφ=w (3)

[0024] Solving equation (3) using the least squares method yields:

[0025] φ ls =(H T H) -1 H T w (4)

[0026] Among them, the calculated φ ls Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination; then the initial positioning coordinates of the M tags corresponding to the M UWB base station combinations are respectively

[0027] Furthermore, in step (4), the interquartile range method is used to initially locate the coordinates of the M tags. The outlier coordinate removal operation is performed as follows:

[0028] Build collection If we sort the elements in sets X and Y in ascending order, then we have:

[0029] X sorted =sort(X)

[0030] Y sorted =sort(Y)

[0031] Where sort is the sorting command; coordinates and interquartile range of coordinates Represented as:

[0032]

[0033]

[0034] in, First quartile of coordinates and the third and fourth quartiles X sorted The values ​​of the elements at positions 25% and 75% are... First quartile of coordinates and the third and fourth quartiles Y sorted The values ​​of the elements at the 25th and 75th positions in the middle;

[0035] when Not here Within the range, or Not here When within range, the initial positioning coordinates of the tag obtained by combining the j-th type of UWB base stations. Treating these as outlier coordinates and removing them, the remaining k initial location coordinates of the tags are obtained, where k is less than or equal to the number of UWB base station combinations M.

[0036] Here, b is the robustness factor, which is usually taken as 1.5 or 3, and is used to identify mild outliers and extreme outliers, respectively.

[0037] Furthermore, in step (5), the distance adaptive weight formula is as follows:

[0038]

[0039] Where, ω i Initialize the coordinate dataset for label positioning Initial positioning coordinates of the i-th label The corresponding weight, D i for The total measured distance corresponding to the i-th UWB base station combination, where 1≤i≤k.

[0040] Further, step (6) is as follows: Based on the weight of each initial label coordinate in the obtained initial label coordinate dataset, a weighted sum is performed on each initial label coordinate in the initial label coordinate dataset to obtain the final label coordinates, as shown in the following formula:

[0041]

[0042] Where x* and y* represent the x-coordinate and y-coordinate of the final positioning coordinates of the label, respectively.

[0043] The present invention discloses a UWB distance-adaptive weighted positioning system for indoor corridor areas, comprising:

[0044] Combination module: used to combine any 3 of the n UWB base stations in the positioning area to obtain M kinds of UWB base station combinations;

[0045] Total distance measurement module: used to calculate the total distance for each UWB base station combination;

[0046] Initial positioning coordinate module: used to obtain the initial positioning coordinates of M tags by using the trilateration method for M types of UWB base station combinations. Each type of UWB base station combination corresponds to a unique initial positioning coordinate of the tag.

[0047] Initial positioning coordinate dataset module: Used to remove outlier coordinates from the initial positioning coordinates of M labels using the interquartile range method, and the remaining initial positioning coordinates of the labels constitute the initial positioning coordinate dataset of the labels.

[0048] Initial positioning coordinate weight module: used to calculate the weight of each initial positioning coordinate of each label in the initial positioning coordinate dataset using distance adaptive weighting;

[0049] Final positioning coordinates module: Based on the weights of the initial positioning coordinates of each label, the module performs a weighted sum operation on the initial positioning coordinates of each label in the initial positioning coordinates dataset to obtain the final positioning coordinates of the labels.

[0050] An electronic device according to the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded into the processor, it implements a UWB distance adaptive weighted positioning method for indoor corridor areas as described in any one of the present invention.

[0051] The present invention provides a storage medium storing a computer program, which, when executed by a processor, implements any one of the UWB distance adaptive weighted positioning methods for indoor corridor areas.

[0052] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: First, any three UWB base stations in the positioning area are combined; then, the total measurement distance and initial tag positioning coordinates corresponding to each UWB base station combination are calculated; next, the interquartile range (INR) method is used to remove outlier coordinates from the initial tag positioning coordinates, eliminating distorted initial tag positioning coordinates calculated from abnormal distance measurements caused by multipath effects and NLOS factors, i.e., outlier coordinates, and simultaneously eliminating the corresponding UWB base station combinations, thereby selecting reliable initial tag positioning coordinates while retaining the corresponding reliable UWB base station combinations and the corresponding total measurement distance; finally, after calculating the corresponding weight for each reliable initial tag positioning coordinate using the proposed distance adaptive weighting formula, a weighted sum of the reliable initial tag positioning coordinates is performed to obtain the final tag positioning coordinates. This invention can increase the proportion of accurate, small, and stable distance measurements used in the calculation, and reduce the proportion of inaccurate, large, and unstable distance measurements used in the calculation; this invention can reduce the final tag positioning error in indoor corridor areas. Attached Figure Description

[0053] Figure 1 This is a flowchart of the present invention;

[0054] Figure 2 This is a schematic diagram of the UWB base station deployment plan of the present invention;

[0055] Figure 3 This is a diagram showing the test point positioning error of different methods of the present invention;

[0056] Figure 4 This is a cumulative probability distribution diagram of positioning errors for different methods of the present invention. Detailed Implementation

[0057] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0058] like Figure 1 As shown, this embodiment of the invention provides a UWB distance adaptive weighted positioning method for indoor corridor areas, including the following steps:

[0059] S1: Combine any 3 of the n, n≥4 UWB base stations in the positioning area to obtain M possible combinations of UWB base stations; specifically as follows: Combine the n, n≥4 UWB base stations A1, A2, A3, ..., A... n Any combination of 3 base stations, the j-th combination of UWB base stations is denoted as B. j It includes three UWB base stations. The number of UWB base station combinations M is obtained as follows:

[0060]

[0061] in This represents the number of UWB base stations that are randomly selected from n UWB base stations for combination; 1≤j≤M; e1, e2, e3 are the numbers of the UWB base stations, and e1 <e2<e3。

[0062] S2: Based on the n distance measurements obtained from the tag, each distance measurement corresponds to a unique distance from a UWB base station to the tag. Each UWB base station combination contains 3 UWB base stations. Calculate the total measured distance for each UWB base station combination. The n distance measurements obtained from the tag are denoted as {d1, d2, d3, ..., d...}. n}, the j-th UWB base station combination B j The corresponding total measured distance is denoted as D. j Then we have:

[0063]

[0064] in, UWB base stations Distance measurement to the label; d n Indicates UWB base station A n The distance measurement to the label.

[0065] S3: For each of the M UWB base station combinations described in S1, trilateration is used to obtain M initial tag positioning coordinates, with each UWB base station combination corresponding to a unique initial tag positioning coordinate. The specific calculation process for obtaining the M initial tag positioning coordinates corresponding to the M UWB base station combinations using trilateration is as follows:

[0066]

[0067] in and These correspond to the three UWB base stations included in the j-th UWB base station combination. and coordinates Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination. UWB base stations Distance measurement to the label; and define

[0068]

[0069] Equation (3) can then be written as:

[0070] Hφ=w (5)

[0071] Solving equation (5) using the least squares method yields:

[0072] φls =(H T H) -1 H T w (6)

[0073] The φ obtained from the solution ls Let be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination. From this, the initial positioning coordinates of the M tags corresponding to the M UWB base station combinations can be obtained as follows:

[0074] S4: Outlier coordinates are removed from the M initial label location coordinates described in S3 using the interquartile range (ICM) method. The remaining initial label location coordinates constitute the initial label location coordinate dataset. Specifically, the ICM method is used to remove outlier coordinates from the M initial label location coordinates. The outlier removal operation is performed as follows:

[0075] Build collection If we sort the elements in sets X and Y in ascending order, then we have:

[0076] X sorted =sort(X) (7)

[0077] Y sorted =sort(Y) (8)

[0078] Where sort is the sorting command; coordinates and interquartile range of coordinates It can be represented as:

[0079]

[0080]

[0081] in First quartile of coordinates and the third and fourth quartiles X sorted The values ​​of the elements at positions 25% and 75% are... First quartile of coordinates and the third and fourth quartiles Y sorted The values ​​of the elements at the 25th and 75th positions in the middle;

[0082] when Not here Within the range, or Not here When within range, the initial positioning coordinates of the tag obtained by combining the j-th type of UWB base stations. Outlier coordinates are removed, leaving k initial location coordinates for the remaining tags. The value of k is less than or equal to the number of UWB base station combinations M, thus forming the initial location coordinate dataset for the tags.

[0083] Where b is the robustness factor, which is generally taken as 1.5 or 3, used to identify mild outliers and extreme outliers respectively. In this invention, 3 is used.

[0084] S5: For each initial label location coordinate in the initial label location coordinate dataset described in S4, calculate the weight of each initial label location coordinate using distance adaptive weighting; wherein, the proposed distance adaptive weighting formula is:

[0085]

[0086] Where, ω i Initialize the coordinate dataset for label positioning Initial positioning coordinates of the i-th label The corresponding weight, D i for The total measured distance corresponding to the i-th UWB base station combination, where 1≤i≤k.

[0087] S6: Based on the weights of each tag's initial positioning coordinates calculated in the previous step, perform a weighted sum operation on the initial positioning coordinates of each tag in the initial positioning coordinates dataset to obtain the final positioning coordinates of the tags. Specifically: Based on the weights of each tag's initial positioning coordinates in the initial positioning coordinates dataset calculated in S5, perform a weighted sum operation on the initial positioning coordinates of each tag in the initial positioning coordinates dataset to obtain the final positioning coordinates of the tags.

[0088]

[0089] Where x* and y* represent the x-coordinate and y-coordinate of the final positioning coordinates of the label, respectively.

[0090] This invention embodiment undergoes rigorous analysis through specific experiments, with test points randomly and evenly selected within the experimental area. The experimental environment is an "L"-shaped corridor on the south side of the 3rd floor of the Dikun Building at Nanjing University of Technology. This corridor is characterized by its narrowness and corners, with concrete walls on both sides. UWB signals are significantly affected by multipath effects and NLOS factors. A total of 6 UWB base stations A1, A2, ..., A6 were used, respectively located at (1, 0.32), (1, 2.72), (10.6, 0.32), (8.8, 2.72), (10.6, 18.92), and (8.8, 18.92). Figure 2 The diagram shows a schematic of the UWB base station deployment plan. Table 1 shows a comparison between the method of this invention and the traditional least squares method and Taylor series method.

[0091] Table 1 Error Analysis Table

[0092] Positioning method Maximum error / m Average error / m RMSE / m Traditional Least Squares 1.714 0.809 0.897 Taylor series method 1.127 0.484 0.552 This article's method 0.716 0.318 0.276

[0093] As can be seen, the maximum error, average error, and root mean square error (RMSE) of the method of this invention are all smaller than those of the traditional least squares method and Taylor series method. Figure 3 It can be clearly seen from the diagram that the final positioning error of each test point obtained by the method of the present invention is smaller than the final positioning error obtained by the traditional least squares method and Taylor series method at the corresponding test point, and the cumulative probability distribution of the positioning error is also evident. Figure 4 As can be seen, the method of this invention consistently surpasses the traditional least squares method and Taylor series method. In summary, the method proposed in this invention is significantly superior to the compared traditional least squares method and Taylor series method, exhibiting better mitigation of multipath effects and NLOS errors in indoor corridor areas, thus improving the tag positioning accuracy of UWB in indoor corridor areas.

[0094] This invention also provides a UWB distance-adaptive weighted positioning system for indoor corridor areas, comprising:

[0095] Combination module: used to combine any 3 of the n UWB base stations in the positioning area to obtain M kinds of UWB base station combinations;

[0096] Total distance measurement module: used to calculate the total distance for each UWB base station combination;

[0097] Initial positioning coordinate module: used to obtain the initial positioning coordinates of M tags by using the trilateration method for M types of UWB base station combinations. Each type of UWB base station combination corresponds to a unique initial positioning coordinate of the tag.

[0098] Initial positioning coordinate dataset module: Used to remove outlier coordinates from the initial positioning coordinates of M labels using the interquartile range method, and the remaining initial positioning coordinates of the labels constitute the initial positioning coordinate dataset of the labels.

[0099] Initial positioning coordinate weight module: used to calculate the weight of each initial positioning coordinate of each label in the initial positioning coordinate dataset using distance adaptive weighting;

[0100] Final positioning coordinates module: Based on the weights of the initial positioning coordinates of each label, the module performs a weighted sum operation on the initial positioning coordinates of each label in the initial positioning coordinates dataset to obtain the final positioning coordinates of the labels.

[0101] This invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the computer program is loaded onto the processor, it implements any of the UWB distance adaptive weighted positioning methods for indoor corridor areas as described in the present invention.

[0102] This invention also provides a storage medium storing a computer program, which, when executed by a processor, implements any one of the UWB distance adaptive weighted positioning methods for indoor corridor areas.

Claims

1. A UWB distance-adaptive weighted positioning method for indoor corridor areas, characterized in that, Includes the following steps: (1) Combine any 3 of the n UWB base stations in the positioning area to obtain M combinations of UWB base stations; (2) Calculate the total measurement distance for each UWB base station combination; (3) For each of the M UWB base station combinations, the trilateration method is used to obtain the initial positioning coordinates of M tags. Each UWB base station combination corresponds to a unique initial positioning coordinate of a tag. The initial positioning coordinates of the M tags corresponding to the M UWB base station combinations are calculated using the trilateration method, as follows: in and These correspond to the three UWB base stations included in the j-th UWB base station combination. and coordinates Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination. UWB base stations Distance measurement to the label; and define Then equation (1) can be written as: Hφ=w (3) Solving equation (3) using the least squares method yields: φ ls =(H T H) -1 H T w (4) Among them, the calculated φ ls Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination; then the initial positioning coordinates of the M tags corresponding to the M UWB base station combinations are respectively (4) The outlier coordinates of the initial positioning coordinates of the M labels are removed using the interquartile range (ICM) method, and the remaining initial positioning coordinates constitute the initial positioning coordinate dataset of the labels; the initial positioning coordinates of the M labels are then processed using the ICM method. The outlier coordinate removal operation is performed as follows: Build collection If we sort the elements in sets X and Y in ascending order, then we have: X sorted =sort(X) AND sorted =sort(Y) Where sort is the sorting command; coordinates and interquartile range of coordinates Represented as: in, First quartile of coordinates and the third and fourth quartiles X sorted The values ​​of the elements at positions 25% and 75% are... First quartile of coordinates and the third and fourth quartiles Y sorted The values ​​of the elements at the 25th and 75th positions in the middle; when Not here Within the range, or Not here When within range, the initial positioning coordinates of the tag obtained by combining the j-th type of UWB base stations. Treating these as outlier coordinates and removing them, the remaining k initial location coordinates of the tags are obtained, where k is less than or equal to the number of UWB base station combinations M. Where b is the robustness factor; (5) For each initial location coordinate in the initial location coordinate dataset, calculate the weight of each initial location coordinate using distance adaptive weighting; the formula for distance adaptive weighting is as follows: Where, ω i Initialize the coordinate dataset for label positioning Initial positioning coordinates of the i-th label The corresponding weight, D i for The total measured distance corresponding to the i-th UWB base station combination, where 1≤i≤k; (6) Based on the weights of the initial positioning coordinates of each label obtained, perform a weighted sum operation on the initial positioning coordinates of each label in the initial positioning coordinates dataset to obtain the final positioning coordinates of the labels; specifically as follows: Based on the weights of the initial positioning coordinates of each label in the obtained initial positioning coordinates dataset, perform a weighted sum operation on the initial positioning coordinates of each label in the initial positioning coordinates dataset to obtain the final positioning coordinates of the labels, as shown in the following formula: Where x* and y* represent the x-coordinate and y-coordinate of the final positioning coordinates of the label, respectively.

2. The UWB distance adaptive weighted positioning method for indoor corridor areas according to claim 1, characterized in that, In step (1), n ​​UWB base stations A1, A2, A3, ..., A in the positioning area are... n Any three can be combined, where n≥4; the j-th UWB base station combination is denoted as B. j It includes three UWB base stations. The number of UWB base station combinations M is obtained as follows: in, This represents the number of UWB base stations that are randomly selected from n UWB base stations for combination; 1≤j≤M; e1, e2, e3 are the numbers of the UWB base stations, and e1 <e2<e3。 3. The UWB distance adaptive weighted positioning method for indoor corridor areas according to claim 1, characterized in that, In step (2), based on the n distance measurements obtained by the tag, each distance measurement corresponds to a unique distance from the UWB base station to the tag. Each UWB base station combination contains 3 UWB base stations. Calculate the total measured distance corresponding to each UWB base station combination. Let the n distance measurements obtained by the tag be denoted as {d1,d2,d3,...,d...}. n }, the j-th UWB base station combination B j The corresponding total measured distance is denoted as D. j Then we have: in, UWB base stations Distance measurement to the label; d n Indicates UWB base station A n The distance measurement to the label.

4. A UWB distance-adaptive weighted positioning system for indoor corridor areas, characterized in that, include: Combination module: used to combine any 3 of the n UWB base stations in the positioning area to obtain M kinds of UWB base station combinations; Total distance measurement module: used to calculate the total distance for each UWB base station combination; Initial positioning coordinate module: Used to obtain the initial positioning coordinates of M tags for each of the M UWB base station combinations using trilateration. Each UWB base station combination corresponds to a unique initial positioning coordinate. The initial positioning coordinates of the M tags corresponding to the M UWB base station combinations are calculated using trilateration, as shown in the following formula: in and These correspond to the three UWB base stations included in the j-th UWB base station combination. and coordinates Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination. UWB base stations Distance measurement to the label; and define Then equation (1) can be written as: Hφ=w (3) Solving equation (3) using the least squares method yields: φ ls =(H T H) -1 H T w (4) Among them, the calculated φ ls Let J be the initial positioning coordinates of the tag obtained from the j-th UWB base station combination; then the initial positioning coordinates of the M tags corresponding to the M UWB base station combinations are respectively Initial localization coordinates dataset module: Used to remove outlier coordinates from the initial localization coordinates of M labels using the interquartile range (ICM) method, with the remaining initial localization coordinates forming the initial localization coordinates dataset; using the ICM method to process the initial localization coordinates of M labels... The outlier coordinate removal operation is performed as follows: Build collection If we sort the elements in sets X and Y in ascending order, then we have: X sorted =sort(X) AND sorted =sort(Y) Where sort is the sorting command; coordinates and interquartile range of coordinates Represented as: in, First quartile of coordinates and the third and fourth quartiles X sorted The values ​​of the elements at positions 25% and 75% are... First quartile of coordinates and the third and fourth quartiles Y sorted The values ​​of the elements at the 25th and 75th positions in the middle; when Not here Within the range, or Not here When within range, the initial positioning coordinates of the tag obtained by combining the j-th type of UWB base stations. Treating these as outlier coordinates and removing them, the remaining k initial location coordinates of the tags are obtained, where k is less than or equal to the number of UWB base station combinations M. Where b is the robustness factor; Initial Location Coordinate Weighting Module: This module calculates the weight of each initial location coordinate in the initial location coordinate dataset using distance-adaptive weighting. The distance-adaptive weighting formula is as follows: Where, ω i Initialize the coordinate dataset for label positioning Initial positioning coordinates of the i-th label The corresponding weight, D i for The total measured distance corresponding to the i-th UWB base station combination, where 1≤i≤k; The final positioning coordinate module is used to perform a weighted sum operation on the initial positioning coordinates of each label in the initial positioning coordinate dataset, based on the weights of each label's initial positioning coordinates, to obtain the final positioning coordinates of the labels. Specifically, it performs a weighted sum operation on the initial positioning coordinates of each label in the dataset, as shown in the following formula: Where x* and y* represent the x-coordinate and y-coordinate of the final positioning coordinates of the label, respectively.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the computer program is loaded into the processor, it implements a UWB distance adaptive weighted positioning method for indoor corridor areas according to any one of claims 1-3.

6. A storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements a UWB distance adaptive weighted positioning method for indoor corridor areas according to any one of claims 1-3.

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