UWB-based positioning method, device, equipment, medium and product
By dynamically generating effective points and filtering mechanisms in the UWB positioning system and selecting the optimal triangle centroid position, the problem of three circles disjoint in complex environments of traditional UWB positioning is solved, and the positioning accuracy and scope of application are improved.
Patent Information
- Application Number
- CN202510372882.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-03-27
- Publication Date
- 2025-07-01
AI Technical Summary
Traditional UWB positioning systems are prone to disjoint three circles in complex environments, resulting in positioning failure or reduction in accuracy.
By obtaining the spatial measurements of the UWB base station and the tag, a valid point data set is dynamically generated, and the center of mass position of the optimal triangle is selected through the filtering strategy to improve positioning accuracy.
Reliable positioning can still be achieved in complex environments, improving the accuracy and scope of application of positioning, and reducing the computational complexity.
Smart Images
Figure CN120233303A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of UWB positioning, and in particular to a UWB-based positioning method, device, equipment, medium and product. Background Art
[0002] UWB positioning technology is a high-precision positioning method. The principle is to calculate the distance between the tag and the base station by measuring the flight time (TOF) or time difference (TDOA) of the UWB signal, thereby determining the location of the tag. The trilateral measurement method commonly used in traditional UWB positioning systems relies on the intersection of three circles to determine the position. However, in the face of complex environments (such as obstacles and signal interference), it is easy for the three circles to not intersect, resulting in positioning failure.
[0003] In order to address the limitations of traditional trilateration, the least squares method was proposed to optimize the positioning results by minimizing the measurement error, but this method is sensitive to noise and has low positioning accuracy. Summary of the invention
[0004] The purpose of this application is to provide a UWB-based positioning method, device, equipment, medium and product that can improve positioning accuracy.
[0005] To achieve the above objectives, this application provides the following solutions:
[0006] In a first aspect, the present application provides a UWB-based positioning method, comprising:
[0007] The UWB tag is mounted on a movable carrier, and a first UWB base station, a second UWB base station, and a third UWB base station are arranged in a confined space. When the movable carrier moves in the confined space, a first spatial metric, a second spatial metric, and a third spatial metric from the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag are respectively obtained;
[0008] Determine a first positioning domain according to the position coordinates of the first UWB base station and the first spatial metric, determine a second positioning domain according to the position coordinates of the second UWB base station and the second spatial metric, and determine a third positioning domain according to the position coordinates of the third UWB base station and the third spatial metric;
[0009] Generate a valid point data set according to the positional relationship between the first positioning domain, the second positioning domain and the third positioning domain;
[0010] Randomly select three valid points from the valid point data set to form a pre-selected triangle, and select a valid triangle according to a first screening strategy, and all the valid triangles constitute a valid triangle data set;
[0011] Select the optimal triangle from the effective triangle dataset according to the second screening strategy, and obtain the centroid position of the optimal triangle. The centroid position of the optimal triangle is the UWB tag position.
[0012] Optionally, before the steps of respectively obtaining the first spatial metric, the second spatial metric, and the third spatial metric from the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag, the UWB-based positioning method further includes:
[0013] The UWB tag periodically emits UWB signals to the first UWB base station, the second UWB base station, and the third UWB base station at the speed of light.
[0014] Optionally, the effective point dataset includes a first effective point, a second effective point, a third effective point, a fourth effective point, a fifth effective point, and a sixth effective point. The first positioning domain, the second positioning domain, and the third positioning domain are circular. Generating an effective point dataset according to the pairwise positional relationships of the first positioning domain, the second positioning domain, and the third positioning domain includes:
[0015] When the pairwise positional relationship is separated, generate a first effective point, and the first effective point is determined by the following method:
[0016] Connect the centers of the two positioning domains in the separated state to obtain a first line segment, and determine the midpoint of the intersection points of the first line segment and the two positioning domains as the first effective point;
[0017] When the pairwise positional relationship is externally tangent, generate a second effective point, and the second effective point is the external tangent point of the two positioning domains;
[0018] When the pairwise positional relationship is intersecting, generate a third effective point and a fourth effective point, and the third effective point and the fourth effective point are the intersection points of the two positioning domains;
[0019] When the pairwise positional relationship is internally tangent, generate a fifth effective point, and the fifth effective point is the internal tangent point of the two positioning domains;
[0020] When the pairwise positional relationship is contained, generate a sixth effective point, and the sixth effective point is determined by the following method:
[0021] Determine the center of the positioning domain with the larger radius among the two positioning domains in the contained state as the first center;
[0022] Determine the center of the positioning domain with the smaller radius among the two positioning domains in the contained state as the second center;
[0023] Determine the first intersection point and the second intersection point as the intersection points of the ray pointing from the first center point to the second center point and the two positioning domains in the inclusion state;
[0024] Determine the midpoint of the first intersection point and the second intersection point as the sixth valid point.
[0025] Optionally, the first screening strategy includes:
[0026] If the three valid points constituting the preselected triangle come from different positioning domains, then the preselected triangle is a valid triangle;
[0027] If any two of the three valid points constituting the preselected triangle come from the same positioning domain, then the preselected triangle is an invalid triangle.
[0028] Optionally, the second screening strategy includes:
[0029] Calculate the perimeters of all the valid triangles to obtain the longest valid triangle perimeter and the shortest valid triangle perimeter;
[0030] If the longest valid triangle perimeter exceeds a preset multiple of the shortest valid triangle perimeter, and / or, the longest valid triangle perimeter is greater than or equal to a preset threshold, then eliminate the longest valid triangle perimeter;
[0031] Calculate the distance difference between the centroid position of the remaining valid triangles and the UWB tag position in the previous period, and select the valid triangle with the smallest distance difference as the optimal triangle.
[0032] Optionally, the preset multiple is 2 times, and the preset threshold is 2000 mm.
[0033] In a second aspect, the present application provides a positioning device based on UWB, including:
[0034] An acquisition module, configured to mount the UWB tag on a movable carrier, and at the same time arrange a first UWB base station, a second UWB base station, and a third UWB base station in a restricted space. When the movable carrier moves in the restricted space, respectively acquire a first spatial metric, a second spatial metric, and a third spatial metric of the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag;
[0035] A determination module, configured to determine a first positioning domain according to the position coordinates of the first UWB base station and the first spatial metric, determine a second positioning domain according to the position coordinates of the second UWB base station and the second spatial metric, and determine a third positioning domain according to the position coordinates of the third UWB base station and the third spatial metric;
[0036] A generation module, configured to generate a set of valid point data according to the pairwise positional relationships of the first positioning domain, the second positioning domain, and the third positioning domain;
[0037] A first selection module, configured to arbitrarily select three of the valid points from the set of valid point data to form a preselected triangle, and select valid triangles according to a first screening strategy, and all the valid triangles form a set of valid triangle data;
[0038] A second selection module, configured to select an optimal triangle from the set of valid triangle data according to a second screening strategy, and obtain the centroid position of the optimal triangle, and the centroid position of the optimal triangle is the UWB tag position.
[0039] In a third aspect, the present application provides a computer device, including: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the processor executes the computer program to implement the steps of the UWB-based positioning method described in any one of the above.
[0040] In a fourth aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the UWB-based positioning method described in any one of the above are implemented.
[0041] In a fifth aspect, the present application provides a computer program product, including a computer program, and when the computer program is executed by a processor, the steps of the UWB-based positioning method described in any one of the above are implemented.
[0042] According to the specific embodiments provided by the present application, the following technical effects are disclosed in the present application:
[0043] The present application provides a positioning method, device, equipment, medium and product based on UWB. The method obtains the first spatial measurement, the second spatial measurement and the third spatial measurement from the first UWB base station, the second UWB base station and the third UWB base station to the UWB tag, and determines the first positioning domain according to the position coordinates and the first spatial measurement of the first UWB base station, determines the second positioning domain according to the position coordinates and the second spatial measurement of the second UWB base station, determines the third positioning domain according to the position coordinates and the third spatial measurement of the third UWB base station, generates a valid point data set according to the position relationship between the first positioning domain, the second positioning domain and the third positioning domain, selects three valid points from the valid point data set to form a pre-selected triangle, and selects valid triangles according to the first screening strategy, and all valid triangles constitute a valid triangle data set; selects the optimal triangle from the valid triangle data set according to the second screening strategy, obtains the centroid position of the optimal triangle, and the centroid position of the optimal triangle is the UWB tag position. The present application takes into account all positional relationships between positioning domains, improves the scope of application of the algorithm, avoids interference from invalid triangles through the application of the first screening strategy and the second screening strategy, and improves the accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS
[0044] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.
[0045] Figure 1 This is an application environment diagram of a UWB-based positioning method in an embodiment of the present application;
[0046] Figure 2 A flowchart of a UWB-based positioning method provided in one embodiment of the present application;
[0047] Figure 3 A schematic diagram of the positional relationship between two positioning domains provided in an embodiment of the present application when they are separated;
[0048] Figure 4 A schematic diagram of a case where the positional relationship between two positioning domains provided in an embodiment of the present application is circumscribed;
[0049] Figure 5 A schematic diagram of a situation in which the positional relationship of two positioning domains provided in an embodiment of the present application is an intersection;
[0050] Figure 6 A schematic diagram of a case where the positional relationship between two positioning domains provided in an embodiment of the present application is inscribed;
[0051] Figure 7 Schematic diagram when the positional relationship between two positioning domains provided in an embodiment of the present application is inclusion;
[0052] Figure 8 Schematic diagram when three positioning domains provided in an embodiment of the present application all intersect pairwise;
[0053] Figure 9 Schematic diagram when two of the three positioning domains provided in an embodiment of the present application intersect pairwise;
[0054] Figure 10 Schematic diagram of the functional modules of a UWB-based positioning device provided in an embodiment of the present application;
[0055] Figure 11 Schematic diagram of the structure of a computer device provided in an embodiment of the present application. Detailed implementation manners
[0056] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.
[0057] To make the above objects, features, and advantages of the present application more obvious and understandable, the present application will be further described in detail below in conjunction with the accompanying drawings and specific implementation manners.
[0058] The UWB-based positioning method provided in the embodiments of the present application can be applied to, for example Figure 1In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network. The data storage system can store the data that the server 104 needs to process. The data storage system can be set up separately, integrated on the server 104, or placed on the cloud or other servers. The terminal 102 can send the first positioning domain, the second positioning domain, and the third positioning domain to be processed to the server 104. After the server 104 receives the first positioning domain, the second positioning domain, and the third positioning domain to be processed, for the first positioning domain, the second positioning domain, and the third positioning domain to be processed, the server 104 generates a valid point data set according to the positional relationship between the first positioning domain, the second positioning domain, and the third positioning domain; arbitrarily select three valid points from the valid point data set to form a pre-selected triangle, and select a valid triangle according to the first screening strategy; select the optimal triangle from multiple valid triangles according to the second screening strategy, and obtain the centroid position of the optimal triangle. The centroid position of the optimal triangle is the UWB tag position. The server 104 can feedback the obtained centroid position of the optimal triangle to the terminal 102. In addition, in some embodiments, the UWB-based positioning method can also be implemented independently by the server 104 or the terminal 102. For example, the terminal 102 can directly process the first positioning domain, the second positioning domain, and the third positioning domain to be processed, or the server 104 can obtain the first positioning domain, the second positioning domain, and the third positioning domain to be processed from the data storage system, and process the first positioning domain, the second positioning domain, and the third positioning domain to be processed.
[0059] The terminal 102 may be, but is not limited to, various desktop computers, laptop computers, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart vehicle-mounted devices, etc. The portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The server 104 may be implemented as an independent server or a server cluster consisting of multiple servers, or may be a cloud server.
[0060] UWB (Ultra Wide Band) is a wireless communication technology whose core feature is to use nanosecond or even sub-nanosecond non-sinusoidal narrow pulses to transmit data instead of traditional sinusoidal carriers. The spectrum range of this technology is very wide, usually occupying a bandwidth of more than 1GHz, for example, occupying a bandwidth of more than 500MHz in the 3.1-10.6GHz frequency band. The UWB positioning system mainly includes UWB base stations and UWB tags. As the core part of the positioning system, the UWB base station is responsible for sending UWB pulse signals, receiving signals from tags, and calculating the location of tags through positioning algorithms. UWB tags are the objects to be located and can be fixed on people, vehicles or objects. The tags receive the UWB signals sent by the base station and determine their own location information through signal processing.
[0061] The core of UWB positioning technology is to determine the position of tags by sending ultra-wideband pulse signals in the nanosecond level and measuring the propagation time (TDOA, Time Difference of Arrival) or the angle of arrival (AOA, Angle of Arrival) of the signals in space. Its main steps include: Signal transmission and reception: The base station sends UWB pulse signals into space, and the tags receive these signals and return response signals. Data transmission: The tags transmit the received signal data back to the base station, and the base station then sends the data to the positioning background. Position calculation: The positioning background calculates the precise position of the tags through positioning algorithms (such as TDOA or AOA) and displays the results in real time on the user interface.
[0062] In an exemplary embodiment, as Figure 2 shown, a UWB-based positioning method is provided. This method is executed by a computer device, specifically, it can be executed alone by a computer device such as a terminal or a server, or jointly executed by a terminal and a server. In the embodiments of this application, taking this method applied to Figure 1 the server 104 therein as an example for illustration, it includes the following steps S201 to S205. Among them:
[0063] In step S201, the UWB tag is carried on a movable carrier, and at the same time, the first UWB base station, the second UWB base station, and the third UWB base station are arranged in a restricted space. When the movable carrier moves in the restricted space, the first spatial metric, the second spatial metric, and the third spatial metric from the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag are respectively obtained;
[0064] Specifically, a confined space refers to a relatively enclosed area with certain boundaries. The signal propagation characteristics of its internal environment are different from those of an open space, and usually specific base station arrangements are required to achieve positioning. Taking an intelligent warehousing center as an example, a UWB tag is carried on a mobile carrier in the warehousing center. There can be multiple mobile carriers, and the positioning method of each mobile carrier is as described in this application. The mobile carriers include but are not limited to goods pallets, handling robots, automatic guided vehicles (AGVs), and intelligent devices. The UWB tag periodically emits UWB signals at an extremely high frequency to the surrounding area, that is, it emits UWB signals to the first UWB base station, the second UWB base station, and the third UWB base station. The frequency can be set to 100 times per second. When the signals reach each base station, each base station can accurately record the time of signal arrival. Based on the difference between the signal propagation speed (the speed of light) and the signal arrival time, the first spatial metric from the first UWB base station to the UWB tag, the second spatial metric from the second UWB base station to the UWB tag, and the third spatial metric from the third UWB base station to the UWB tag are calculated respectively. These spatial metrics reflect the distances between the UWB tag and each base station.
[0065] In step S202, according to the position coordinates of the first UWB base station and the first spatial metric, a first positioning domain is determined; according to the position coordinates of the second UWB base station and the second spatial metric, a second positioning domain is determined; according to the position coordinates of the third UWB base station and the third spatial metric, a third positioning domain is determined.
[0066] Specifically, according to the position coordinates of the first UWB base station and the first spatial metric, a first positioning domain is determined. This positioning domain is a circular area centered on the first UWB base station with the first spatial metric as the radius. All points within this area satisfy that the distance from the first UWB base station to this point is equal to the first spatial metric. According to the position coordinates of the second UWB base station and the second spatial metric, a second positioning domain is determined. This positioning domain is a circular area centered on the second UWB base station with the second spatial metric as the radius. All points within this area satisfy that the distance from the second UWB base station to this point is equal to the second spatial metric. According to the position coordinates of the third UWB base station and the third spatial metric, a third positioning domain is determined. This positioning domain is a circular area centered on the third UWB base station with the third spatial metric as the radius. All points within this area satisfy that the distance from the third UWB base station to this point is equal to the third spatial metric.
[0067] In step S203, an effective point data set is generated according to the pairwise position relationships of the first positioning domain, the second positioning domain, and the third positioning domain.
[0068] In one embodiment, the above step S203 includes the following sub-steps:
[0069] S2031. When the pairwise positional relationship is externally separated, generate a first valid point, and the first valid point is determined as follows:
[0070] Connect the centers of the two positioning domains in the externally separated state to obtain a first line segment, and determine the midpoint of the intersection points of the first line segment and the two positioning domains as the first valid point.
[0071] Specifically, as Figure 3 shown, when the positional relationship between positioning domain A and positioning domain B is an externally separated relationship, connect the centers of the two positioning domains in the externally separated state to obtain a first line segment. Determine the midpoint of the intersection points of the first line segment and the two positioning domains as the first valid point A1. Use this valid point A1 as the reference point between the two positioning domains to optimize the positioning accuracy.
[0072] S2032. When the pairwise positional relationship is externally tangent, generate a second valid point, and the second valid point is the externally tangent point of the two positioning domains.
[0073] Specifically, as Figure 4 shown, when the positional relationship between positioning domain A and positioning domain B is an externally tangent relationship, generate a second valid point A2, and the second valid point A2 is the externally tangent point of the two positioning domains. This valid point can be used as the boundary point between the two positioning domains to determine whether the position of the movable carrier is close to the boundary.
[0074] S2033. When the pairwise positional relationship is intersecting, generate a third valid point and a fourth valid point, and the third valid point and the fourth valid point are the intersection points of the two positioning domains.
[0075] Specifically, as Figure 5 shown, when the positional relationship between positioning domain A and positioning domain B is an intersecting relationship, generate a third valid point A3 and a fourth valid point A4, and these two valid points are the intersection points of the two positioning domains.
[0076] S2034. When the pairwise positional relationship is internally tangent, generate a fifth valid point, and the fifth valid point is the internally tangent point of the two positioning domains.
[0077] Specifically, as Figure 6 shown, when the positional relationship between positioning domain A and positioning domain B is an internally tangent relationship, generate a fifth valid point A5, and the fifth valid point A5 is the internally tangent point of the two positioning domains.
[0078] S2035. When the pairwise positional relationship is inclusion, generate a sixth valid point; the sixth valid point is determined as follows:
[0079] Determine the center of the positioning domain with the larger radius among the two positioning domains in the inclusion state as the first center;
[0080] The center of the positioning domain with the smaller radius among the two positioning domains in the included state is determined as the second center of the circle;
[0081] Determine the intersection of a ray that takes the first circle center as an endpoint and points to the second circle center and two positioning domains in an included state as a first intersection point and a second intersection point;
[0082] A midpoint between the first intersection point and the second intersection point is determined as the sixth valid point.
[0083] Specifically, Figure 6 As shown, when the positional relationship between the positioning domain A and the positioning domain B is included, the sixth valid point A6 is generated.
[0084] Through the above execution steps, no matter what position relationship the three positioning domains are in, 3-6 valid points will be generated. When the three positioning domains are not intersected, 3 valid points are generated, and when the three positioning domains intersect each other, 6 valid points are generated.
[0085] In step S204, three valid points are randomly selected from the valid point data set to form a pre-selected triangle, and valid triangles are selected according to the first screening strategy, and all valid triangles constitute a valid triangle data set.
[0086] The first screening strategy includes:
[0087] If the three valid points constituting the pre-selected triangle come from different positioning domains, the pre-selected triangle is a valid triangle, and all the valid triangles are stored in the valid triangle data set.
[0088] If any two of the three valid points constituting the pre-selected triangle come from the same positioning domain, the pre-selected triangle is an invalid triangle.
[0089] For example, Figure 8As shown in the figure, the positional relationships among the first positioning domain, the second positioning domain, and the third positioning domain are pairwise intersections. Therefore, there are 6 valid points in the three positioning domains, namely: A1, A2, B1, B2, C1, and C2. Selecting any 3 valid points can form 20 preselected triangles, namely: A1B1C1; A1B1C2; A1B2C1; A1B2C2; A2B1C1; A2B1C2; A2B2C1; A2B2C2; A1A2B1; A1A2B2; A1A2C1; A1A2C2; B1B2A1; B1B2A2; B1B2C1; B1B2C2; C1C2A1; C1C2A2; C1C2B1; C1C2B2. According to the first screening strategy, the three valid points of a valid triangle must come from different positioning domains. Therefore, 8 valid triangles are generated from the above 20 preselected triangles according to the first screening strategy, namely: A1B1C1; A1B1C2; A1B2C1; A1B2C2; A2B1C1; A2B1C2; A2B2C1; A2B2C2, and the rest are invalid triangles.
[0090] Exemplarily, as Figure 9 shown in the figure, the positioning domain with the center A and the positioning domain with the center B intersect pairwise, and the positioning domain with the center C is separated from the other two positioning domains. There are 4 valid points in the three positioning domains, namely: A1, B1, C1, and C2. Selecting any 3 valid points can form 4 preselected triangles, namely: A1B1C1; A1B1C2; C1C2A1; C1C2B1. According to the first screening strategy, C1 and C2 come from the same positioning domain. Therefore, 2 valid triangles are generated from the above 4 preselected triangles according to the first screening strategy, namely: A1B1C1 and A1B1C2.
[0091] From the above examples, it can be seen that no matter what the positional relationship among the three positioning domains is, 1 - 8 valid triangles will be generated.
[0092] In step S205, the optimal triangle is selected from the valid triangle dataset according to the second screening strategy, and the centroid position of the optimal triangle is obtained. The centroid position of the optimal triangle is the UWB tag position.
[0093] The second screening strategy includes:
[0094] Obtaining the perimeter data of all the valid triangles in the valid triangle dataset to obtain the longest perimeter of the valid triangle and the shortest perimeter of the valid triangle;
[0095] If the longest perimeter of the valid triangle exceeds a preset multiple of the shortest perimeter of the valid triangle, and / or, the longest perimeter of the valid triangle is greater than or equal to a preset threshold, then the longest perimeter of the valid triangle is eliminated;
[0096] The distance difference between the centroid position of the remaining valid triangles and the position of the UWB tag in the previous cycle is calculated, and the valid triangle with the smallest distance difference is selected as the optimal triangle.
[0097] The preset multiple is 2 times, and the preset threshold is 2000 mm. The triangles with too long perimeters are excluded by the second screening strategy, because these triangles may cause inaccurate positioning due to signal errors or interference.
[0098] For example, Figure 9 Taking the positional relationship of the three positioning domains as an example, the valid triangles are: A1B1C1 and A1B1C2. Calculate the perimeters of the valid triangles A1B1C1 and A1B1C2. If the number of valid triangles is greater than 2, it is also necessary to calculate the perimeters of all valid triangles in turn. It is calculated that the perimeter of triangle A1B1C1 is the longest, the perimeter of triangle A1B1C2 is the shortest, and the perimeter of triangle A1B1C1 is more than twice the perimeter of triangle A1B1C2. Therefore, triangle A1B1C1 is eliminated from the valid triangle data set. Calculate the distance difference between the centroid position of the remaining valid triangles and the position of the UWB tag in the previous cycle, and select the valid triangle with the smallest distance difference as the optimal triangle. Since only triangle A1B1C2 is left in this example, the step of comparing the centroid positions of the two cycles is omitted, and triangle A1B1C2 is obtained as the optimal triangle. Obtain the centroid position of the optimal triangle, and the centroid position of the optimal triangle is the UWB tag position.
[0099] In modern indoor positioning technology, traditional UWB-based positioning algorithms, for example, traditional triangle centroid algorithms require that three positioning domains (circular areas centered on the UWB base station) must intersect in pairs before the target position can be determined by calculating the centroid of the intersecting areas. In complex actual environments, such as in storage environments, due to signal interference, cargo accumulation or obstruction, unreasonable base station layout and other reasons, the signals of some base stations may not be able to directly reach the target area, so that the three positioning domains may not meet the conditions of intersecting in pairs. In this case, the traditional positioning algorithm will not work, resulting in positioning failure or a significant decrease in accuracy. In order to solve this problem, the present application proposes a new positioning method, which can obtain the target position by calculating valid points, screening valid triangles and optimizing centroid calculations even when the three circles do not intersect, significantly improving the scope of application and accuracy of positioning.
[0100] The present invention ensures reliable positioning under non-ideal geometric conditions by dynamically generating effective points and screening mechanisms, reduces computational complexity, and is more suitable for application in complex environments. The data missing problem when the three circles do not intersect is solved by effective point calculation, providing basic data for subsequent positioning calculations. The first screening strategy avoids interference from invalid triangles and reduces unnecessary calculations. The second screening strategy further selects the optimal triangle to ensure the reliability of the results. This step-by-step optimization design not only improves the accuracy and adaptability of positioning, but also reduces computational complexity, allowing the system to respond quickly in scenarios with high real-time requirements. For example, on an automated production line in a smart factory, robots need to obtain high-precision positioning information in real time to complete complex tasks. The low computational complexity design of the present invention can meet this real-time requirement and improve production efficiency.
[0101] This application is not only suitable for the field of warehousing and logistics, but can also be widely used in smart factories, indoor robot navigation, smart security and other fields. It has broad market application prospects and significant economic benefits.
[0102] Based on the same inventive concept, the embodiment of the present application also provides a UWB-based positioning device for implementing the above-mentioned. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above-mentioned method, so the specific limitations in one or more UWB-based positioning device embodiments provided below can refer to the limitations of the UWB-based positioning method above, and will not be repeated here.
[0103] In an exemplary embodiment, Figure 10 As shown, a UWB-based positioning device is provided, including:
[0104] The acquisition module 1010 is used to carry the UWB tag on a movable carrier, and arrange a first UWB base station, a second UWB base station, and a third UWB base station in a confined space, and when the movable carrier moves in the confined space, respectively obtain a first spatial metric, a second spatial metric, and a third spatial metric from the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag;
[0105] The determination module 1020 is configured to determine a first positioning domain according to the position coordinates of the first UWB base station and the first spatial metric, determine a second positioning domain according to the position coordinates of the second UWB base station and the second spatial metric, and determine a third positioning domain according to the position coordinates of the third UWB base station and the third spatial metric;
[0106] A generating module 1030, configured to generate a valid point data set according to a positional relationship between each of the first positioning domain, the second positioning domain, and the third positioning domain;
[0107] A first selection module 1040, configured to select any three valid points from the plurality of valid points to form a pre-selected triangle, and select a valid triangle according to a first screening strategy;
[0108] The second selection module 1050 is used to select an optimal triangle from the multiple valid triangles according to a second screening strategy, and obtain the centroid position of the optimal triangle, where the centroid position of the optimal triangle is the UWB tag position.
[0109] As an optional implementation manner, the UWB-based positioning device further includes:
[0110] The UWB tag periodically transmits UWB signals to the first UWB base station, the second UWB base station and the third UWB base station respectively at the speed of light.
[0111] As an optional implementation manner, the first positioning domain, the second positioning domain, and the third positioning domain are circular, and the generating module 1030 is specifically configured to:
[0112] When the positional relationship between the two is out of alignment, a first valid point is generated, and the first valid point is determined in the following manner:
[0113] Connecting the centers of the two positioning domains in an outwardly separated state to obtain a first line segment, and determining the midpoint of the intersection of the first line segment and the two positioning domains as the first valid point;
[0114] When the positional relationship between the two is tangent, a second valid point is generated, and the second valid point is the tangent point of the two positioning domains;
[0115] When the positional relationships between the two are intersecting, a third valid point and a fourth valid point are generated, and the third valid point and the fourth valid point are intersection points of two positioning domains;
[0116] When the positional relationship between the two is inscribed, a fifth effective point is generated, and the fifth effective point is the inscribed point of the two positioning domains;
[0117] When the pairwise position relationship is inclusive, a sixth valid point is generated, and the sixth valid point is determined by the following method:
[0118] The center of the positioning domain with a larger radius among the two positioning domains in the included state is determined as the first center of the circle;
[0119] The center of the positioning domain with the smaller radius among the two positioning domains in the included state is determined as the second center of the circle;
[0120] Determine the intersection of a ray that takes the first circle center as an endpoint and points to the second circle center and two positioning domains in an included state as a first intersection point and a second intersection point;
[0121] A midpoint between the first intersection point and the second intersection point is determined as the sixth valid point.
[0122] As an optional implementation, in terms of the first screening strategy, the first selection module 1040 is specifically used to:
[0123] If the three valid points constituting the pre-selected triangle are from different positioning domains, the pre-selected triangle is a valid triangle;
[0124] If any two of the three valid points constituting the pre-selected triangle come from the same positioning domain, the pre-selected triangle is an invalid triangle.
[0125] As an optional implementation, in terms of the second screening strategy, the second selection module 1050 is specifically used to:
[0126] Calculate the perimeters of all the valid triangles to obtain the longest valid triangle perimeter and the shortest valid triangle perimeter;
[0127] If the longest effective triangle perimeter exceeds a preset multiple of the shortest effective triangle perimeter, and / or the longest effective triangle perimeter is greater than or equal to a preset threshold, the longest effective triangle perimeter is eliminated;
[0128] The distance difference between the centroid position of the remaining valid triangles and the position of the UWB tag in the previous cycle is calculated, and the valid triangle with the smallest distance difference is selected as the optimal triangle.
[0129] As an optional implementation, the preset multiple is 2 times, and the preset threshold is 2000 mm.
[0130] Taking a smart car as a scenario, a UWB tag is mounted on the car key of the car. Multiple car keys can be set, and the positioning method of each car key is as described in this application. Car keys include but are not limited to master keys, spare keys and other smart keys with UWB functions. The UWB tag periodically transmits UWB signals to the surroundings at an extremely high frequency, that is, transmits UWB signals to the first UWB base station, the second UWB base station and the third UWB base station. The three UWB base stations are arranged in different positions in the car, for example, the first UWB base station is set at the front of the vehicle (such as near the center console or instrument panel), the second UWB base station is set in the middle of the vehicle (such as the center of the roof or the B-pillar position), and the third UWB base station is set at the rear of the vehicle (such as the trunk or the rear bumper). The vehicle can accurately determine the position and distance of the car key in real time by receiving the UWB signal transmitted by the car key through the first UWB base station, the second UWB base station and the third UWB base station, thereby realizing the vehicle startup and intelligent function control operations. When the owner approaches the vehicle with a car key equipped with a UWB tag, the UWB base station in the car (such as the first base station located at the front of the car, the second base station located at the B-pillar of the door, and the third base station located at the rear of the car) will periodically receive the UWB signal emitted by the car key. Distance judgment: The vehicle system calculates the distance between the car key and each base station by measuring the flight time (Time of Flight, ToF) of the UWB signal. When the car key enters the preset unlocking area of the vehicle (for example, within 1-2 meters from the vehicle), the system will determine whether the location and distance of the car key meet the unlocking conditions. Once the unlocking conditions are met, the vehicle's door locks will automatically unlock, and the vehicle may inform the owner that the vehicle has been unlocked by flashing the turn signal or issuing a prompt tone.
[0131] When the owner enters the car, the UWB base station in the car will continue to detect the location of the car key. The vehicle system will determine whether the car key is in the car and whether it is near the driver's seat (for example, within a certain range from the vehicle start button or steering wheel). When the location of the car key is confirmed to be in the car and meets the start conditions, the vehicle will authorize the start. The owner only needs to step on the brake and press the start button to start the vehicle.
[0132] In practical applications, the environment of confined spaces (such as warehouses, factories, and vehicles) is often complex and changeable, and there may be unfavorable factors such as signal interference, obstructions, or reflective surfaces. This application can effectively deal with these non-ideal geometric conditions by dynamically generating effective points and screening mechanisms, identifying and eliminating those interfered signals or invalid positioning points, and ensuring that the positioning system can still work stably in complex environments.
[0133] The positioning method of this application is not only applicable to large confined spaces such as indoor warehouses and factories, but also to small confined spaces such as inside a car. By dynamically generating valid points and screening mechanisms, the system can automatically adapt to the geometric conditions and signal characteristics in different scenarios without the need for complex reconfiguration or upgrades for each scenario.
[0134] By reducing the computational complexity, the positioning system can complete the positioning task faster, thus providing users with a faster response. For example, in a smart car, the keyless entry and start function of the car key can be realized more quickly, improving the user experience.
[0135] In an exemplary embodiment, a computer device is provided. The computer device may be a server or a terminal. The internal structure diagram thereof may be as follows: Figure 11 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store first spatial measurement, second spatial measurement and third spatial measurement data. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a UWB-based positioning method is implemented.
[0136] Those skilled in the art will understand that Figure 11 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.
[0137] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.
[0138] In an exemplary embodiment, a computer-readable storage medium is provided, storing a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.
[0139] In an exemplary embodiment, a computer program product is provided, including a computer program, and when the computer program is executed by a processor, the steps in the above method embodiments are implemented.
[0140] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.
[0141] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM may be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM).
[0142] The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. The non-relational database may include a distributed database based on blockchain, etc., but is not limited thereto. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but is not limited thereto.
[0143] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0144] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.
Claims
1. A positioning method based on UWB, characterized in that: The UWB-based positioning method includes: The UWB tag is mounted on a movable carrier, and a first UWB base station, a second UWB base station, and a third UWB base station are arranged in a confined space. When the movable carrier moves in the confined space, a first spatial measurement, a second spatial measurement, and a third spatial measurement from the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag are respectively obtained; Determine a first positioning domain according to the position coordinates of the first UWB base station and the first spatial metric, determine a second positioning domain according to the position coordinates of the second UWB base station and the second spatial metric, and determine a third positioning domain according to the position coordinates of the third UWB base station and the third spatial metric; Generate a valid point data set according to the positional relationship between the first positioning domain, the second positioning domain and the third positioning domain; Randomly select three valid points from the valid point data set to form a pre-selected triangle, and select a valid triangle according to a first screening strategy, and all the valid triangles constitute a valid triangle data set; An optimal triangle is selected from the valid triangle data set according to a second screening strategy, and a centroid position of the optimal triangle is obtained, where the centroid position of the optimal triangle is a UWB tag position.
2. The UWB-based positioning method according to claim 1, characterized in that: Before the step of respectively acquiring the first spatial measurement, the second spatial measurement and the third spatial measurement from the first UWB base station, the second UWB base station and the third UWB base station to the UWB tag, the UWB-based positioning method further includes: The UWB tag periodically transmits UWB signals to the first UWB base station, the second UWB base station and the third UWB base station respectively at the speed of light.
3. The UWB-based positioning method according to claim 1, characterized in that: The valid point data set includes a first valid point, a second valid point, a third valid point, a fourth valid point, a fifth valid point and a sixth valid point, the first positioning domain, the second positioning domain and the third positioning domain are circular, and generating the valid point data set according to the positional relationship between the first positioning domain, the second positioning domain and the third positioning domain comprises: When the positional relationship between the two is out of alignment, a first valid point is generated, and the first valid point is determined in the following manner: Connecting the centers of the two positioning domains in an outwardly separated state to obtain a first line segment, and determining the midpoint of the intersection of the first line segment and the two positioning domains as the first valid point; When the positional relationship between the two is tangent, a second valid point is generated, and the second valid point is the tangent point of the two positioning domains; When the positional relationships between the two are intersecting, a third valid point and a fourth valid point are generated, and the third valid point and the fourth valid point are intersection points of two positioning domains; When the positional relationship between the two is inscribed, a fifth effective point is generated, and the fifth effective point is the inscribed point of the two positioning domains; When the pairwise position relationship is inclusive, a sixth valid point is generated, and the sixth valid point is determined by the following method: The center of the positioning domain with a larger radius among the two positioning domains in the included state is determined as the first center of the circle; The center of the positioning domain with the smaller radius among the two positioning domains in the included state is determined as the second center of the circle; Determine the intersection of a ray that takes the first circle center as an endpoint and points to the second circle center and two positioning domains in an included state as a first intersection point and a second intersection point; A midpoint between the first intersection point and the second intersection point is determined as the sixth valid point.
4. The UWB-based positioning method according to claim 1, characterized in that: The first screening strategy includes: If the three valid points constituting the pre-selected triangle are from different positioning domains, the pre-selected triangle is a valid triangle, and all the valid triangles are stored in the valid triangle data set; If any two of the three valid points constituting the pre-selected triangle come from the same positioning domain, the pre-selected triangle is an invalid triangle.
5. The UWB-based positioning method according to claim 1, characterized in that: The second screening strategy includes: Acquire the perimeter data of all the valid triangles in the valid triangle data set to obtain the longest valid triangle perimeter and the shortest valid triangle perimeter; If the longest effective triangle perimeter exceeds a preset multiple of the shortest effective triangle perimeter, and / or the longest effective triangle perimeter is greater than or equal to a preset threshold, the longest effective triangle perimeter is eliminated; The distance difference between the centroid position of the remaining valid triangles and the position of the UWB tag in the previous cycle is calculated, and the valid triangle with the smallest distance difference is selected as the optimal triangle.
6. The UWB-based positioning method according to claim 5, characterized in that: The preset multiple is 2 times, and the preset threshold is 2000 mm.
7. A positioning device based on UWB, characterized in that: The UWB-based positioning device comprises: an acquisition module, configured to carry a UWB tag on a movable carrier, and simultaneously arrange a first UWB base station, a second UWB base station, and a third UWB base station in a confined space, and when the movable carrier moves in the confined space, respectively acquire a first spatial metric, a second spatial metric, and a third spatial metric from the first UWB base station, the second UWB base station, and the third UWB base station to the UWB tag; a determination module, configured to determine a first positioning domain according to the position coordinates of the first UWB base station and the first spatial metric, determine a second positioning domain according to the position coordinates of the second UWB base station and the second spatial metric, and determine a third positioning domain according to the position coordinates of the third UWB base station and the third spatial metric; A generating module, configured to generate a valid point data set according to a positional relationship between the first positioning domain, the second positioning domain and the third positioning domain; A first selection module, configured to select any three valid points from the valid point data set to form a pre-selected triangle, and select a valid triangle according to a first screening strategy, wherein all the valid triangles form a valid triangle data set; The second selection module is used to select the optimal triangle from the valid triangle data set according to the second screening strategy, and obtain the centroid position of the optimal triangle, where the centroid position of the optimal triangle is the UWB tag position.
8. A computer device comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the UWB-based positioning method according to any one of claims 1 to 6.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the UWB-based positioning method described in any one of claims 1 to 6 are implemented.
10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the UWB-based positioning method described in any one of claims 1 to 6 are implemented.