Target object positioning method, electronic equipment and medium

Abstract

The invention discloses a target object positioning method, electronic equipment and a medium, and relates to the technical field of positioning. Compared with a mode of positioning the target object only depending on one of a UWB signal and a BLE signal, the method provided by the invention has the advantages that the target object is positioned based on the UWB signal and the BLE signal together, so that the accuracy of positioning the target object is improved; secondly, according to the method, a fingerprint algorithm (that is, comparison with a fingerprint database) is combined with a geometric positioning algorithm, so that better anti-interference performance is achieved, and the accuracy of target object positioning is further improved; thirdly, UWB signals and BLE signals acquired by each anchor point when a plurality of acquisition points are stored in the fingerprint database in advance; the UWB signals and the BLE signals are acquired by the anchor points at multiple acquisition points, and the instability of signal propagation in a complex environment can be effectively dealt with by the multi-point acquisition mode, so that the adaptability and the positioning precision of a positioning algorithm to the complex environment are improved.

Description

Technical Field

[0001] The present invention relates to the field of positioning technology, and in particular to a method, electronic equipment and medium for positioning a target object. Background Art

[0002] In indoor multiple base stations and outdoor open environments, related technologies use cameras and WIFI technology to locate target objects.

[0003] In practice, the target object may be in a complex environment. If the camera and WIFI technology are still used for positioning, the presence of other objects in the complex environment will interfere with the positioning of the target object, resulting in reduced accuracy in positioning the target object.

[0004] It can be seen that how to improve the accuracy of target object positioning is a technical problem that people in this field urgently need to solve. Summary of the Invention

[0005] The purpose of the present invention is to provide a method, electronic device and medium for locating a target object, so as to solve the technical problem of poor accuracy in locating a target object in a complex environment.

[0006] To solve the above technical problems, the present invention provides a method for locating a target object, wherein a UWB module and a BLE module are installed on the target object; the method comprises:

[0007] Acquire a current UWB signal and a current BLE signal collected by each anchor point when the target object is at the current position; wherein the number of the anchor points is multiple, and a UWB module and a BLE module are deployed at each anchor point;

[0008] Comparing the current UWB signal and the current BLE signal with the UWB signals and BLE signals collected by each anchor point when the target object is located at multiple collection points, recorded in the fingerprint library, to output a first result for representing the current position coordinates;

[0009] Using a geometric positioning algorithm on the current UWB signal and the current BLE signal collected by each anchor point, output a second result for representing the current position coordinates;

[0010] The final coordinates of the current position are determined according to the first result and the second result to complete the positioning of the target object.

[0011] Exemplarily, the anchor points are located at least at the center point of the vehicle, the left front position of the vehicle, the right front position of the vehicle, the left rear position of the vehicle, and the right rear position of the vehicle;

[0012] The collection points are located in an area within the vehicle interior and outside the vehicle body within a preset distance; when the collection points are located in an area within a preset distance outside the vehicle body, the density of the sampling points close to the vehicle body area is greater than the density of the sampling points far from the vehicle body area.

[0013] Exemplarily, establishing the fingerprint database includes:

[0014] Acquire UWB signals and BLE signals collected by each anchor point when the target object is in the current posture and the target object is located at multiple collection points; record the signal set at each collection point when the target object is in the current posture to form a fingerprint library for the current posture; wherein the signal set at each collection point is composed of the UWB signals and BLE signals collected by each anchor point;

[0015] Adjust the current posture to serve as a new current posture, return to the step of obtaining UWB signals and BLE signals collected by each anchor point when the target object is in the current posture and the target object is located at multiple collection points, and stop returning after obtaining the fingerprint library under all postures;

[0016] The comparing the current UWB signal and the current BLE signal with the UWB signals and BLE signals collected by each anchor point when the target object is located at multiple collection points recorded in the fingerprint library to output a first result for representing the current position coordinates includes:

[0017] Calculate the difference between the current UWB signal and the current BLE signal and the signal set at each collection point recorded in the fingerprint library under each posture, so as to obtain the minimum difference among all differences under each posture;

[0018] The coordinates of the target acquisition point corresponding to the minimum difference value in each posture are obtained as a first result for representing the current position coordinates.

[0019] Exemplarily, the using a geometric positioning algorithm to output a second result representing the current position coordinates for the current UWB signal and the current BLE signal collected from each anchor point includes:

[0020] Sort the current BLE signals collected by each anchor point in order of BLE signal value;

[0021] Obtain at least two target anchor points with the largest BLE signal values ​​from the remaining anchor points; wherein the remaining anchor points are the anchor points other than the pre-set main anchor point from all anchor points;

[0022] The radius of the circle formed with each target anchor point as the center is determined based on the conversion relationship between BLE signal and distance;

[0023] Outputting a second result representing the current position coordinates determined according to the BLE signal based on the positional relationship of the circles corresponding to the target anchor points;

[0024] Sort the current UWB signals collected by each anchor point in order of UWB signal value;

[0025] Obtain at least two target anchor points with the largest UWB signal values ​​from the remaining anchor points; wherein the remaining anchor points are anchor points other than the pre-set main anchor point from all anchor points;

[0026] The radius of the circle formed with each target anchor point as the center is determined based on the conversion relationship between the UWB signal and the distance;

[0027] A second result for representing the current position coordinates determined according to the UWB signal is output according to the positional relationship of the circles corresponding to the target anchor points.

[0028] Exemplarily, there are three target anchor points, and outputting a second result for representing the current position coordinates determined according to the BLE signal / UWB signal according to the positional relationship of the circles corresponding to the target anchor points includes:

[0029] If the detected positional relationship of the circles corresponding to the target anchor points is such that the three circles do not intersect each other, then obtain the two target anchor points with the largest current BLE signal / UWB signal among the three target anchor points; obtain a straight line connecting the two target anchor points with the largest current BLE signal / UWB signal; obtain the intersection of the straight line and the circle; and output the coordinates of the two closest points among all the intersections as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates;

[0030] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the three circles are not contained and intersect or are tangent to each other, or if it is detected that two of the three circles are contained and intersect or are tangent to another circle, then the coordinates of all the intersection points or the coordinates of the tangent points are used as the second result for representing the current position coordinates determined according to the BLE signal / UWB signal;

[0031] If it is detected that the positional relationship of the circles corresponding to the target anchor points is such that two of the three circles are in a containment relationship and do not intersect with the other circle, then the anchor point corresponding to the minimum BLE signal / UWB signal among the anchor points corresponding to the two circles in the containment relationship is obtained; the coordinates of the anchor point corresponding to the minimum BLE signal / UWB signal are used as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates;

[0032] If the detected positional relationship of the circles corresponding to the target anchor points is such that one of the three circles completely contains the other two circles and the two circles do not intersect, the coordinates of the centers of the three circles are weighted averaged as the second result representing the current position coordinates determined based on the BLE signal / UWB signal;

[0033] If the detected positional relationship of the circles corresponding to the target anchor points is such that one of the three circles completely contains the other two circles, and the two circles intersect or are tangent to each other, then the coordinates of all the intersection points or tangent points of the two intersecting or tangent circles are used as the second result for representing the current position coordinates determined based on the BLE signal / UWB signal;

[0034] If it is detected that the positional relationship of the circles corresponding to the target anchor points is completely contained by the three circles, then the anchor point corresponding to the maximum BLE signal / UWB signal among the anchor points corresponding to the three circles is obtained; the coordinates of the anchor point corresponding to the maximum BLE signal / UWB signal are used as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates;

[0035] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the three circles are tangent to the same point, the coordinates of all the tangent points are used as the second result for representing the current position coordinates determined according to the BLE signal / UWB signal;

[0036] If it is detected that the positional relationship of the circles corresponding to each target anchor point is that two of the three circles are in an inclusion relationship and have a tangent point or intersection with another circle, the coordinates of the intersection point or the tangent point are used as the second result determined according to the BLE signal / UWB signal for characterizing the current position coordinates.

[0037] Exemplarily, there are two target anchor points, and outputting a second result for representing the current position coordinates determined according to the UWB signal based on the positional relationship of the circles corresponding to the target anchor points includes:

[0038] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are completely contained, or if it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are separated, then the target anchor point with the largest UWB signal among the two target anchor points is obtained; and the coordinates of the anchor point corresponding to the maximum UWB signal are used as the second result determined according to the UWB signal for representing the coordinates of the current position;

[0039] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are tangent to each other, the coordinates of the tangent points are used as the second result determined according to the UWB signal for representing the current position coordinates;

[0040] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles intersect, the coordinates of the intersection point are used as the second result determined according to the UWB signal and used to represent the current position coordinates.

[0041] Exemplarily, determining the final coordinates of the current position according to the first result and the second result to complete the positioning of the target object includes:

[0042] Obtain the sum of the Euclidean distances between each coordinate in the first result and all coordinates in the second result;

[0043] Obtaining the first target coordinates in the first result and all coordinates in the second result corresponding to the minimum sum among all sums;

[0044] Obtaining the Euclidean distance between the first target coordinates and each coordinate in the second result;

[0045] Eliminate the coordinates in the second result corresponding to when the Euclidean distance is greater than a preset distance value, and retain the second target coordinates in the second result corresponding to when the Euclidean distance is less than or equal to the preset distance value;

[0046] Performing weighted averaging processing on the first target coordinates and the second target coordinates;

[0047] The coordinate point after weighted average processing is used as the final coordinate of the current position to complete the positioning of the target object.

[0048] Exemplarily, before performing weighted averaging on the first target coordinates and the second target coordinates, the method further includes:

[0049] If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is less than or equal to the first distance value, setting the weight corresponding to the first target coordinate to be the same as the weight corresponding to the second target coordinate;

[0050] If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is greater than a first distance value and less than or equal to a second distance value, then setting the weight corresponding to the first target coordinate to a first weight and setting the weight corresponding to the second target coordinate to a second weight; the first weight is less than the second weight;

[0051] If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is greater than the second distance value, the weight corresponding to the first target coordinate is set to the third weight and the weight corresponding to the second target coordinate is set to the fourth weight; the third weight is less than the fourth weight, and the first weight is greater than the third weight.

[0052] In order to solve the above technical problems, the present invention further provides an electronic device, comprising:

[0053] memory for storing computer programs;

[0054] A processor is configured to implement the steps of the above-mentioned method for locating a target object when executing the computer program.

[0055] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned method for locating a target object are implemented.

[0056] The method for locating a target object provided by the present invention has a UWB module and a BLE module installed on the target object. First, the method realizes the positioning of the target object based on the UWB signal and the BLE signal. Compared with relying solely on one of the UWB signal and the BLE signal to locate the target object, the method locates the target object based on the UWB signal and the BLE signal, thereby improving the accuracy of locating the target object; secondly, when the target object is located based on the UWB signal and the BLE signal, the current UWB signal and the current BLE signal collected by multiple anchor points when the target object is at the current position are compared with the UWB signal and the BLE signal collected by each anchor point when the target object is located at multiple collection points recorded in the fingerprint library to output a first result for characterizing the coordinates of the current position; thereafter, the current UWB signal and the current BLE signal collected by each anchor point are used to output a second result for characterizing the coordinates of the current position using a geometric positioning algorithm. Finally, the final coordinates of the current position are determined based on the first result and the second result, thereby completing the positioning of the target object. Compared to using a single positioning algorithm, the method provided by the present invention combines a fingerprint algorithm (i.e., comparison with a fingerprint library) with a geometric positioning algorithm, resulting in improved anti-interference capabilities and further enhancing the accuracy of target object positioning. Furthermore, the fingerprint library pre-stores the UWB and BLE signals collected by each anchor point when multiple acquisition points are used. Collecting UWB and BLE signals at each anchor point allows for more comprehensive capture of signal variations at different locations and directions. This multi-point acquisition approach effectively addresses the instability of signal propagation in complex environments, thereby improving the positioning algorithm's adaptability and accuracy.

[0057] In addition, the present invention also provides an electronic device and a computer-readable storage medium, which have the same or corresponding technical features as the above-mentioned method for locating a target object, and have the same effects as above. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] In order to more clearly illustrate the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0059] Figure 1 A flowchart of a method for locating a target object provided by an embodiment of the present invention;

[0060] Figure 2 A schematic diagram of the arrangement of vehicle anchor points provided by an embodiment of the present invention;

[0061] Figure 3 A schematic diagram of in-vehicle data collection points provided by an embodiment of the present invention;

[0062] Figure 4 A schematic diagram of off-vehicle data collection points provided by an embodiment of the present invention;

[0063] Figure 5 A schematic diagram of a coordinate arrangement provided by an embodiment of the present invention;

[0064] Figure 6 A flowchart of a method for generating a fingerprint database provided by an embodiment of the present invention;

[0065] Figure 7 A schematic diagram of a first partial three-circle position relationship provided by an embodiment of the present invention;

[0066] Figure 8 A schematic diagram of a second partial three-circle position relationship provided by an embodiment of the present invention;

[0067] Figure 9 A schematic diagram of a third partial three-circle position relationship provided by an embodiment of the present invention;

[0068] Figure 10 A schematic diagram of the positional relationship between two circles provided in an embodiment of the present invention;

[0069] Figure 11 A flowchart of a positioning fusion method provided by an embodiment of the present invention;

[0070] Figure 12 A flowchart of an overall positioning method provided by an embodiment of the present invention;

[0071] Figure 13 This is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0072] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0073] The core of the present invention is to provide a method, electronic device and medium for locating a target object to solve the technical problem of poor accuracy in locating a target object in a complex environment.

[0074] In order to enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods. Figure 1 A flow chart of a method for locating a target object provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method includes:

[0075] S10: Acquire the current UWB signal and the current BLE signal collected by each anchor point when the target object is at the current position;

[0076] S11: comparing the current UWB signal and the current BLE signal with the UWB signals and BLE signals collected by each anchor point when the target object is located at multiple collection points recorded in the fingerprint library, to output a first result for representing the current position coordinates;

[0077] S12: Using a geometric positioning algorithm on the current UWB signal and the current BLE signal collected by each anchor point to output a second result for representing the current position coordinates;

[0078] S13: Determine the final coordinates of the current position according to the first result and the second result to complete the positioning of the target object.

[0079] An Ultra-Wideband Module (UWB) module and a Bluetooth Low Energy (BLE) module are installed on the target object. There is no limit on the target object, such as locating the car key. There are multiple anchor points, and each anchor point is deployed with a UWB module and a BLE module. There is no limit on the number of anchor points. The car key is usually located inside the car or outside the car. In order to locate the car key, the anchor points are at least located at the center of the vehicle, the left front position of the vehicle, the right front position of the vehicle, the left rear position of the vehicle, and the right rear position of the vehicle. For example Figure 2 As shown, Figure 2 A schematic diagram of the arrangement of vehicle anchor points provided by an embodiment of the present invention. The anchor point located at the center of the vehicle is called the main anchor point.

[0080] To locate the target object, a fingerprint positioning algorithm (i.e., comparison with a fingerprint database) is first used for positioning. The fingerprint database records the UWB and BLE signals collected by each anchor point when the target object is located at multiple collection points. UWB signals can be Time of Flight (TOF) or Received Signal Strength Indicator (RSSI), and BLE signals can be TOF or RSSI. To improve positioning accuracy, collection points are located within the vehicle interior and within a preset distance outside the vehicle. When collection points are within a preset distance outside the vehicle, the density of sampling points near the vehicle body is greater than that of sampling points farther away. The preset distance is not limited and is determined based on actual conditions. Figure 3 A schematic diagram of in-vehicle data collection points provided by an embodiment of the present invention. Figure 3 In the process, the data collection points in the car are evenly distributed. Figure 4 A schematic diagram of an off-vehicle data collection point provided by an embodiment of the present invention, such as Figure 4 As shown in the figure, the closer to the vehicle body, the greater the density of collection points; the farther away from the vehicle body, the smaller the density of collection points.

[0081] In practice, the target object may be in different postures, which will have a significant impact on the UWB and BLE signal values, thereby affecting the positioning accuracy. Therefore, in order to solve the large errors in the positioning results under different postures, the fingerprint library is established in the implementation, including:

[0082] Acquire the UWB signal and BLE signal collected by each anchor point when the target object is in the current posture and the target object is located at multiple collection points; record the signal set at each collection point when the target object is in the current posture to form a fingerprint library for the current posture; where the signal set at each collection point is composed of the UWB signal and BLE signal collected by each anchor point;

[0083] Adjust the current posture to be the new current posture, return to the step of obtaining the UWB signal and BLE signal collected by each anchor point when the target object is in the current posture and the target object is located at multiple collection points, and stop returning until the fingerprint library under all postures is obtained.

[0084] There is no restriction on the coordinates of the collection points. Figure 5 A schematic diagram of a coordinate arrangement provided by an embodiment of the present invention is shown as follows: Figure 5 As shown in the figure, a coordinate system is established with the main anchor point as the origin and the vehicle head direction as the positive direction of the y-axis. The subsequent collection points are assigned coordinates during calibration according to this coordinate system.

[0085] Here, the process of generating the fingerprint library is described by taking the UWB signal used as the TOF signal and the BLE signal used as the RSSI signal as an example. Figure 6 A flow chart of a method for generating a fingerprint database provided by an embodiment of the present invention is shown in FIG. Figure 6 As shown, the method includes:

[0086] S14: Establish a coordinate system and determine the coordinates of the collection points;

[0087] S15: Collect the UWB TOF value and BLE RSSI value at the corresponding coordinates;

[0088] S16: Calculate the average BLE RSSI value of each anchor point at each coordinate;

[0089] S17: Calculate the average of the non-zero UWB TOF values ​​of each anchor point at each coordinate;

[0090] S18: Write the coordinate point, as well as the corresponding UWB TOF non-zero average value and the average value of BLE RSSI.

[0091] After the fingerprint library is established, the current UWB signal and the current BLE signal are compared with the UWB signal and BLE signal collected by each anchor point when the target object is located at multiple collection points recorded in the fingerprint library to output a first result for representing the current position coordinates, including:

[0092] Calculate the difference between the current UWB signal and the current BLE signal and the signal set at each collection point recorded in the fingerprint library under each posture, so as to obtain the minimum difference among all the differences under each posture;

[0093] The coordinates of the target acquisition point corresponding to the minimum difference value under each posture are obtained as a first result for representing the current position coordinates.

[0094] After the fingerprint positioning algorithm outputs the first result for representing the current position coordinates, the geometric positioning algorithm is continued to output the second result for representing the current position coordinates. In implementation, the geometric positioning algorithm is used to output the second result for representing the current position coordinates for the current UWB signal and the current BLE signal collected by each anchor point, including:

[0095] Sort the current BLE signals collected by each anchor point in order of BLE signal value;

[0096] Obtain at least two target anchor points with the largest BLE signal values ​​from the remaining anchor points; wherein the remaining anchor points are the anchor points other than the pre-set main anchor point from all anchor points;

[0097] The radius of the circle formed with each target anchor point as the center is determined based on the conversion relationship between BLE signal and distance;

[0098] Outputting a second result representing the current position coordinates determined according to the BLE signal based on the positional relationship of the circles corresponding to the target anchor points;

[0099] Sort the current UWB signals collected by each anchor point in order of UWB signal value;

[0100] Obtain at least two target anchor points with the largest UWB signal values ​​from the remaining anchor points; wherein the remaining anchor points are anchor points other than the pre-set main anchor point from all anchor points;

[0101] The radius of the circle formed with each target anchor point as the center is determined based on the conversion relationship between the UWB signal and the distance;

[0102] A second result for representing the current position coordinates determined according to the UWB signal is output according to the positional relationship of the circles corresponding to the target anchor points.

[0103] There are three target anchor points, and there are various positional relationships of the circles corresponding to the target anchor points. Figure 7 This is a schematic diagram of the first partial three-circle position relationship provided by an embodiment of the present invention. Figure 7 As shown in (a) to (h). Figure 8 Schematic diagram of the second partial three-circle position relationship provided by the embodiment of the present invention. Figure 8 As shown in (i) to (p). Figure 9 This is a schematic diagram of the third partial three-circle position relationship provided by an embodiment of the present invention. Figure 9 As shown in (q) to (x).

[0104] Outputting a second result representing the current position coordinates determined according to the BLE signal / UWB signal based on the positional relationship of the circles corresponding to the target anchor points includes:

[0105] If the detected positional relationship of the circles corresponding to the target anchor points is such that the three circles do not intersect each other, then obtain the two target anchor points with the largest current BLE signal / UWB signal among the three target anchor points; obtain a straight line connecting the two target anchor points with the largest current BLE signal / UWB signal; obtain the intersection of the straight line and the circle; and output the coordinates of the two closest points among all the intersections as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates;

[0106] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the three circles are not contained and intersect or are tangent to each other, or if it is detected that two of the three circles are contained and intersect or are tangent to another circle, then the coordinates of all the intersection points or the coordinates of the tangent points are used as the second result for representing the current position coordinates determined according to the BLE signal / UWB signal;

[0107] If it is detected that the positional relationship of the circles corresponding to the target anchor points is such that two of the three circles are in a containment relationship and do not intersect with the other circle, then the anchor point corresponding to the minimum BLE signal / UWB signal among the anchor points corresponding to the two circles in the containment relationship is obtained; the coordinates of the anchor point corresponding to the minimum BLE signal / UWB signal are used as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates;

[0108] If the detected positional relationship of the circles corresponding to the target anchor points is such that one of the three circles completely contains the other two circles and the two circles do not intersect, the coordinates of the centers of the three circles are weighted averaged as the second result representing the current position coordinates determined based on the BLE signal / UWB signal;

[0109] If the detected positional relationship of the circles corresponding to the target anchor points is such that one of the three circles completely contains the other two circles, and the two circles intersect or are tangent to each other, then the coordinates of all the intersection points or tangent points of the two intersecting or tangent circles are used as the second result for representing the current position coordinates determined based on the BLE signal / UWB signal;

[0110] If it is detected that the positional relationship of the circles corresponding to the target anchor points is completely contained by the three circles, then the anchor point corresponding to the maximum BLE signal / UWB signal among the anchor points corresponding to the three circles is obtained; the coordinates of the anchor point corresponding to the maximum BLE signal / UWB signal are used as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates;

[0111] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the three circles are tangent to the same point, the coordinates of all the tangent points are used as the second result for representing the current position coordinates determined according to the BLE signal / UWB signal;

[0112] If it is detected that the positional relationship of the circles corresponding to each target anchor point is that two of the three circles are in an inclusion relationship and have a tangent point or intersection with another circle, the coordinates of the intersection point or the tangent point are used as the second result determined according to the BLE signal / UWB signal for characterizing the current position coordinates.

[0113] There are two target anchor points, and there are multiple positional relationships of the circles corresponding to the target anchor points. Figure 10A schematic diagram of the position relationship between two circles provided in an embodiment of the present invention. Figure 10 As shown in (a) to (e) in FIG. Outputting a second result for representing the current position coordinates determined according to the UWB signal based on the positional relationship of the circles corresponding to the target anchor points includes:

[0114] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are completely contained, or if it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are separated, then the target anchor point with the largest UWB signal among the two target anchor points is obtained; and the coordinates of the anchor point corresponding to the maximum UWB signal are used as the second result determined according to the UWB signal for representing the coordinates of the current position;

[0115] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are tangent to each other, the coordinates of the tangent points are used as the second result determined according to the UWB signal for representing the current position coordinates;

[0116] If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles intersect, the coordinates of the intersection point are used as the second result determined according to the UWB signal and used to represent the current position coordinates.

[0117] After obtaining a first result for representing the coordinates of the current position and a second result for representing the coordinates of the current position, determining the final coordinates of the current position according to the first result and the second result to complete the positioning of the target object includes:

[0118] Get the sum of the Euclidean distances between each coordinate in the first result and all coordinates in the second result;

[0119] Obtain the first target coordinate in the first result and all coordinates in the second result corresponding to the minimum sum among all sums;

[0120] Get the Euclidean distance between the first target coordinate and each coordinate in the second result;

[0121] Eliminate the coordinates in the second result corresponding to when the Euclidean distance is greater than the preset distance value, and retain the second target coordinates in the second result corresponding to when the Euclidean distance is less than or equal to the preset distance value;

[0122] Performing weighted averaging processing on the first target coordinates and the second target coordinates;

[0123] The coordinate point after weighted average processing is used as the final coordinate of the current position to complete the positioning of the target object.

[0124] In order to improve the accuracy of positioning, before performing weighted averaging processing on the first target coordinates and the second target coordinates, the following steps are further included:

[0125] If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is less than or equal to the first distance value, then setting the weight corresponding to the first target coordinate to be the same as the weight corresponding to the second target coordinate;

[0126] If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is greater than the first distance value and less than or equal to the second distance value, then the weight corresponding to the first target coordinate is set to the first weight and the weight corresponding to the second target coordinate is set to the second weight; the first weight is less than the second weight;

[0127] If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is greater than the second distance value, the weight corresponding to the first target coordinate is set to the third weight and the weight corresponding to the second target coordinate is set to the fourth weight; the third weight is less than the fourth weight, and the first weight is greater than the third weight.

[0128] Figure 11 A flowchart of a positioning fusion method provided by an embodiment of the present invention is shown in FIG. Figure 11 As shown, the method includes:

[0129] S19: taking the coordinates obtained by the fingerprint algorithm and the geometric algorithm as input;

[0130] S20: calculate Euclidean distance;

[0131] S21: Eliminate unreasonable distances;

[0132] S22: define weights;

[0133] S23: Find the coordinates that minimize the objective function.

[0134] Figure 12 A flowchart of an overall positioning method provided by an embodiment of the present invention is shown in FIG. Figure 12 As shown, the method includes:

[0135] S24: forming a fingerprint database and geometric algorithm;

[0136] S25: Input multiple anchor point UWB TOF and BLE RSSI values;

[0137] S26: Obtain fingerprint positioning results and obtain geometric positioning results;

[0138] S27: Output the final result through the fusion algorithm.

[0139] In order to help those skilled in the art better understand the above-mentioned target positioning method, the following continues to use the scenario where the car key is usually located inside the car or outside the car as an example to illustrate the entire process of the vehicle key positioning method based on UWB and BLE multi-nodes. The vehicle key positioning method combining UWB and BLE provided by the present invention specifically includes the following steps:

[0140] 1. Install UWB and BLE modules at the vehicle's front left, front right, rear left, rear right, and main anchor points.

[0141] 2. Collecting UWB TOF values ​​and BLE RSSI values ​​at multiple points inside and outside the vehicle in a dense outdoor parking lot to form calibration data can effectively make up for the regional limitations of the algorithm. Collecting data in the presence of noise and interference can serve as a foundation for subsequent improvement, which can effectively improve the algorithm's anti-interference ability.

[0142] 3. Establish a fingerprint library under different postures, eliminate unreasonable data and calculate the average based on the rules of the fingerprint algorithm to form the fingerprint library, and use this algorithm as one of the algorithms to increase credibility.

[0143] 4. Use BLE RSSI and UWB TOF values ​​for geometric positioning, i.e., three-circle or two-circle positioning, to calculate the coordinate points separately. Based on the geometric algorithm, the specific coordinate points are obtained to enhance the credibility of the algorithm.

[0144] 5. The calculated coordinate points are fused and the final positioning result is obtained by combining weighted average and least squares method. The calculation results of the two algorithms are comprehensively considered to increase the anti-interference ability of the final algorithm result.

[0145] In practice, the vehicle key positioning method combining UWB and BLE specifically includes:

[0146] 1. Install anchor points at the corresponding positions of the vehicle. The main anchor point is inside the armrest box, the left front anchor point and the right front anchor point are installed on the left and right sides of the front bumper respectively, and the left rear anchor point and the right rear anchor point are installed on the left and right sides of the rear bumper respectively. These five anchor points are equipped with UWB and BLE modules.

[0147] 2. After installation is complete, calibration data collection begins. This data serves as the basis for the algorithm. UWB TOF values ​​and BLE RSSI values ​​are collected. All off-vehicle data collection is performed in a dense outdoor parking environment.

[0148] (a) Preparation before collection: According to Figure 5 As shown in the figure, a coordinate system is established. The main anchor point is used as the origin and the vehicle head direction is the positive direction of the y-axis. Subsequent calibration points are assigned the coordinates of the calibration points according to this coordinate system.

[0149] (b) Collection content: UWB TOF value and BLE RSSI value of each anchor point at each time.

[0150] (c) In-vehicle collection standards: First, collect data from all storage compartments in the vehicle (depending on the specific conditions in the vehicle, Figure 3 Details are not shown. The remaining points are divided into ten equal sections from the windshield to the trunk, and six equal sections from the left to the right windows, for a total of 60 points for UWB TOF and BLE RSSI values. Data was collected from all points in six different postures: handheld, left or right front pockets, left or right back pockets, and backpack.

[0151] (d) Off-vehicle collection standards: according to Figure 5 As shown, the UWB TOF and BLE RSSI values ​​are collected at 624 points on the left and right sides of the vehicle at distances of 20cm, 40cm, 60cm, 80cm, 1m, 1.5m, 2m, 2.5m, 3m, 4m, 5m, 6m, 7m, 8m, 9m, and 10m on the x-axis, and at 50cm intervals on the y-axis. The UWB TOF and BLE RSSI values ​​are collected at 120 points on the front and back of the vehicle at distances of 50cm, 1m, 1.5m, 2m, 2.5m, 3m, 3.5m, 4m, 4.5m, 5m, 5.5m, and 6m on the y-axis, and at 50cm intervals on the left side of the vehicle. The data collection was performed under six different postures: handheld, left or right front pocket, left or right back pocket, and backpack. Data was collected at all points in all six scenarios.

[0152] 3. After the acquisition is completed, the coordinates of all calibration acquisition points, the TOF value of UWB and the RSSI value of BLE are all exported.

[0153] 4. The derived coordinate values, TOF values, and RSSI values ​​are combined to form a fingerprint library. Six fingerprint libraries are formed for the six postures, and the formation rules of each fingerprint library are as follows:

[0154] At the corresponding coordinates, extract the UWB TOF and BLE RSSI values ​​of the five anchor points at the corresponding coordinates;

[0155] The average value of each anchor point at this coordinate is calculated: the TOF average value of UWB is the average value of non-zero values, and the RSSI average value of BLE is the direct average value;

[0156] At one coordinate point, ten average values ​​of the five anchor points are obtained.

[0157] The coordinate points and the average value are saved, which is the fingerprint library under the corresponding collection posture.

[0158] 5. Fingerprint algorithm for forming UWB TOF and BLE RSSI values:

[0159] (a) Compare the input value with the fingerprint library under all different postures and only compare the non-zero values ​​of TOF.

[0160] (b) The fingerprint database stores data for all calibrated coordinates under six different postures. Each data set consists of five UWB TOF values ​​and five BLE RSSI values. Each time a positioning operation is performed, a data set is received and the ten digits in this data set are subtracted from the ten values ​​in the fingerprint database for all the calibrated coordinates. The absolute difference between each anchor point is calculated, and the ten differences are summed to find the coordinate point with the minimum difference for each posture. This results in six coordinate points, but some overlap may occur, reducing the number of coordinate points.

[0161] 6. Forming a circular positioning algorithm (geometric algorithm) based on the TOF of UWB and the RSSI value of BLE:

[0162] (a) In each ranging measurement, the received BLE RSSI value is first considered. Except for the primary anchor point, the RSSI values ​​of the remaining four anchor points are sorted from largest to smallest, and the three largest anchor points are found for subsequent BLE RSSI three-circle positioning.

[0163] (b) First, convert the RSSI value to the distance. Use the following empirical formula to fill in the corresponding values. The empirical formula is:

[0164] ;

[0165] in, is the RSSI value at a distance of 1m from the anchor point, For environmental attenuation factors, these parameters need to be continuously tested and adjusted with calibration data to find the most appropriate parameters.

[0166] (c) Next, take the selected anchor point as the center and the converted distance as the radius to form three circles. These three circles are arranged from large to small according to their radius. The corresponding circle names, center points (anchor point positions), and radii are: ,round ,round The three circles are carefully classified and the coordinate point formula is given for each category. For the three circles, please refer to Figure 7 、 Figure 8 and Figure 9 The coordinate point calculation method for the relationship between circles in different situations is as follows:

[0167] (i) If the three circles do not intersect each other, the center of the circle with the largest anchor point value is used. and the center of the second largest circle Draw a line between the two points and find the intersection of this line with the two circles. The two closest points are used as the output coordinates of the geometric algorithm. If the three circles do not contain any other circles and do intersect or intersect, all intersections or tangents are used as the output coordinates of the geometric algorithm.

[0168] (ii) If the three circles do not have any containment relationship and do intersect or touch each other, all intersection or tangency points are taken as the output coordinate points of the geometric algorithm;

[0169] (iii) If two of the three circles are in a containment relationship and do not intersect with the other circle, then the center of the circle with the smaller anchor point value of the two circles in the containment relationship is output;

[0170] (iv) If two of the three circles are in a containment relationship and intersect or are tangent to another circle, then output all the tangent points or intersection points;

[0171] (v) If one of the three circles completely contains the other two circles and the two circles do not intersect, then output the coordinates of the weighted average of the centers of the three circles. The weighted values ​​are: 0.6, 0.25, and 0.15, corresponding to the anchor point coordinates from largest to smallest.

[0172] (vi) If one of the three circles completely contains the other two circles, and the two circles intersect or are tangent to each other, then output all the intersection and tangent points of the two circles;

[0173] (vii) If the three circles are completely contained, the coordinates of the anchor point with the largest value are output. ;

[0174] (viii) If the three circles are tangent to the same point, output the coordinates of the tangent point;

[0175] (ix) If two of the three circles are in a containment relationship and have a tangent point or an intersection point with another circle, then the coordinates of the tangent point or the intersection point are output.

[0176] It is worth noting that in addition to the three-circle positioning and two-circle positioning algorithms, other geometric algorithms, such as trigonometric functions, can also implement the solution of the present invention.

[0177] (d) For the received UWB TOF values, excluding the primary anchor point, sort the values ​​of the remaining four anchor points from largest to smallest, and find the three largest non-zero anchor points for subsequent UWB TOF three-circle positioning. If only the two largest non-zero anchor points can be found, subsequent UWB TOF two-circle positioning can be performed. If two or more non-zero anchor points cannot be found, UWB TOF positioning will not be performed on this set of data.

[0178] (e) First, TOF value and distance The concept of TOF is time of flight, so the conversion formula is:

[0179] ;

[0180] in, is the speed of light, For flight time.

[0181] (f) If three circles can be found, form three circles with the selected anchor point as the center and the converted distance as the radius. Carefully categorize the three circles and provide a formula for calculating the coordinate points for each category. The specific calculation method is the same as that for BLE RSSI.

[0182] (g) If only two largest non-zero anchor points can be found, two circles are positioned. The two circles are arranged from large to small according to their radius. The corresponding circle names, circle centers (anchor point positions), and radii are: ,round The two circle cases are carefully classified and the coordinate point formula is given for each category. For the two circle cases, please refer to Figure 10 The coordinate point calculation method of the circle relationship in different situations is as follows:

[0183] i. If there is a complete containment relationship between the two circles, the coordinates of the anchor point with the largest number of anchor points are output. ;

[0184] ii. If the two circles are tangent, output the coordinates of the tangent point;

[0185] iii. If two circles intersect, output the coordinates of all intersection points;

[0186] iv. If the two circles are separated, the coordinates of the anchor point with the largest number of anchor points are output. ;

[0187] (h) Both the coordinate points calculated by RSSI and the coordinate points calculated by UWB are retained and output.

[0188] (i) Based on the comparison between the calculated coordinate points and the real calibrated coordinate points, the corresponding values ​​of the empirical formula and the calculation method for each different circle case are adjusted to find parameters that fit all postures.

[0189] 7. After obtaining the fingerprint algorithm results and the geometric algorithm results, the next step is to use the fusion algorithm to obtain the final calculation results.

[0190] (a) Importing the results of the fingerprint algorithm and the results of the geometric algorithm;

[0191] (b) If the result of the fingerprint algorithm is less than or equal to 6, calculate the Euclidean distance between each coordinate point of the geometric algorithm result and the result of the fingerprint algorithm, then add up the distances and find the combination with the smallest value. The result of the fingerprint algorithm ;have The result of the geometric algorithm . Then select One of the results, such as , calculate this coordinate point and the geometric algorithm obtained The sum of the distances (Euclidean distances) of the coordinate points is .conduct Calculate times and get results, take a fingerprint algorithm from the smallest set of results and The result of a geometric algorithm.

[0192] (c) Analyze the fingerprint algorithm results and geometric algorithm results derived from the previous step and eliminate unreasonable values. The result of the geometric algorithm ; Calculate this The Euclidean distance between the coordinates obtained by the geometric algorithm and the result of the fingerprint algorithm is calculated. The coordinate points of the geometric algorithm with a distance greater than 1.5m are eliminated, and the coordinate points of the geometric algorithm with a distance less than or equal to 1.5m are retained.

[0193] (d) Define weights: Define weights based on the specific circumstances of the results obtained in the previous step. If the distance between the fingerprint algorithm result and the retained geometric algorithm result does not exceed 40cm, the weights of each are 0.5; if the distance between the pattern algorithm result and the retained geometric algorithm result is between 60cm and 1m, the weight of the fingerprint algorithm is 0.4, and the weight of the geometric algorithm is 0.6; if the distance between the pattern algorithm result and the retained geometric algorithm result is between 1m and 1.5m, the weight of the fingerprint algorithm is 0.3, and the weight of the geometric algorithm is 0.7.

[0194] (e) Calculate the coordinates of the weighted average points.

[0195] (f) The calculated weighted average coordinate point is used as the final output result.

[0196] This vehicle key positioning method combining UWB and BLE solves:

[0197] 1. Limitations of existing algorithm scenarios: The data collection and calibration, algorithm establishment, and result verification of this invention are all based on real vehicles, and all steps will be carried out in dense outdoor parking lots, fully considering the interference of the external environment on the data and the algorithm.

[0198] 2. Regarding the single signal problem: The present invention combines the TOF value of UWB and the RSSI value of BLE. The two are independent of each other. Both signals can be used as references for the algorithm. More signals mean more reliability and anti-interference.

[0199] 3. Single posture on the market: The present invention collects data and performs algorithm analysis for different posture positions, such as hand-held, left and right hands hanging down, left and right trouser pockets, back trouser pockets, and backpacks, to solve the one-sidedness of a single posture.

[0200] 4. Single positioning algorithm: The present invention proposes an algorithm that combines the fingerprint algorithm with the geometric algorithm, which has better anti-interference ability. At the same time, a fusion algorithm of weighted average and least squares method is made, which can also greatly reduce the impact of noise on the final algorithm results.

[0201] In the above embodiments, the method for locating a target object is described in detail. The present invention also provides corresponding embodiments of an apparatus and electronic device for locating a target object. It should be noted that the present invention describes the embodiments of the apparatus from two perspectives: one from the perspective of functional modules and the other from the perspective of hardware.

[0202] The target object positioning device provided by the embodiment of the present invention includes, based on the perspective of functional modules:

[0203] An acquisition module is used to acquire the current UWB signal and the current BLE signal collected by each anchor point when the target object is at the current position; wherein the number of anchor points is multiple, and a UWB module and a BLE module are deployed at each anchor point;

[0204] a comparison and output module, configured to compare the current UWB signal and the current BLE signal with the UWB signal and the BLE signal collected by each anchor point when the target object is located at multiple collection points, as recorded in the fingerprint library, to output a first result representing the current position coordinates;

[0205] An output module, configured to use a geometric positioning algorithm to output a second result representing the current position coordinates of the current UWB signal and the current BLE signal collected by each anchor point;

[0206] The determination module is used to determine the final coordinates of the current position according to the first result and the second result to complete the positioning of the target object.

[0207] Since the embodiments of the apparatus part correspond to the embodiments of the method part, please refer to the description of the embodiments of the method part for the embodiments of the apparatus part, and will not be repeated here. The effects are the same as above.

[0208] Figure 13This is a structural diagram of an electronic device provided by an embodiment of the present invention. This embodiment is based on the hardware perspective, such as Figure 13 As shown, the electronic equipment includes:

[0209] Memory 20, for storing computer programs;

[0210] The processor 21 is configured to implement the steps of the target object positioning method mentioned in the above embodiment when executing a computer program.

[0211] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented in at least one of the following hardware forms: a digital signal processor (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 21 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 21 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing content required to be displayed on the display screen. In some embodiments, the processor 21 may also include an artificial intelligence (AI) processor, which is responsible for processing computing operations related to machine learning.

[0212] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 20 is at least used to store the following computer program 201, wherein, after the computer program is loaded and executed by the processor 21, it can implement the relevant steps of the method for locating the target object disclosed in any of the aforementioned embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, etc., and the storage method may be temporary storage or permanent storage. Among them, the operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include but is not limited to the data involved in the above-mentioned method for locating the target object.

[0213] In some embodiments, the electronic device may further include a display screen 22 , an input / output interface 23 , a communication interface 24 , a power supply 25 , and a communication bus 26 .

[0214] Those skilled in the art will understand that Figure 13 The structure shown in the figure does not constitute a limitation of the electronic device, and may include more or fewer components than shown in the figure.

[0215] The electronic device provided by the embodiment of the present invention includes a memory and a processor. When the processor executes the program stored in the memory, it can implement the following method: a method for locating a target object, with the same effect as above.

[0216] Finally, the present invention also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps described in the above method embodiment.

[0217] It is understood that if the methods in the above embodiments are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage media include various media that can store program code, such as USB flash drives, mobile hard drives, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical disks.

[0218] The computer-readable storage medium provided by the present invention includes the above-mentioned method for locating a target object, and has the same effect as above.

[0219] The above is a detailed introduction to a method, electronic device and medium for locating a target object provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, the present invention can also be improved and modified in several ways, and these improvements and modifications also fall within the scope of protection of the present invention.

[0220] It should also be noted that, in this specification, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

1. A method for locating a target object, characterized in that: A UWB module and a BLE module are installed on a target object; the method includes: Acquire a current UWB signal and a current BLE signal collected by each anchor point when the target object is at the current position; wherein the number of the anchor points is multiple, and a UWB module and a BLE module are deployed at each anchor point; Comparing the current UWB signal and the current BLE signal with the UWB signals and BLE signals collected by each anchor point when the target object is located at multiple collection points, recorded in the fingerprint library, to output a first result for representing the current position coordinates; Using a geometric positioning algorithm on the current UWB signal and the current BLE signal collected by each anchor point, output a second result for representing the current position coordinates; The final coordinates of the current position are determined according to the first result and the second result to complete the positioning of the target object.

2. The method for locating a target object according to claim 1, wherein: The anchor points are located at least at the center point of the vehicle, the left front position of the vehicle, the right front position of the vehicle, the left rear position of the vehicle, and the right rear position of the vehicle; The collection points are located in an area within the vehicle interior and outside the vehicle body within a preset distance; when the collection points are located in an area within a preset distance outside the vehicle body, the density of the sampling points close to the vehicle body area is greater than the density of the sampling points far from the vehicle body area.

3. The method for locating a target object according to claim 2, wherein: Establishing the fingerprint database includes: Acquire UWB signals and BLE signals collected by each anchor point when the target object is in the current posture and the target object is located at multiple collection points; record the signal set at each collection point when the target object is in the current posture to form a fingerprint library for the current posture; wherein the signal set at each collection point is composed of the UWB signals and BLE signals collected by each anchor point; Adjust the current posture to serve as a new current posture, return to the step of obtaining UWB signals and BLE signals collected by each anchor point when the target object is in the current posture and the target object is located at multiple collection points, and stop returning after obtaining the fingerprint library under all postures; The comparing the current UWB signal and the current BLE signal with the UWB signals and BLE signals collected by each anchor point when the target object is located at multiple collection points recorded in the fingerprint library to output a first result for representing the current position coordinates includes: Calculate the difference between the current UWB signal and the current BLE signal and the signal set at each collection point recorded in the fingerprint library under each posture, so as to obtain the minimum difference among all differences under each posture; The coordinates of the target acquisition point corresponding to the minimum difference value under each posture are obtained as a first result for representing the current position coordinates.

4. The method for locating a target object according to claim 3, wherein: The second result for representing the current position coordinates is outputted using a geometric positioning algorithm for the current UWB signal and the current BLE signal collected from each anchor point, including: Sort the current BLE signals collected by each anchor point in order of BLE signal value; Obtain at least two target anchor points with the largest BLE signal values ​​from the remaining anchor points; wherein the remaining anchor points are the anchor points other than the pre-set main anchor point from all anchor points; Determine the radius of the circle formed with each target anchor point as the center based on the conversion relationship between BLE signal and distance; Outputting a second result representing the current position coordinates determined according to the BLE signal based on the positional relationship of the circles corresponding to the target anchor points; Sort the current UWB signals collected by each anchor point in order of UWB signal value; Obtain at least two target anchor points with the largest UWB signal values ​​from the remaining anchor points; wherein the remaining anchor points are anchor points other than the pre-set main anchor point from all anchor points; The radius of the circle formed with each target anchor point as the center is determined based on the conversion relationship between the UWB signal and the distance; A second result for representing the current position coordinates determined according to the UWB signal is output according to the positional relationship of the circles corresponding to the target anchor points.

5. The method for locating a target object according to claim 4, wherein: There are three target anchor points, and outputting a second result for representing the current position coordinates determined according to the BLE signal / UWB signal based on the positional relationship of the circles corresponding to the target anchor points includes: If the detected positional relationship of the circles corresponding to the target anchor points is such that the three circles do not intersect each other, then obtain the two target anchor points with the largest current BLE signal / UWB signal among the three target anchor points; obtain a straight line connecting the two target anchor points with the largest current BLE signal / UWB signal; obtain the intersection of the straight line and the circle; and output the coordinates of the two closest points among all the intersections as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates; If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the three circles are not contained and intersect or are tangent to each other, or if it is detected that two of the three circles are contained and intersect or are tangent to another circle, then the coordinates of all the intersection points or the coordinates of the tangent points are used as the second result for representing the current position coordinates determined according to the BLE signal / UWB signal; If it is detected that the positional relationship of the circles corresponding to the target anchor points is such that two of the three circles are in a containment relationship and do not intersect with the other circle, then the anchor point corresponding to the minimum BLE signal / UWB signal among the anchor points corresponding to the two circles in the containment relationship is obtained; the coordinates of the anchor point corresponding to the minimum BLE signal / UWB signal are used as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates; If the detected positional relationship of the circles corresponding to the target anchor points is such that one of the three circles completely contains the other two circles and the two circles do not intersect, the coordinates of the centers of the three circles are weighted averaged as the second result representing the current position coordinates determined based on the BLE signal / UWB signal; If the detected positional relationship of the circles corresponding to the target anchor points is such that one of the three circles completely contains the other two circles, and the two circles intersect or are tangent to each other, then the coordinates of all the intersection points or tangent points of the two intersecting or tangent circles are used as the second result for representing the current position coordinates determined based on the BLE signal / UWB signal; If it is detected that the positional relationship of the circles corresponding to the target anchor points is completely contained by the three circles, then the anchor point corresponding to the maximum BLE signal / UWB signal among the anchor points corresponding to the three circles is obtained; the coordinates of the anchor point corresponding to the maximum BLE signal / UWB signal are used as the second result determined based on the BLE signal / UWB signal for representing the current position coordinates; If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the three circles are tangent to the same point, the coordinates of all the tangent points are used as the second result for representing the current position coordinates determined according to the BLE signal / UWB signal; If it is detected that the positional relationship of the circles corresponding to each target anchor point is that two of the three circles are in an inclusion relationship and have a tangent point or intersection with another circle, the coordinates of the intersection point or the tangent point are used as the second result determined according to the BLE signal / UWB signal for characterizing the current position coordinates.

6. The method for locating a target object according to claim 4, wherein: There are two target anchor points, and outputting a second result for representing the current position coordinates determined according to the UWB signal based on the positional relationship of the circles corresponding to the target anchor points includes: If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are completely contained, or if it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are separated, then the target anchor point with the largest UWB signal among the two target anchor points is obtained; and the coordinates of the anchor point corresponding to the maximum UWB signal are used as the second result determined according to the UWB signal for representing the coordinates of the current position; If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles are tangent to each other, the coordinates of the tangent points are used as the second result determined according to the UWB signal for representing the current position coordinates; If it is detected that the positional relationship of the circles corresponding to the target anchor points is that the two circles intersect, the coordinates of the intersection point are used as the second result determined according to the UWB signal and used to represent the current position coordinates.

7. The method for locating a target object according to any one of claims 4 to 6, characterized in that: Determining the final coordinates of the current position according to the first result and the second result to complete the positioning of the target object includes: Obtain the sum of the Euclidean distances between each coordinate in the first result and all coordinates in the second result; Obtaining the first target coordinates in the first result and all coordinates in the second result corresponding to the minimum sum among all sums; Obtaining the Euclidean distance between the first target coordinates and each coordinate in the second result; Eliminate the coordinates in the second result corresponding to when the Euclidean distance is greater than a preset distance value, and retain the second target coordinates in the second result corresponding to when the Euclidean distance is less than or equal to the preset distance value; Performing weighted averaging processing on the first target coordinates and the second target coordinates; The coordinate point after weighted average processing is used as the final coordinate of the current position to complete the positioning of the target object.

8. The method for locating a target object according to claim 7, wherein: Before performing weighted averaging processing on the first target coordinates and the second target coordinates, the method further includes: If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is less than or equal to the first distance value, setting the weight corresponding to the first target coordinate to be the same as the weight corresponding to the second target coordinate; If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is greater than a first distance value and less than or equal to a second distance value, then setting the weight corresponding to the first target coordinate to a first weight and setting the weight corresponding to the second target coordinate to a second weight; the first weight is less than the second weight; If the Euclidean distance between the first target coordinate and the current second target coordinate in the second result is greater than the second distance value, the weight corresponding to the first target coordinate is set to the third weight and the weight corresponding to the second target coordinate is set to the fourth weight; the third weight is less than the fourth weight, and the first weight is greater than the third weight.

9. An electronic device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the method for locating a target object according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of the method for locating a target object according to any one of claims 1 to 8.

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