Ultra-wideband positioning method and system with low power consumption and large-scale rapid deployment

Abstract

The invention provides a low-power-consumption, large-scale and rapid-deployment ultra-wideband positioning method and system, and relates to the field of mobile positioning, and the method comprises the steps: receiving a positioning request, and obtaining the coordinate information of a base station from a cloud server according to the positioning request; wherein the base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction and front-end sliding window factor graph optimization processing by the positioning terminal by using terminal state parameters, terminal real-time pose variables and base station related variables; receiving a base station broadcast signal, and performing downlink time difference of arrival calculation on the base station broadcast signal according to the base station coordinate information to obtain positioning information; wherein the base station broadcast signal comprises a master broadcast signal sent by a master base station and a slave broadcast signal sent by a slave base station. According to the invention, the position of the base station can be solved by using the innovative front-end sliding window factor graph optimization algorithm, and the mobile terminal can be positioned based on the innovative downlink time difference of arrival algorithm.

Description

Technical Field

[0001] The present application relates to the field of mobile positioning, and specifically to a low-power, large-scale, and rapidly deployed ultra-wideband positioning method and system. Background Art

[0002] Ultra-wideband (UWB) refers to any radio communication system with a signal bandwidth of 10dB greater than 20% of the center carrier frequency or an absolute bandwidth greater than 500MHz. It offers centimeter-level ranging accuracy, excellent multipath mitigation, superior anti-interference capabilities, and strong security. An ultra-wideband positioning system typically consists of a base station (positioning infrastructure) and a positioning terminal (the target). After deploying UWB base stations in multiple locations indoors, when a positioning terminal enters the base station signal's range, communication between the terminal and the base station determines the distance between the terminal and each base station. Positioning is then calculated using a positioning solution to determine the terminal's location. This is the basic principle of positioning.

[0003] Ultra-wideband positioning systems employ a variety of basic measurement and positioning methods, including uplink time difference of arrival (TDoA), time of flight (ToF), and received signal strength (RSSI). However, these methods require strict time synchronization between base stations, consume high system power, have low positioning accuracy, and have limited positioning terminal capacity. Consequently, these methods are difficult to implement on a large scale in practical applications, and a more suitable ultra-wideband positioning system is urgently needed.

[0004] Furthermore, achieving UWB positioning requires first deploying UWB base stations and measuring their precise location coordinates. However, indoor base station deployments also face challenges such as weak indoor GNSS satellite signals, uneven base station topology due to the uneven shape of indoor spaces, and communication barriers between base stations caused by indoor walls. As can be seen, existing methods have shortcomings. In actual indoor base station positioning applications, to ensure accurate base station positions, manual calculations are often used, which requires high time and labor costs, hindering the large-scale adoption of ultra-wideband technology.

[0005] This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. No statement herein is admitted to be prior art by virtue of its inclusion in this section. Summary of the Invention

[0006] In response to the problems in the existing technology, the present application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning method and system, which can use an innovative front-end sliding window factor graph optimization algorithm to solve the base station position and realize mobile terminal positioning based on an innovative downlink arrival time difference algorithm.

[0007] To solve the above technical problems, this application provides the following technical solutions:

[0008] In a first aspect, the present application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning method, comprising:

[0009] Receive a positioning request, and obtain base station coordinate information from a cloud server according to the positioning request; wherein the base station coordinate information is obtained by the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables to perform multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing;

[0010] Receive a base station broadcast signal, and calculate the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

[0011] Furthermore, the step of obtaining the base station coordinate information by the positioning terminal includes:

[0012] Perform ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement to obtain terminal status parameters;

[0013] Perform multi-source fusion dead reckoning based on the terminal state parameters to obtain a relative posture transformation factor;

[0014] Determining an absolute location factor, a TDoA measurement factor, and a loop detection factor according to the terminal state parameters;

[0015] Performing key frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable, and the base station-related variables to obtain corresponding downsampled data;

[0016] The downsampled data is input into a preset front-end sliding window factor graph optimization model to obtain the positioning information.

[0017] Furthermore, the TDoA measurement factor includes a TDoA measurement factor under a planar assumption and a TDoA measurement factor under a non-planar assumption; and determining the absolute position factor, the TDoA measurement factor, and the loop detection factor according to the terminal state parameter includes:

[0018] Determining the absolute position factor using an absolute position measurement sensor of a positioning terminal;

[0019] Determining a TDoA measurement factor under the planar assumption or a TDoA measurement factor under the non-planar assumption by using a TDoA measurement value between the ultra-wideband terminal and the base station;

[0020] The loop detection factor is determined using an environmental perception sensor.

[0021] Furthermore, the base station-related variables include base station position coordinate variables and base station height variables; the data frame containing the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station-related variables is subjected to key frame extraction to obtain corresponding downsampled data, including:

[0022] Performing frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the plane assumption, the loop detection factor, the real-time posture variable of the terminal, the base station position coordinate variable, and the base station height variable to obtain a candidate frame;

[0023] The candidate frames are screened for feature change rates to obtain corresponding key frames as the down-sampled data.

[0024] Furthermore, the base station-related variables include base station position coordinate variables; the data frame containing the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station-related variables is subjected to key frame extraction to obtain corresponding downsampled data, including:

[0025] Performing frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the non-planar assumption, the loop detection factor, the real-time posture variable of the terminal, and the base station position coordinate variable to obtain a candidate frame;

[0026] The candidate frames are screened for feature change rates to obtain corresponding key frames as the down-sampled data.

[0027] Furthermore, the receiving base station broadcast signal and performing downlink arrival time difference calculation on the base station broadcast signal according to the base station coordinate information to obtain positioning information includes:

[0028] Determining a master-slave time duration for the master broadcast signal to reach the slave base station; wherein the master-slave time duration is determined based on the base station coordinate information and the propagation speed of electromagnetic waves;

[0029] Determining a waiting time from when the slave base station receives the master broadcast signal to when it sends a slave broadcast signal;

[0030] determining a time difference between receiving the master broadcast signal and receiving the slave broadcast signal;

[0031] Calculate the downlink time difference between the master broadcast signal and the slave broadcast signal arriving at the local location according to the master-slave time, the waiting time, and the time difference;

[0032] Calculate the distance difference between the primary base station and the secondary base station to the local area according to the propagation speed of the electromagnetic wave and the downlink time difference;

[0033] The distance difference is input into the TDoA positioning algorithm for iterative calculation to obtain the positioning information.

[0034] In a second aspect, the present application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning device, comprising:

[0035] A base station coordinate acquisition unit is configured to receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request; wherein the base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing on the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables;

[0036] A positioning unit is used to receive a base station broadcast signal and calculate the downlink arrival time difference of the base station broadcast signal based on the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

[0037] Furthermore, the low-power, large-scale, and rapidly deployed ultra-wideband positioning device further includes:

[0038] A state parameter determination unit is used to perform ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement to obtain terminal state parameters;

[0039] A first factor determination unit is configured to perform multi-source fusion dead reckoning according to the terminal state parameters to obtain a relative posture transformation factor;

[0040] a second factor determination unit, configured to determine an absolute location factor, a TDoA measurement factor, and a loop detection factor according to the terminal state parameter;

[0041] A sampling and extraction unit is used to perform key frame extraction on the data frame containing the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station related variable to obtain corresponding downsampled data;

[0042] The base station position determination unit is used to input the downsampled data into a preset front-end sliding window factor graph optimization model to obtain the positioning information.

[0043] Furthermore, the TDoA measurement factor includes a TDoA measurement factor under a planar assumption and a TDoA measurement factor under a non-planar assumption; and the second factor determination unit includes:

[0044] A position factor determination module, configured to determine the absolute position factor using an absolute position measurement sensor of a positioning terminal;

[0045] a measurement factor determination module, configured to determine a TDoA measurement factor under the planar assumption or a TDoA measurement factor under the non-planar assumption by using a TDoA measurement value between the ultra-wideband terminal and the base station;

[0046] The detection factor determination module is used to determine the loop detection factor using an environmental perception sensor.

[0047] Furthermore, the base station related variables include base station position coordinate variables and base station height variables; the sampling and extraction unit includes:

[0048] A first frame extraction module is configured to perform frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the plane assumption, the loop detection factor, the real-time posture variable of the terminal, the base station position coordinate variable, and the base station height variable to obtain a candidate frame;

[0049] The first downsampling module is used to screen the feature change rate of the candidate frames to obtain corresponding key frames as the downsampling data.

[0050] Furthermore, the base station related variables include base station location coordinate variables; the sampling and extraction unit includes:

[0051] A second frame extraction module is used to perform frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the non-planar assumption, the loop detection factor, the real-time posture variable of the terminal and the base station position coordinate variable to obtain a candidate frame;

[0052] The second downsampling module is used to screen the feature change rate of the candidate frames to obtain corresponding key frames as the downsampling data.

[0053] Furthermore, the positioning unit includes:

[0054] a master-slave duration determination module, configured to determine the master-slave duration for the master broadcast signal to reach the slave base station; wherein the master-slave duration is determined based on the base station coordinate information and the propagation speed of electromagnetic waves;

[0055] A waiting time determination module, configured to determine a waiting time from when the slave base station receives the master broadcast signal to when it sends a slave broadcast signal;

[0056] a time difference determining module, configured to determine a time difference between receiving the primary broadcast signal and receiving the secondary broadcast signal;

[0057] A downlink time determination module, configured to calculate the downlink time difference between the master broadcast signal and the slave broadcast signal arriving at the local location based on the master-slave time, the waiting time, and the time difference;

[0058] a distance determination module, configured to calculate the distance difference between the primary base station and the secondary base station to the local area according to the propagation speed of the electromagnetic wave and the downlink time difference;

[0059] The positioning information determination module is used to input the distance difference into the TDoA positioning algorithm for iterative calculation to obtain the positioning information.

[0060] In a third aspect, the present application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning system, comprising:

[0061] A positioning terminal is configured to receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request; the base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing on the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables;

[0062] receiving a base station broadcast signal, and calculating a downlink time difference of arrival of the base station broadcast signal based on the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a master base station and a slave broadcast signal sent by a slave base station;

[0063] A primary base station, configured to send a primary broadcast signal;

[0064] A slave base station, used to send a slave broadcast signal;

[0065] The cloud server is used to store the base station coordinate information.

[0066] In a fourth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method are implemented.

[0067] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method.

[0068] In a sixth aspect, the present application provides a computer program product, comprising a computer program / instruction, which, when executed by a processor, implements the steps of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method.

[0069] In response to the problems in the prior art, the low-power, large-scale, and rapidly deployed ultra-wideband positioning method, device, and system provided by the present application can implement a broadcast-type downlink time difference of arrival (DL-TdoA) positioning method. The UWB base station in its system only needs power supply during deployment, without the need for networking and time synchronization, and no need to deploy power supply and networking lines specifically for the UWB base station, thereby ensuring the advantages of low cost, large-scale, rapid deployment, and deployment-and-forget. The positioning terminal in its system only needs to receive the ranging signal broadcast regularly by the base station, without occupying the uplink, and can achieve unlimited positioning terminal capacity. It can also achieve highly energy-efficient ultra-wideband ranging and communication links, and utilize the sleep and wake-up mechanism of the ultra-wideband base station to reduce power consumption and extend the service life of the base station, thereby significantly reducing the operating cost and update cost of the UWB base station. The position of the UWB base station in the system does not require manual measurement, and the position of the UWB base station can be solved based on the user's odometer information. The more users there are, the higher the solution accuracy, and the "install and forget" concept is completely realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative work.

[0071] Figure 1 Schematic diagram of a broadcast-type low-power rapid deployment ultra-wideband positioning system in an embodiment of the present application;

[0072] Figure 2 A flowchart of the steps for implementing the positioning system in an embodiment of the present application;

[0073] Figure 3 A downlink TDoA ultra-wideband measurement unit in the embodiment of the present application;

[0074] Figure 4 This is the measurement principle of downlink TDoA in the embodiment of this application;

[0075] Figure 5 It is the downlink TDoA ultra-wideband positioning system in the embodiment of this application;

[0076] Figure 6 Perform signal transmission and time slot allocation for TDoA networking for multiple base stations in the embodiments of the present application;

[0077] Figure 7It is the working state of the base station of the TDoA networking base station cluster in a measurement cycle in the embodiment of the present application;

[0078] Figure 8 The topology of the large-scale deployment ultra-wideband positioning system in the embodiment of the present application;

[0079] Figure 9 This is the superframe structure of the large-scale deployment ultra-wideband positioning system in the embodiment of the present application;

[0080] Figure 10 Schematic diagram of the optimization state and optimization factor of the sliding window of the positioning terminal in the “base station position solution method under the plane assumption” in the embodiment of the present application;

[0081] Figure 11 Schematic diagram of the optimization state and optimization factor of the sliding window of the positioning terminal in the "base station position solution method under non-planar assumption" in an embodiment of the present application;

[0082] Figure 12 This is a flow chart of the ultra-wideband positioning method with low power consumption, large-scale and rapid deployment in an embodiment of the present application;

[0083] Figure 13 This is a flowchart of obtaining the base station location in an embodiment of the present application;

[0084] Figure 14 This is a flowchart for determining the absolute position factor, TDoA measurement factor, and loop detection factor in an embodiment of the present application;

[0085] Figure 15 This is one of the flow charts for obtaining corresponding down-sampled data in an embodiment of the present application;

[0086] Figure 16 This is the second flowchart of obtaining corresponding down-sampling data in an embodiment of the present application;

[0087] Figure 17 This is a flowchart of performing terminal positioning in an embodiment of the present application;

[0088] Figure 18 This is a structural diagram of a low-power, large-scale, and rapidly deployed ultra-wideband positioning device according to an embodiment of the present application;

[0089] Figure 19 This is a structural diagram of a state parameter determination unit in an embodiment of the present application;

[0090] Figure 20 This is a structural diagram of the second factor determination unit in an embodiment of the present application;

[0091] Figure 21 This is one of the structural diagrams of the sampling and extraction unit in the embodiment of the present application;

[0092] Figure 22 This is the second structural diagram of the sampling and extraction unit in the embodiment of the present application;

[0093] Figure 23 This is a structural diagram of a terminal positioning execution unit in an embodiment of the present application;

[0094] Figure 24 Schematic diagram of the structure of the electronic device in the embodiment of the present application. DETAILED DESCRIPTION

[0095] To make the purpose, technical solutions and advantages of the embodiments of the present invention more clear, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but are not intended to limit the present invention.

[0096] The information collected in the technical solution of this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of relevant data comply with the relevant laws, regulations and standards of relevant countries and regions, take necessary confidentiality measures, do not violate public order and good morals, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0097] Provide users with corresponding operation entrances for them to choose to agree or reject the automated decision-making results; if the user chooses to reject, they will enter the expert decision-making process.

[0098] In one embodiment, see Figure 1 In order to use the innovative front-end sliding window factor graph optimization algorithm to solve the base station position and realize mobile terminal positioning based on the innovative downlink time difference of arrival algorithm, this application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning system, including:

[0099] A positioning terminal is configured to receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request; the base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing on the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables;

[0100] receiving a base station broadcast signal, and calculating a downlink time difference of arrival of the base station broadcast signal based on the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a master base station and a slave broadcast signal sent by a slave base station;

[0101] A primary base station, configured to send a primary broadcast signal;

[0102] A slave base station, used to send a slave broadcast signal;

[0103] The cloud server is used to store the base station coordinate information; this process is also called the calibration process of the base station coordinate information.

[0104] Understandably, see Figure 1 The low-power, large-scale, and rapidly deployed ultra-wideband positioning system provided in this application includes: several (multiple clusters) of UWB base stations (including master base stations and slave base stations), several positioning terminals (mobile terminals to be located), communication links, and cloud servers.

[0105] Among them, the positioning terminal can:

[0106] First, before each UWB base station in the system is calibrated (the position coordinates are determined), the work of determining the base station coordinate information is completed; in other words, the base station coordinate position is calculated.

[0107] Second, after each UWB base station in the system has been calibrated (the location coordinates are determined), the mobile terminal to be positioned uses the base station coordinate information to complete self-positioning.

[0108] The steps in the above two stages can be executed continuously or discontinuously.

[0109] For example, application scenarios include but are not limited to:

[0110] First, after positioning terminal A enters the system coverage area (referring to the base station signal coverage area), it completes the "base station coordinate position solution" process; then, positioning terminal A uses the "base station coordinate position" determined by itself and / or the "base station coordinate position" predetermined by other positioning terminals to perform self-positioning.

[0111] Second, after positioning terminal B enters the system coverage area (referring to the base station signal coverage area), it directly uses the "base station coordinate position" predetermined by other positioning terminals to perform self-positioning.

[0112] Among them, the first scenario can occur when some UWB base stations in the system have not yet completed the base station coordinate information solution (including calibration); the second scenario can occur when all UWB base stations in the system have completed the base station coordinate information solution (including calibration).

[0113] The positioning terminal includes:

[0114] The UWB chip is used to receive signals from the UWB base station and measure the distance difference. It is also used to receive the UWB base station location coordinates from the cloud server and configure them inside the UWB base station through the UWB link.

[0115] Odometers, including but not limited to wheel speed odometers, inertial odometers, pedestrian pedometers, visual odometers, lidar odometers, microwave radar odometers, and radio odometers, are used to measure mileage;

[0116] Information processing unit, used to implement multi-source fusion dead reckoning, key frame extraction, front-end sliding window factor graph optimization, etc.

[0117] The communication unit is used to upload the positioning terminal message to the cloud server and receive the instructions issued by the cloud server.

[0118] Among them, the UWB base station includes:

[0119] UWB chip, used to realize communication between UWB base station and positioning terminal to complete the measurement of arrival time difference;

[0120] A microprocessor is used to control the transceiver in the UWB chip, specifically responding to UWB chip interrupts, sending and receiving time information and sending time information according to the device number, etc.

[0121] Batteries are used to power the UWB base station, ensuring that the UWB base station can operate for more than 3 years.

[0122] Among them, the communication link usually refers to public communication networks such as 4G, 5G, and WIFI, which are used to realize the interconnection between the positioning terminal and the cloud server.

[0123] Among them, the cloud server includes: a data storage unit for storing the historical data of base station locations reported by the positioning terminal; a calculation unit for completing the calculation of base station locations; a management unit for realizing the management of all UWB base stations; and a display unit for realizing the display of the status of all UWB base stations.

[0124] Furthermore, this application provides a link layer protocol that supports ultra-low-power ultra-wideband positioning. It implements ranging based on DL-TDoA. After sequential broadcasts by UWB base stations within a cluster, all UWB base stations enter sleep mode, enabling positioning within a single broadcast. The cluster supports software configuration of parameters such as the number of UWB nodes, sleep time, and positioning frequency.

[0125] Furthermore, the present application provides an odometer-assisted UWB base station position solution factor graph optimization model and algorithm based on DL-TDoA measurement. The optimization algorithm includes: in the base station position solution phase, the positioning terminal moves within the UWB base station measurement range and obtains odometer information (attitude, speed and position) and covariance information in real time; the positioning terminal regularly receives the arrival time difference between the signal broadcast by the UWB base station and each base station; if the positioning terminal is equipped with absolute position measurement equipment such as GNSS and mapping equipment such as lidar, loop detection information and absolute position information are added to the key frame; in the terminal positioning phase, the above information is used to construct a factor graph sliding window optimization model, and the UWB base station position is solved through optimization.

[0126] Keyframes are used to reduce data redundancy and improve computational efficiency. A simple yet effective heuristic for keyframe extraction is to select the current frame as a keyframe if the position change of the positioning terminal compared to the previous keyframe exceeds a user-defined threshold. Only the mobile terminal state at the keyframe is used as the optimization variable, ignoring the state between keyframes. Keyframe extraction requires ensuring inter-frame information continuity while maximizing the inter-frame time interval.

[0127] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method, device, and system provided by the present application can realize a broadcast-type downlink time difference of arrival (DL-TdoA) positioning method. The UWB base station in its system only needs power supply during deployment, without the need for networking and time synchronization, and no need to deploy power supply and networking lines specifically for the UWB base station, thereby ensuring the advantages of low cost, large-scale, rapid deployment, and deployment-after-deployment of the UWB base station. The positioning terminal in its system only needs to receive the ranging signal broadcast regularly by the base station, does not occupy the uplink, and can achieve unlimited positioning terminal capacity. It can also achieve highly energy-efficient ultra-wideband ranging and communication links, and utilize the sleep and wake-up mechanism of the ultra-wideband base station to reduce power consumption and extend the service life of the base station, thereby significantly reducing the operating cost and update cost of the UWB base station. The position of the UWB base station in the system does not require manual measurement, and the position of the UWB base station can be solved based on the user's odometer information. The more users there are, the higher the solution accuracy, and the "installation-after-forget" is completely realized.

[0128] In one embodiment, see Figure 12 In order to use the innovative front-end sliding window factor graph optimization algorithm to solve the base station position and realize mobile terminal positioning based on the innovative downlink time difference of arrival algorithm, this application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning method, including:

[0129] S101: Receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request; wherein the base station coordinate information is obtained by a positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables to perform multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing; specifically, determining whether the positioning terminal that obtains the "base station coordinate information" is the positioning terminal to be located, i.e., the execution subject of steps S101 to S102;

[0130] S102: Receive a base station broadcast signal, and calculate the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

[0131] It is understood that in the broadcast low-power large-scale rapid deployment ultra-wideband positioning system provided in this application, the positioning terminal 101, the UWB base station 102, the communication link 103, the wireless gateway 104 and the cloud server 105 are as follows: Figure 1 The positioning terminal 101 may include various devices including UWB chips, such as mobile phones, watches, or unmanned platforms. Figure 1 The circled number in is the base station number. Figure 1 Four base station clusters are shown, each of which includes at most 8 base stations.

[0132] Figure 2 The steps for implementing and deploying the positioning system are shown: in step S1: during the base station solution phase, the positioning terminal wanders within the positioning area, measuring and collecting data such as ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement; in step S2: multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization are performed on the information processing unit of the positioning terminal to solve the base station position; in step S3: the positioning terminal aggregates the base station position information and uploads it to the cloud server via a communication link and a wireless gateway, completing the coordinate solution and calibration process of the base station; in step S4: when executing the positioning service (in the terminal positioning phase), the positioning terminal obtains the coordinate information of the surrounding base stations from the cloud server via a communication link and a wireless gateway, and performs TDoA positioning.

[0133] It should be noted that in the embodiment of this application, during the UWB base station position calibration phase, the positioning terminal responsible for calibration can calculate the base stations within its surrounding communication range; base stations outside the communication range can be calculated by other positioning terminals responsible for calibration. After the base station positions have been calibrated, all positioning terminals can obtain the positions of all base stations from the cloud server to complete their own positioning within the spatial range.

[0134] Different positioning terminals may have different location calculation results for the same base station. In specific implementations, the latest calculation result of any positioning terminal can be used as the location information of the base station, or other strategies can be used to determine the location information of the base station. This application is not limited to this.

[0135] Accordingly, the present application provides a link layer protocol that supports ultra-low power consumption and ultra-wideband positioning. Figure 6 It shows the signal propagation direction and time slot allocation of a TDoA networking base station cluster 301 in a measurement period. Figure 7 It shows the working status of the base stations of a TDoA networked base station cluster in a measurement cycle. A time slot 302 represents the specified time occupied by the ultra-wideband for a signal transmission. Assume that a TDoA base station cluster is composed of N base stations, and N is at most 8. In the first time slot, the main base station with ID number 1 first broadcasts, sends ultra-wideband signals to the base station cluster and the positioning terminal, and then enters the dormant state; after the slave base station with ID number 2 monitors and receives the broadcast information of the positioning terminal, in the second time slot, the slave base station with ID number 2 broadcasts to the base station cluster and the positioning terminal, and then enters the dormant state; at this time, a communication is completed between the main base station with ID number 1, the slave base station with ID number 2 and the positioning terminal. Figure 4 The distance difference measurement and TDoA distance difference estimation are stored in the positioning terminal. Similarly, in the next N-2 time slots, the base stations repeat the above process starting from base station No. 3 in the order of their ID numbers.

[0136] The base station achieves ultra-low power consumption positioning through the sleep mechanism. Figure 7 In the example shown, each base station enters the listening state four slots before its corresponding broadcast slot (or, if it enters the listening state at the start of the measurement cycle if it enters less than four slots), and enters the sleep state after the broadcast slot until the start of the next measurement cycle. This ensures that each base station's signal transmission and reception time during a measurement cycle does not exceed five slots, significantly reducing base station power consumption.

[0137] Thus, N base station broadcasts are completed in N measurement time slots (one measurement cycle), and the distance differences between the positioning terminal and multiple base station pairs are obtained. The estimated distance differences (TDoA) between the base stations and the positioning terminal are all stored in the positioning terminal. During the process of calculating and calibrating the base station position, the positioning terminal calculates the base station position based on the TDoA measurement values ​​and various sensors on the terminal and uploads the calculated base station position data to the cloud server. During the positioning service process, the positioning terminal obtains base station position data from the cloud server through the wireless gateway to calculate the current position.

[0138] Figure 8The topology of large-scale deployment of ultra-wideband positioning system is shown. Due to the limited number of base stations in each base station cluster and the limited coverage area, multiple base station clusters need to be deployed in large scenarios where a large number of base stations are required. To prevent signal conflicts between multiple base station clusters, each base station cluster is configured according to Figure 9 The superframe structure of the large-scale deployment ultra-wideband positioning system shown in FIG is broadcast in time sequence division. Figure 9 In the illustrated superframe structure, a superframe 303 lasts 1 second, and a subframe 304 lasts 10 milliseconds within a superframe 303, comprising 100 subframes 304. Each base station cluster 301 completes a TDoA measurement communication cycle within its corresponding subframe, accommodating up to 100 base station clusters. Each subframe contains 10 time slots 302, of which the first 8 are used to perform the TDoA measurements described above; the last 2 slots are communication frames 305, used by the positioning terminal to configure location information to the base station and for other reserved functions. In this way, up to 100 base station clusters can each complete a TDoA measurement communication cycle within 1 second. After a superframe, the base station enters a dormant state. Clusters can support software configuration of parameters such as the number of UWB nodes, the number of base station clusters, the dormant time, and the positioning frequency. For example, a dormant time of 9 seconds results in a positioning frequency of 0.1 Hz.

[0139] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method, device, and system provided by the present application can realize a broadcast-type downlink time difference of arrival (DL-TdoA) positioning method. The UWB base station in its system only needs power supply during deployment, without the need for networking and time synchronization, and no need to deploy power supply and networking lines specifically for the UWB base station, thereby ensuring the advantages of low cost, large-scale, rapid deployment, and deployment-after-deployment of the UWB base station. The positioning terminal in its system only needs to receive the ranging signal broadcast regularly by the base station, does not occupy the uplink, and can achieve unlimited positioning terminal capacity. It can also achieve highly energy-efficient ultra-wideband ranging and communication links, and utilize the sleep and wake-up mechanism of the ultra-wideband base station to reduce power consumption and extend the service life of the base station, thereby significantly reducing the operating cost and update cost of the UWB base station. The position of the UWB base station in the system does not require manual measurement, and the position of the UWB base station can be solved based on the user's odometer information. The more users there are, the higher the solution accuracy, and the "installation-after-forget" is completely realized.

[0140] In one embodiment, see Figure 13 The step of obtaining the base station coordinate information by the positioning terminal includes:

[0141] S201: Perform ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement to obtain terminal status parameters;

[0142] S202: Perform multi-source fusion dead reckoning based on the terminal state parameters to obtain a relative posture transformation factor;

[0143] S203: Determine an absolute location factor, a TDoA measurement factor, and a loop detection factor according to the terminal status parameter;

[0144] S204: performing key frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable, and the base station-related variable to obtain corresponding downsampled data;

[0145] S205: Inputting the downsampled data into a preset front-end sliding window factor graph optimization model to obtain the positioning information.

[0146] In one embodiment, see Figure 14 The TDoA measurement factor includes a TDoA measurement factor under a planar assumption and a TDoA measurement factor under a non-planar assumption; and determining the absolute position factor, the TDoA measurement factor, and the loop detection factor according to the terminal state parameter includes:

[0147] S301: Determine the absolute position factor using an absolute position measurement sensor of a positioning terminal;

[0148] S302: Determine a TDoA measurement factor under the planar assumption or a TDoA measurement factor under the non-planar assumption using a TDoA measurement value between the ultra-wideband terminal and the base station;

[0149] S303: Determine the loop detection factor using an environment perception sensor.

[0150] It can be understood that the above-mentioned "factors" refer to the constraint relationships obtained by external observations, and "variables" are the optimization targets of the factor graph algorithm. The aforementioned "factors" are the mathematical forms of different observations in the optimization function. Specifically, the observation method corresponding to the relative posture transformation factor 404 is the sensor that measures the relative posture change of the positioning terminal, such as the observation results of an inertial sensor unit, a lidar, or a monocular / binocular camera; the observation method corresponding to the absolute position factor 405 is the sensor that measures the absolute position of the positioning terminal, such as a GNSS positioning receiver; the measurement method corresponding to the TDoA measurement factor 406 under the plane assumption and the TDoA measurement factor 408 under the non-plane assumption is the TDoA measurement between the ultra-wideband terminal and the base station; the measurement method corresponding to the loop detection factor 407 is the use of environmental perception devices such as lidar, monocular / binocular cameras to determine whether the terminal has returned to the same position.

[0151] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method provided by this application can determine the absolute position factor, TDoA measurement factor, and loop detection factor based on the terminal state parameters, so that the positioning terminal can obtain the base station coordinate information.

[0152] Specifically, this application provides a factor graph optimization algorithm for odometer-assisted downlink TDoA ultra-wideband base station location calculation. Using the above data and the aforementioned ranging results between ultra-wideband base stations and between base stations and mobile positioning terminals, the mobile positioning terminal position and base station position are collaboratively estimated.

[0153] This system should be able to determine the relative and absolute positions of the positioning terminal with a certain degree of accuracy. Furthermore, sensors are required to measure the relative position of the positioning terminal, such as inertial sensing units, lidar, and monocular / binocular cameras; as well as sensors to measure the absolute position of the positioning terminal, such as GNSS positioning receivers. Of these sensors, inertial sensing units are essential for general positioning solutions and include accelerometers and gyroscopes; other sensors can be selected based on the positioning method used.

[0154] The symbols in the following mathematical model have the following meanings:

[0155] p represents the three-dimensional position coordinates of the base station, s represents the state of the mobile positioning terminal, R∈S(3) is the three-dimensional coordinate rotation matrix from the world coordinate system to the carrier coordinate system, is the three-dimensional coordinate vector in the world coordinate system, v is the three-dimensional velocity of the positioning terminal, b ω ,b f are the zero bias of the gyroscope and accelerometer respectively, h is the relative deployment height of the base station, g is the acceleration of gravity, t n is the nth time series, Δ represents the change of the variable in the adjacent time interval, z is the observation value directly from the sensor or preliminarily calculated from the sensor data, and h(*) is the observation function. The upper right subscript represents the name of the variable, and the lower right subscript represents the time series t of the state variable. n Or the serial number of the base station. For example, For the tth n+1 The three-dimensional rotation matrix at time , p k is the location coordinate of the kth base station. RP is the relative pose transformation observation value. Bold indicates vectors or matrices, and non-bold indicates scalars.

[0156] The commonly used mobile positioning terminal status can be written as:

[0157]

[0158] Among them, the set of states s in the optimization is recorded as S, R is the three-dimensional coordinate rotation matrix from the world coordinate system to the carrier coordinate system, v is the three-dimensional velocity of the positioning terminal, b ω ,b f are the zero bias of the gyroscope and accelerometer respectively.

[0159] This embodiment of the application uses a factor graph optimization method to model and optimize system state transitions. Under the maximum a posteriori criterion (MAP), the posterior probability density of the variable X is maximized. Based on a simple Gaussian prior and a measurement likelihood factor with zero-mean Gaussian noise, the objective function is written as minimizing the sum of nonlinear least squares:

[0160]

[0161] Among them, h i (*) is the observation function, z i is a given measurement value, and i is the ordinal number of the observation.

[0162] Under the Gaussian noise model, the maximum a posteriori criterion adopted in this problem is equivalent to solving a nonlinear minimum mean square error problem.

[0163] This application discloses two embodiments of factor graph solution:

[0164] ① Base station position solution method under the plane assumption: When this positioning system is deployed in an indoor environment, the base stations are usually deployed at the same height, such as ceilings and chandeliers, and the mobile intelligent body carrying the tag (positioning terminal) also moves at the same height. Therefore, in this problem, it can be assumed that the positioning terminal and the base station have a fixed unknown height difference h. All base stations have the same relative height coordinates, and the base station coordinates are only established in two dimensions. This can be called the "base station position solution method under the plane assumption." Three "variables" and four "factors" are introduced. The three variables are: (1) real-time pose variable 401 of the mobile positioning terminal; (2) base station position coordinate variable 402; (3) base station height variable 403. The six factors are: (1) relative pose transformation factor 404; (2) absolute position factor 405; (3) TDoA measurement factor 406 under the plane assumption; (4) loop detection factor 407.

[0165] ② Base station location solution method under non-planar assumption: If the base station deployment does not meet the above assumptions and does not have the same relative height coordinates, the base station coordinates need to be established as three-dimensional, which is called the "base station location solution method under non-planar assumption". Two "variables" and four "factors" are introduced. The two variables are: (1) real-time posture variable 401 of the mobile positioning terminal; (2) base station location coordinate variable 402. The six factors are: (1) relative posture transformation factor 404; (2) absolute position factor 405; (3) TDoA measurement factor 408 under non-planar assumption; (4) loop detection factor 407.

[0166] The base station position coordinate variable 402 is obtained by performing multi-source fusion dead reckoning based on a three-dimensional coordinate rotation matrix, a three-dimensional coordinate vector, a three-dimensional velocity vector, and offset parameters of a gyroscope and an accelerometer. The multi-source fusion dead reckoning can be performed using existing methods.

[0167] The two algorithms differ only in the mathematical representation of the height variable and the TDoA measurement factor. Among them, the relative pose transformation factor and the absolute position factor can be decomposed into multiple different types of factors according to the number of sensor types. When performing optimization, due to the high frequency of multi-sensor measurements and the large amount of data, it is not practical to use all the data for optimization. Key frame extraction should be performed first. The key frame extraction can be selected according to the odometer data trajectory based on the principle of equidistant principle or the maximum enclosed area of ​​the trajectory. The sliding window method is used for the historical key frames to reduce the total data in the factor graph optimization once, and the mobile positioning terminal at the current time t is selected. n The window length W frames to the forward direction is a sliding window 409, i.e. h n-W+1 ,t n-W+2 ,…,t n The pose at is used as the data for a factor graph optimization to reduce pose drift and computational data volume, improving optimization speed and accuracy. Other methods can also be used for keyframe extraction and sliding window selection without affecting the essence of this step.

[0168] The relative pose transformation factor 404 describes t n State of the moment With t n+1 State of the moment According to different observation methods, it is recorded as a functional relationship between variables. For example, using IMU as the relative posture transformation sensor, its functional relationship is in, z RP is the actual observation value of IMU, For the tth n+1 The three-dimensional speed of the positioning terminal at all times, For the tthn The three-dimensional speed of the positioning terminal at all times, For the tth n+1 The three-dimensional rotation matrix of the terminal at all times, For the tth n The three-dimensional rotation matrix of the terminal at all times.

[0169] The absolute positioning factor 405 describes the n Position at the moment Observation. According to different observation methods, it is recorded as a functional relationship of a variable. For example, taking the GNSS positioning receiver as the absolute positioning sensor, the functional relationship is:

[0170] The TDoA measurement factor 406 under the planar assumption and the TDoA measurement factor 408 under the non-planar assumption and the loop detection factor 407 are described in detail below.

[0171] TDoA measurement factor 406 (TDoA Factor):

[0172] Since the coordinates of each base station are unknown before the base station position is calibrated, the coordinates of the mth base station and the kth base station are denoted as p m ,p k , the actual observation function available is h(p) = ‖p m -x‖-‖p k -x‖-‖p m -p k ‖. Where x is the three-dimensional coordinate vector in the world coordinate system.

[0173] The observation error of the TDoA measurement factor 406 under the plane assumption is expressed as:

[0174]

[0175] The observation error of the TDoA measurement factor 408 under the non-planar assumption is expressed as:

[0176]

[0177] Among them, TD refers to TDoA, ‖·‖2 is the two-norm, that is, the Euclidean distance, d m,k is the TDoA value generated by the mth base station and the kth base station, p m (x, y) is the plane two-dimensional coordinate of the m-th base station, p k (x,y) is the two-dimensional coordinate of the k-th base station, To locate the terminal at t n The plane two-dimensional coordinates at the moment, h is the height variable, Σ TD is the corresponding covariance matrix.

[0178] The observation error of the loop closure factor 407 (Loop Closure Factor) is expressed as:

[0179]

[0180] Among them, LC refers to Loop Closure, Σ LC is the corresponding covariance matrix, They are respectively the positioning terminal at time t i , t j The three-dimensional position coordinates of .

[0181] Figure 10 The figure shows the connection diagram of the "base station location solution method under the plane assumption" in a factor graph with a sliding window length of n. Figure 11 The figure shows the connection diagram of the “base station location solution method under non-planar assumption” in a factor graph with a sliding window length of n.

[0182] Among them, the physical meaning and mathematical expression of each factor are as follows:

[0183] The observation error of the relative pose transformation factor 404 is expressed as:

[0184]

[0185] Among them, RP refers to Relative Pose; h RP (·,·) is the function related to the measurement method, which produces the theoretical measurement value of the relative posture transformation, z RP is the actual measured value; Σ RP is the corresponding covariance; The positioning terminal is respectively n Time and t n-1 The state of the moment.

[0186] The observation error of the absolute location factor 405 is expressed as:

[0187]

[0188] Among them, AL refers to Absolute Location; is the absolute position measurement result, h AL (·) is the absolute position measurement function related to the measurement method, Σ AL is the corresponding covariance matrix.

[0189] TDoA measurement factor 406 (TDoA Factor):

[0190] Since we do not know the coordinates of each base station before calibrating the base station position, let the position coordinates of the mth base station and the kth base station be p m ,p k , the actual observation function available is h(q)=‖p m -x‖-‖p k -x‖-‖p m -p k ‖.

[0191] The observation error of the TDoA measurement factor 406 under the plane assumption is expressed as:

[0192]

[0193] The observation error of the TDoA measurement factor 408 under the non-planar assumption is expressed as:

[0194]

[0195] Among them, TD refers to TDoA, ‖·‖2 is the two-norm, that is, the Euclidean distance, d m,k is the TDoA observation value, p(x,y), x(x,y) represents the plane two-dimensional coordinate, h is the height variable, Σ TD is the corresponding covariance matrix.

[0196] Loop Closure Factor 407:

[0197]

[0198] Among them, LC refers to Loop Closure, Σ LC is the corresponding covariance matrix.

[0199] Finally, the optimal solution can be expressed by the following equation (also known as the front-end sliding window factor graph optimization model):

[0200] The optimal form under the non-planar assumption is:

[0201]

[0202] The optimal form under the plane assumption is:

[0203]

[0204] The precise location P of the ultra-wideband base station obtained by solving this factor graph optimization model is stored in the server.

[0205] In one embodiment, see Figure 15, the base station-related variables include base station position coordinate variables and base station height variables; the data frame containing the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station-related variables is subjected to key frame extraction to obtain corresponding downsampled data, including:

[0206] S401: Perform frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the plane assumption, the loop detection factor, the terminal real-time posture variable, the base station position coordinate variable, and the base station height variable to obtain a candidate frame;

[0207] S402: Screening the change rate of features such as the odometry of the candidate frame to obtain corresponding key frames as the down-sampled data.

[0208] In one embodiment, see Figure 16 , the base station-related variables include base station position coordinate variables; the key frame extraction of the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station-related variables to obtain corresponding downsampled data includes:

[0209] S501: Perform frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the non-planar assumption, the loop detection factor, the real-time posture variable of the terminal, and the base station position coordinate variable to obtain a candidate frame;

[0210] S502: Screening the change rate of features such as the odometry of the candidate frame to obtain corresponding key frames as the down-sampled data.

[0211] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method provided by the present application can perform key frame extraction on the data frame containing the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station-related variables to obtain corresponding downsampled data.

[0212] In one embodiment, see Figure 17 , the receiving base station broadcast signal, and calculating the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information, including:

[0213] S601: Determine a master-slave time duration for the master broadcast signal to reach the slave base station; wherein the master-slave time duration is determined based on the base station coordinate information and the propagation speed of electromagnetic waves;

[0214] S602: Determine the waiting time from when the slave base station receives the master broadcast signal to when it sends a slave broadcast signal;

[0215] S603: Determine a time difference between receiving the primary broadcast signal and receiving the secondary broadcast signal;

[0216] S604: Calculate the downlink time difference between the master broadcast signal and the slave broadcast signal arriving at the local location based on the master-slave time, the waiting time, and the time difference;

[0217] S605: Calculate the distance difference between the primary base station and the secondary base station to the local area according to the propagation speed of the electromagnetic wave and the downlink time difference;

[0218] S606: Input the distance difference into the TDoA positioning algorithm for iterative calculation to obtain the positioning information.

[0219] It can be understood that the system performs positioning in a downlink time difference of arrival (DL-TDoA) mode. Figure 3 shows a basic measurement unit of DL-TDoA, corresponding to Figure 4 The measurement principle of DL-TDoA is shown. Figure 4 Where M represents the master base station 201, S represents the slave base station 202, and T represents the positioning terminal 101, and their position coordinates are respectively denoted as p M ,p S ,p T Taking a master base station, a slave base station, and a tag (corresponding to a UWB chip) as an example, the TDoA value (also known as the time difference of arrival) is calculated under the premise of knowing the base station location. After the master base station initiates the broadcast, the time t MS , t MT Arrives from the base station and positioning terminal; after receiving the broadcast signal from the base station, wait time t S Then initiate broadcast, with time t ST Arrives at the positioning terminal; after the positioning terminal hears the broadcast of the main base station, it passes through t T Listen to the broadcast from the base station. Under ideal conditions without considering the base station clock error, clock drift, signal noise, and antenna delay:

[0220] t MT +t T =t MS +t S +t ST

[0221] The time difference between the master base station and the slave base station to the positioning terminal is:

[0222] Δt=t MT -t ST =t MS-t T +t S

[0223] Since the locations of all base stations have been determined, t MS t can be obtained by dividing the distance between the master and slave base stations by the propagation speed of electromagnetic waves c. MS =‖p M -p s ‖ / c, thus obtaining the time difference Δt between the main base station and the slave base station to the positioning terminal. Multiplying the time difference by the propagation speed of electromagnetic waves, we can obtain the distance difference d=cΔt=‖p M -p T ‖-‖p S -p T ‖.

[0224] Figure 5 The figure shows the components of a downlink TDoA ultra-wideband positioning system. A base station cluster 301 includes a master base station and multiple slave base stations. The master base station 201 initiates a broadcast. After hearing the master base station's broadcast, each slave base station 202 broadcasts in sequence according to its base station number. The positioning terminal continuously listens to each base station's broadcast, processes the time contained in the broadcast, calculates the arrival time difference between the base station and the positioning terminal, and then calculates the corresponding distance difference. It then iteratively uses a TDoA positioning algorithm, such as the Taylor algorithm and the Chain algorithm, to determine the terminal's position coordinates.

[0225] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method provided by this application can obtain the base station coordinate information from the cloud server when performing terminal positioning, and use the base station coordinate information to perform terminal positioning.

[0226] Based on the same inventive concept, the embodiments of the present application also provide a low-power, large-scale, and rapidly deployed ultra-wideband positioning device, which can be used to implement the method described in the above embodiments, as described in the following embodiments. Since the principle of solving the problem by the low-power, large-scale, and rapidly deployed ultra-wideband positioning device is similar to the low-power, large-scale, and rapidly deployed ultra-wideband positioning method, the implementation of the low-power, large-scale, and rapidly deployed ultra-wideband positioning device can refer to the implementation of the method based on software performance benchmark determination, and the repetitions will not be repeated. As used below, the terms "unit" or "module" can be a combination of software and / or hardware that implements predetermined functions. Although the system described in the following embodiments is preferably implemented in software, implementation in hardware, or a combination of software and hardware, is also possible and conceived.

[0227] In one embodiment, see Figure 18In order to use the innovative front-end sliding window factor graph optimization algorithm to solve the base station position and realize mobile terminal positioning based on the innovative downlink arrival time difference algorithm, the present application provides a low-power, large-scale, and rapidly deployed ultra-wideband positioning device, including: a base station coordinate acquisition unit 1801 and a positioning unit 1802.

[0228] The base station coordinate acquisition unit 1801 is configured to receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request. The base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing on the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables.

[0229] The positioning unit 1802 is used to receive the base station broadcast signal and calculate the downlink arrival time difference of the base station broadcast signal based on the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by the main base station and a slave broadcast signal sent by the slave base station.

[0230] In one embodiment, see Figure 19 The low-power, large-scale, and rapidly deployed ultra-wideband positioning device further includes: a state parameter determination unit 1901, a first factor determination unit 1902, a second factor determination unit 1903, a sampling and extraction unit 1904, and a base station position determination unit 1905.

[0231] The state parameter determination unit 1901 is configured to perform ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement to obtain terminal state parameters;

[0232] A first factor determination unit 1902 is configured to perform multi-source fusion dead reckoning based on the terminal state parameters to obtain a relative posture transformation factor;

[0233] A second factor determination unit 1903 is configured to determine an absolute location factor, a TDoA measurement factor, and a loop detection factor according to the terminal state parameter;

[0234] The sampling and extraction unit 1904 is configured to perform key frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable, and the base station-related variables to obtain corresponding downsampled data;

[0235] The base station position determination unit 1905 is configured to input the downsampled data into a preset front-end sliding window factor graph optimization model to obtain the positioning information.

[0236] In one embodiment, see Figure 20The TDoA measurement factor includes the TDoA measurement factor under the plane assumption and the TDoA measurement factor under the non-plane assumption; the second factor determination unit 1903 includes: a position factor determination module 2001, a measurement factor determination module 2002 and a detection factor determination module 2003.

[0237] The position factor determination module 2001 is configured to determine the absolute position factor using an absolute position measurement sensor of a positioning terminal;

[0238] The measurement factor determining module 2002 is configured to determine a TDoA measurement factor under the planar assumption or a TDoA measurement factor under the non-planar assumption using a TDoA measurement value between the ultra-wideband terminal and the base station;

[0239] The detection factor determination module 2003 is configured to determine the loop detection factor using an environment perception sensor.

[0240] In one embodiment, see Figure 21 The base station related variables include base station position coordinate variables and base station height variables; the sampling extraction unit 1904 includes: a first frame extraction module 2101 and a first downsampling module 2102.

[0241] The first frame extraction module 2101 is configured to perform frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the plane assumption, the loop detection factor, the real-time posture variable of the terminal, the base station position coordinate variable, and the base station height variable to obtain a candidate frame;

[0242] The first downsampling module 2102 is configured to perform feature change rate screening on the candidate frames to obtain corresponding key frames as the downsampling data.

[0243] In one embodiment, see Figure 22 The base station related variables include base station position coordinate variables; the sampling extraction unit 1904 includes: a second frame extraction module 2201 and a second downsampling module 2202.

[0244] The second frame extraction module 2201 is configured to perform frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the non-planar assumption, the loop detection factor, the real-time posture variable of the terminal, and the base station position coordinate variable to obtain a candidate frame;

[0245] The second downsampling module 2202 is configured to perform feature change rate screening on the candidate frames to obtain corresponding key frames as the downsampling data.

[0246] In one embodiment, see Figure 23The positioning unit 1802 includes: a master-slave time determination module 2301, a waiting time determination module 2302, a time difference determination module 2303, a downlink time determination module 2304, a distance determination module 2305 and a positioning information determination module 2306.

[0247] The master-slave duration determining module 2301 is configured to determine the master-slave duration of the master broadcast signal reaching the slave base station; wherein the master-slave duration is determined based on the base station coordinate information and the propagation speed of electromagnetic waves;

[0248] The waiting time determination module 2302 is configured to determine the waiting time from when the slave base station receives the master broadcast signal to when it sends the slave broadcast signal;

[0249] a time difference determining module 2303, configured to determine a time difference between receiving the primary broadcast signal and receiving the secondary broadcast signal;

[0250] A downlink time determination module 2304 is configured to calculate the downlink time difference between the master broadcast signal and the slave broadcast signal arriving at the local location based on the master-slave time, the waiting time, and the time difference;

[0251] The distance determination module 2305 is configured to calculate the distance difference between the primary base station and the secondary base station to the local area according to the propagation speed of the electromagnetic wave and the downlink time difference;

[0252] The positioning information determination module 2306 is configured to input the distance difference into a TDoA positioning algorithm for iterative calculation to obtain the positioning information.

[0253] From a hardware perspective, in order to utilize an innovative front-end sliding window factor graph optimization algorithm to solve the base station position and implement mobile terminal positioning based on an innovative downlink time difference of arrival algorithm, the present application provides an embodiment of an electronic device for implementing all or part of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method. The electronic device specifically includes the following:

[0254] Processor (Processor), memory (Memory), communication interface (Communications Interface) and bus; wherein, the processor, memory, and communication interface communicate with each other through the bus; the communication interface is used to realize information transmission between the low-power, large-scale, and rapidly deployed ultra-wideband positioning device and related equipment such as the core business system, user terminal, and related databases; the logic controller can be a desktop computer, a tablet computer, and a mobile terminal, etc., but this embodiment is not limited to this. In this embodiment, the logic controller can be implemented with reference to the embodiment of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method and the embodiment of the low-power, large-scale, and rapidly deployed ultra-wideband positioning device in the embodiment, and their contents are merged here, and the repeated parts are not repeated.

[0255] It is understandable that the user terminal may include a smart phone, a tablet electronic device, a network set-top box, a portable computer, a desktop computer, a personal digital assistant (PDA), a vehicle-mounted device, a smart wearable device, etc. Among them, the smart wearable device may include smart glasses, a smart watch, a smart bracelet, etc.

[0256] In practical applications, portions of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method can be executed on the electronic device side as described above, or all operations can be performed on the client device. The specific selection can be based on the processing capabilities of the client device and the limitations of the user's usage scenario. This application does not impose any restrictions on this. If all operations are performed on the client device, the client device may also include a processor.

[0257] The client device may include a communication module (i.e., a communication unit) that can establish a communication connection with a remote server to implement data transmission with the server. The server may include a server on the task scheduling center side, and in other implementation scenarios, may also include a server on an intermediate platform, such as a server on a third-party server platform that has a communication link with the task scheduling center server. The server may include a single computer device, a server cluster consisting of multiple servers, or a server structure of a distributed device.

[0258] Figure 24 Schematic block diagram of the system structure of the electronic device 9600 according to an embodiment of the present application. Figure 24 As shown, the electronic device 9600 may include a central processing unit 9100 and a memory 9140; the memory 9140 is coupled to the central processing unit 9100. It is worth noting that the Figure 24 is exemplary; other types of structures may also be used to supplement or replace this structure to implement telecommunication functions or other functions.

[0259] In one embodiment, the ultra-wideband positioning method with low power consumption and large-scale rapid deployment can be integrated into the central processing unit 9100. The central processing unit 9100 can be configured to perform the following control:

[0260] S101: Receive a positioning request and obtain base station coordinate information from a cloud server according to the positioning request; wherein the base station coordinate information is obtained by the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables to perform multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing;

[0261] S102: Receive a base station broadcast signal, and calculate the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

[0262] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method, device, and system provided by the present application can realize a broadcast-type downlink time difference of arrival (DL-TdoA) positioning method. The UWB base station in its system only needs power supply during deployment, without the need for networking and time synchronization, and no need to deploy power supply and networking lines specifically for the UWB base station, thereby ensuring the advantages of low cost, large-scale, rapid deployment, and deployment-after-deployment of the UWB base station. The positioning terminal in its system only needs to receive the ranging signal broadcast regularly by the base station, does not occupy the uplink, and can achieve unlimited positioning terminal capacity. It can also achieve highly energy-efficient ultra-wideband ranging and communication links, and utilize the sleep and wake-up mechanism of the ultra-wideband base station to reduce power consumption and extend the service life of the base station, thereby significantly reducing the operating cost and update cost of the UWB base station. The position of the UWB base station in the system does not require manual measurement, and the position of the UWB base station can be solved based on the user's odometer information. The more users there are, the higher the solution accuracy, and the "installation-after-forget" is completely realized.

[0263] In another embodiment, the ultra-wideband positioning device with low power consumption and large-scale rapid deployment can be configured separately from the central processing unit 9100. For example, the data composite transmission device with low power consumption and large-scale rapid deployment of the ultra-wideband positioning device can be configured as a chip connected to the central processing unit 9100, and the functions of the ultra-wideband positioning method with low power consumption and large-scale rapid deployment can be realized through the control of the central processing unit.

[0264] like Figure 24As shown, the electronic device 9600 may further include: a communication module 9110, an input unit 9120, an audio processor 9130, a display 9160, and a power supply 9170. It is worth noting that the electronic device 9600 does not necessarily have to include Figure 24 In addition, the electronic device 9600 may also include all components shown in Figure 24 For components not shown, reference may be made to the prior art.

[0265] like Figure 24 As shown, the central processing unit 9100 is sometimes also referred to as a controller or operation control, and may include a microprocessor or other processor device and / or logic device. The central processing unit 9100 receives input and controls the operation of various components of the electronic device 9600.

[0266] Memory 9140 can be, for example, one or more of a cache, flash memory, hard drive, removable media, volatile memory, non-volatile memory, or other suitable devices. It can store the aforementioned failure-related information and also store programs that execute the relevant information. The CPU 9100 can execute the programs stored in memory 9140 to implement information storage or processing.

[0267] The input unit 9120 provides input to the central processing unit 9100. The input unit 9120 may be, for example, a keypad or touch input device. The power supply 9170 is used to provide power to the electronic device 9600. The display 9160 is used to display objects such as images and text. The display may be, for example, an LCD display, but is not limited thereto.

[0268] The memory 9140 may be a solid-state memory, such as a read-only memory (ROM), a random access memory (RAM), or a SIM card. Alternatively, it may be a memory that retains information even when power is off, can be selectively erased, and is provided with more data. Examples of such memory are sometimes referred to as EPROMs. The memory 9140 may also be some other type of device. The memory 9140 includes a buffer memory 9141 (sometimes referred to as a buffer). The memory 9140 may include an application / function storage unit 9142 for storing application programs and function programs or processes for executing the operation of the electronic device 9600 by the central processing unit 9100.

[0269] The memory 9140 may also include a data storage unit 9143 for storing data, such as contacts, digital data, pictures, sounds, and / or any other data used by the electronic device. The driver storage unit 9144 of the memory 9140 may include various driver programs for the electronic device's communication functions and / or for executing other functions of the electronic device (such as messaging applications, address book applications, etc.).

[0270] The communication module 9110 is a transmitter / receiver that sends and receives signals via the antenna 9111. The communication module (transmitter / receiver) 9110 is coupled to the central processor 9100 to provide input signals and receive output signals, which may be the same as in a conventional mobile communication terminal.

[0271] Based on different communication technologies, multiple communication modules 9110 can be provided in the same electronic device, such as a cellular network module, a Bluetooth module, and / or a wireless local area network module. The communication module (transmitter / receiver) 9110 is also coupled to a speaker 9131 and a microphone 9132 via an audio processor 9130 to provide audio output via the speaker 9131 and receive audio input from the microphone 9132, thereby implementing common telecommunication functions. The audio processor 9130 may include any suitable buffer, decoder, amplifier, etc. In addition, the audio processor 9130 is also coupled to the central processing unit 9100, enabling local recording via the microphone 9132 and playback of stored audio via the speaker 9131.

[0272] The embodiments of the present application also provide a computer-readable storage medium capable of implementing all steps of the ultra-wideband positioning method for low-power consumption, large-scale, and rapid deployment in the above-mentioned embodiments, where the execution subject is a server or a client. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, all steps of the ultra-wideband positioning method for low-power consumption, large-scale, and rapid deployment in the above-mentioned embodiments, where the execution subject is a server or a client, are implemented. For example, when the processor executes the computer program, the following steps are implemented:

[0273] S101: Receive a positioning request and obtain base station coordinate information from a cloud server according to the positioning request; wherein the base station coordinate information is obtained by the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables to perform multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing;

[0274] S102: Receive a base station broadcast signal, and calculate the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

[0275] From the above description, it can be seen that the low-power, large-scale, and rapidly deployed ultra-wideband positioning method, device, and system provided by the present application can realize a broadcast-type downlink time difference of arrival (DL-TdoA) positioning method. The UWB base station in its system only needs power supply during deployment, without the need for networking and time synchronization, and no need to deploy power supply and networking lines specifically for the UWB base station, thereby ensuring the advantages of low cost, large-scale, rapid deployment, and deployment-after-deployment of the UWB base station. The positioning terminal in its system only needs to receive the ranging signal broadcast regularly by the base station, does not occupy the uplink, and can achieve unlimited positioning terminal capacity. It can also achieve highly energy-efficient ultra-wideband ranging and communication links, and utilize the sleep and wake-up mechanism of the ultra-wideband base station to reduce power consumption and extend the service life of the base station, thereby significantly reducing the operating cost and update cost of the UWB base station. The position of the UWB base station in the system does not require manual measurement, and the position of the UWB base station can be solved based on the user's odometer information. The more users there are, the higher the solution accuracy, and the "installation-after-forget" is completely realized.

[0276] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, apparatus, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0277] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (apparatus), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as a combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0278] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0279] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0280] Specific embodiments are used in the present invention to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A low-power, large-scale, and rapidly deployed ultra-wideband positioning method, characterized in that: include: Receive a positioning request, and obtain base station coordinate information from a cloud server according to the positioning request; wherein the base station coordinate information is obtained by the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables to perform multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing; Receive a base station broadcast signal, and calculate the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

2. The low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to claim 1, characterized in that: The step of the positioning terminal obtaining the base station coordinate information includes: Perform ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement to obtain terminal status parameters; Perform multi-source fusion dead reckoning based on the terminal state parameters to obtain a relative posture transformation factor; Determining an absolute location factor, a TDoA measurement factor, and a loop detection factor according to the terminal state parameters; Performing key frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable, and the base station-related variables to obtain corresponding downsampled data; The downsampled data is input into a preset front-end sliding window factor graph optimization model to obtain the positioning information.

3. The low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to claim 2, characterized in that: The TDoA measurement factor includes a TDoA measurement factor under a planar assumption and a TDoA measurement factor under a non-planar assumption; and determining the absolute position factor, the TDoA measurement factor, and the loop detection factor according to the terminal state parameter includes: Determining the absolute position factor using an absolute position measurement sensor of a positioning terminal; Determining a TDoA measurement factor under the planar assumption or a TDoA measurement factor under the non-planar assumption by using a TDoA measurement value between the ultra-wideband terminal and the base station; The loop detection factor is determined using an environmental perception sensor.

4. The low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to claim 3, characterized in that: The base station-related variables include base station position coordinate variables and base station height variables; performing key frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable, and the base station-related variables to obtain corresponding downsampled data, including: Performing frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the plane assumption, the loop detection factor, the real-time posture variable of the terminal, the base station position coordinate variable, and the base station height variable to obtain a candidate frame; The candidate frames are screened for feature change rates to obtain corresponding key frames as the down-sampled data.

5. The low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to claim 3, characterized in that: The base station-related variables include base station position coordinate variables; performing key frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable, and the base station-related variables to obtain corresponding downsampled data, including: Performing frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the non-planar assumption, the loop detection factor, the real-time posture variable of the terminal, and the base station position coordinate variable to obtain a candidate frame; The candidate frames are screened for feature change rates to obtain corresponding key frames as the down-sampled data.

6. The low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to claim 1, characterized in that: The receiving base station broadcast signal and calculating the downlink arrival time difference of the base station broadcast signal according to the base station coordinate information to obtain positioning information includes: Determining a master-slave time duration for the master broadcast signal to reach the slave base station; wherein the master-slave time duration is determined based on the base station coordinate information and the propagation speed of electromagnetic waves; Determining a waiting time from when the slave base station receives the master broadcast signal to when it sends a slave broadcast signal; determining a time difference between receiving the master broadcast signal and receiving the slave broadcast signal; Calculate the downlink time difference between the master broadcast signal and the slave broadcast signal arriving at the local location according to the master-slave time, the waiting time, and the time difference; Calculate the distance difference between the primary base station and the secondary base station to the local area according to the propagation speed of the electromagnetic wave and the downlink time difference; The distance difference is input into the TDoA positioning algorithm for iterative calculation to obtain the positioning information.

7. A low-power, large-scale, and rapidly deployed ultra-wideband positioning device, characterized in that: include: A base station coordinate acquisition unit is configured to receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request; wherein the base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing on the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables; A positioning unit is used to receive a base station broadcast signal and calculate the downlink arrival time difference of the base station broadcast signal based on the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a main base station and a slave broadcast signal sent by a slave base station.

8. The low-power, large-scale, and rapidly deployed ultra-wideband positioning device according to claim 7, characterized in that: Also includes: A state parameter determination unit is used to perform ultra-wideband distance difference measurement, odometer measurement, and absolute positioning measurement to obtain terminal state parameters; A first factor determination unit is configured to perform multi-source fusion dead reckoning according to the terminal state parameters to obtain a relative posture transformation factor; a second factor determination unit, configured to determine an absolute location factor, a TDoA measurement factor, and a loop detection factor according to the terminal state parameter; A sampling and extraction unit is used to perform key frame extraction on the data frame containing the relative posture transformation factor, the absolute position factor, the TDoA measurement factor, the loop detection factor, the terminal real-time posture variable and the base station related variable to obtain corresponding downsampled data; The base station position determination unit is used to input the downsampled data into a preset front-end sliding window factor graph optimization model to obtain the positioning information.

9. The low-power, large-scale, and rapidly deployed ultra-wideband positioning device according to claim 8, characterized in that: The TDoA measurement factor includes a TDoA measurement factor under a plane assumption and a TDoA measurement factor under a non-plane assumption; the second factor determination unit includes: A position factor determination module, configured to determine the absolute position factor using an absolute position measurement sensor of a positioning terminal; a measurement factor determination module, configured to determine a TDoA measurement factor under the planar assumption or a TDoA measurement factor under the non-planar assumption by using a TDoA measurement value between the ultra-wideband terminal and the base station; The detection factor determination module is used to determine the loop detection factor using an environmental perception sensor.

10. The low-power, large-scale, and rapidly deployed ultra-wideband positioning device according to claim 9, characterized in that: The base station related variables include base station position coordinate variables and base station height variables; the sampling and extraction unit includes: A first frame extraction module is configured to perform frame extraction on a data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the plane assumption, the loop detection factor, the real-time posture variable of the terminal, the base station position coordinate variable, and the base station height variable to obtain a candidate frame; The first downsampling module is used to screen the feature change rate of the candidate frames to obtain corresponding key frames as the downsampling data.

11. The low-power, large-scale, and rapidly deployed ultra-wideband positioning device according to claim 9, characterized in that: The base station related variables include base station location coordinate variables; the sampling and extraction unit includes: A second frame extraction module is used to perform frame extraction on the data frame including the relative posture transformation factor, the absolute position factor, the TDoA measurement factor under the non-planar assumption, the loop detection factor, the real-time posture variable of the terminal and the base station position coordinate variable to obtain a candidate frame; The second downsampling module is used to screen the feature change rate of the candidate frames to obtain corresponding key frames as the downsampling data.

12. The low-power, large-scale, and rapidly deployed ultra-wideband positioning device according to claim 7, characterized in that: The positioning unit includes: a master-slave duration determination module, configured to determine the master-slave duration for the master broadcast signal to reach the slave base station; wherein the master-slave duration is determined based on the base station coordinate information and the propagation speed of electromagnetic waves; A waiting time determination module, configured to determine a waiting time from when the slave base station receives the master broadcast signal to when it sends a slave broadcast signal; a time difference determining module, configured to determine a time difference between receiving the primary broadcast signal and receiving the secondary broadcast signal; A downlink time determination module, configured to calculate the downlink time difference between the master broadcast signal and the slave broadcast signal arriving at the local location based on the master-slave time, the waiting time, and the time difference; a distance determination module, configured to calculate the distance difference between the primary base station and the secondary base station to the local area according to the propagation speed of the electromagnetic wave and the downlink time difference; The positioning information determination module is used to input the distance difference into the TDoA positioning algorithm for iterative calculation to obtain the positioning information.

13. A low-power, large-scale, and rapidly deployed ultra-wideband positioning system, characterized in that: include: A positioning terminal is configured to receive a positioning request and obtain base station coordinate information from a cloud server based on the positioning request; the base station coordinate information is obtained by performing multi-source fusion dead reckoning, key frame extraction, and front-end sliding window factor graph optimization processing on the positioning terminal using terminal state parameters, terminal real-time posture variables, and base station-related variables; receiving a base station broadcast signal, and calculating a downlink time difference of arrival of the base station broadcast signal based on the base station coordinate information to obtain positioning information; wherein the base station broadcast signal includes a main broadcast signal sent by a master base station and a slave broadcast signal sent by a slave base station; A primary base station, configured to send a primary broadcast signal; A slave base station, used to send a slave broadcast signal; The cloud server is used to store the base station coordinate information.

14. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the steps of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to any one of claims 1 to 6 are implemented.

15. 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 low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to any one of claims 1 to 6 are implemented.

16. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instruction is executed by a processor, the steps of the low-power, large-scale, and rapidly deployed ultra-wideband positioning method according to any one of claims 1 to 6 are implemented.

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