Ultra-wideband positioning method and apparatus, electronic device, and storage medium

Abstract

The present application relates to the technical field of positioning, in particular to an ultra-wideband positioning method and device, electronic equipment and storage medium, wherein the method comprises: obtaining ultra-wideband distance data of a target area and anchor node coordinate data of a to-be-positioned label; calculating an initial positioning result of the to-be-positioned label based on the ultra-wideband distance data; constructing a virtual base station system of the target area based on the anchor node coordinate data, selecting a target virtual base station of the to-be-positioned label in the virtual base station system, and obtaining a virtual observation value of the target virtual base station; and correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data. Thus, the problems such as low positioning accuracy in related technologies are solved.

Description

Technical Field

[0001] This invention relates to the field of positioning technology, and in particular to an ultra-wideband positioning method, device, electronic device, and storage medium. Background Technology

[0002] In recent years, with the rise of 5G and the Internet of Things, location-based services have become increasingly common and are gradually becoming a new economic growth point and strategic emerging industry. Since most of people's daily activities take place indoors, the demand for indoor positioning services is constantly increasing, making the acquisition of indoor location information crucial. Furthermore, with the development of smart industry and smart cities, applications in airports, train stations, hotels, hospitals, office buildings, shopping malls, industrial parks, and mines have created a demand for high-precision indoor positioning technology. Therefore, providing accurate and timely location information in indoor environments has significant scientific and commercial value.

[0003] Among the mature indoor positioning technologies currently available, ultra-wideband technology has become the preferred choice for industrial-grade high-precision positioning due to its advantages such as strong penetration, strong anti-multipath capability, and centimeter-level ranging accuracy. However, due to the complexity of the indoor environment, the signal measurement value is easily affected by various factors during positioning and tracking, such as non-line-of-sight environment, signal transmission, and signal reflection, which leads to a decrease in positioning accuracy. Summary of the Invention

[0004] This invention provides an ultra-wideband positioning method, device, electronic device, and storage medium to solve problems such as low positioning accuracy in related technologies.

[0005] A first aspect of the present invention provides an ultra-wideband (UWB) positioning method, comprising the following steps: acquiring UWB distance data and anchor node coordinate data of a tag to be positioned within a target area; calculating an initial positioning result of the tag to be positioned based on the UWB distance data; constructing a virtual base station system for the target area based on the anchor node coordinate data; selecting a target virtual base station for the tag to be positioned within the virtual base station system; acquiring virtual observation values ​​of the target virtual base station; and correcting the initial positioning result based on the virtual observation values ​​and the UWB distance data.

[0006] Optionally, the initial positioning results are corrected based on virtual observations and ultra-wideband distance data, including: constructing a double-difference function model based on virtual observations and ultra-wideband distance data; inputting the initial positioning results into the double-difference function model, and using the least squares method to iteratively correct the initial positioning results.

[0007] Optionally, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate errors at the anchor node end, and the second function model is used to eliminate errors at the tag and virtual base station ends. The first function model is as follows:

[0008] ;

[0009] in, These are ultra-wideband virtual observations. For tags For anchor nodes The measured distance value, For ultra-broadband virtual base stations, For anchor nodes, For tags With virtual base stations to anchor nodes respectively The difference between the true value and the distance. For delays in electronic components at the virtual base station end, Delay for electronic components at the tag end, This refers to the antenna phase center deviation at the virtual base station. This refers to the antenna phase center deviation at the tag end. For anchor nodes The difference in antenna phase center deviation, For tags With virtual base stations At the anchor node The difference in multipath error in the direction, For tags With virtual base stations At the anchor node The difference in observation noise in the direction;

[0010] The second function model is:

[0011] ;

[0012] in, It is a double difference factor. For virtual base stations and tags For the double-difference observations of the first and second anchor nodes, For virtual base stations With tags For the single-difference observations of the first anchor node, For virtual base stations With tags For the single-difference observations of the second anchor node, For virtual base stations and tags The difference between the true distances relative to the first anchor node, For virtual base stations and tags The difference between the true distances relative to the second anchor node, For virtual base stations and tags The antenna phase deviation double difference is located in the direction of the first anchor node and the second anchor node. The antenna phase deviation is the double difference between the first anchor node and the second anchor node. For virtual base stations and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node. For virtual base stations and tags The double difference in observation noise error in the direction of the first anchor node and the second anchor node.

[0013] Optionally, before correcting the initial positioning results based on virtual observations and ultra-wideband distance data, the method further includes: calculating a first distance between the virtual base station and the anchor node; calculating a second distance between the virtual base station and the tag to be located; using the first distance, the second distance, and the ultra-wideband distance data as the three sides of a triangle; and removing abnormal data from the ultra-wideband distance data based on the side length relationship of the three sides of the triangle.

[0014] Optionally, constructing a virtual base station system for the target area based on the coordinate data of the anchor nodes includes: determining the coverage area of ​​the anchor nodes based on the coordinate data of the anchor nodes; determining the grid density of the virtual base station system based on the coverage area; dividing the target area into grids based on the grid density, and generating virtual base stations and corresponding parameters at each grid point to complete the construction of the virtual base station system for the target area.

[0015] Optionally, the initial positioning result of the tag to be located is calculated based on the ultra-wideband distance data, including: obtaining the observation equation of the ultra-wideband distance data of the tag to be located; performing distance difference on the observation equation to obtain the initial positioning result of the tag to be located.

[0016] Alternatively, the observation equation for the virtual observations is:

[0017] ;

[0018] in, These are virtual observations. Let be the true geometric distance from the anchor node to the virtual base station. For delays in electronic components at the virtual base station end, For delay of electronic components at the anchor node end, This refers to the antenna phase center deviation at the virtual base station. The antenna phase center deviation at the anchor node end. This refers to the multipath error in ultra-wideband propagation. To observe the noise, For ultra-broadband virtual base stations, For anchor nodes.

[0019] A second aspect of the present invention provides an ultra-wideband positioning device, comprising: an acquisition module for acquiring ultra-wideband distance data of a tag to be positioned and coordinate data of anchor nodes within a target area; a calculation module for calculating an initial positioning result of the tag to be positioned based on the ultra-wideband distance data; a construction module for constructing a virtual base station system of the target area based on the coordinate data of the anchor nodes, selecting a target virtual base station of the tag to be positioned within the virtual base station system, and acquiring virtual observation values ​​of the target virtual base station; and a correction module for correcting the initial positioning result based on the virtual observation values ​​and the ultra-wideband distance data.

[0020] Optionally, the correction module is further used to: construct a double-difference function model based on virtual observations and ultra-wideband distance data; input the initial positioning results into the double-difference function model, and use the least squares method to iteratively correct the initial positioning results.

[0021] Optionally, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate errors at the anchor node end, and the second function model is used to eliminate errors at the tag and virtual base station ends. The first function model is as follows:

[0022] ;

[0023] in, These are ultra-wideband virtual observations. For tags For anchor nodes The measured distance value, For ultra-broadband virtual base stations, For anchor nodes, For tags With virtual base stations to anchor nodes respectively The difference between the true value and the distance. For delays in electronic components at the virtual base station end, Delay for electronic components at the tag end, This refers to the antenna phase center deviation at the virtual base station. This refers to the antenna phase center deviation at the tag end. For anchor nodes The difference in antenna phase center deviation, For tags With virtual base stations At the anchor node The difference in multipath error in the direction, For tags With virtual base stations At the anchor node The difference in observation noise in the direction;

[0024] The second function model is:

[0025] ;

[0026] in, It is a double difference factor. For virtual base stations and tags For the double-difference observations of the first and second anchor nodes, For virtual base stations With tags For the single-difference observations of the first anchor node, For virtual base stations With tags For the single-difference observations of the second anchor node, For virtual base stations and tags The difference between the true distances relative to the first anchor node, For virtual base stations and tags The difference between the true distances relative to the second anchor node, For virtual base stations and tags The antenna phase deviation double difference is located in the direction of the first anchor node and the second anchor node. The antenna phase deviation is the double difference between the first anchor node and the second anchor node. For virtual base stations and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node. For virtual base stations and tags The double difference in observation noise error in the direction of the first anchor node and the second anchor node.

[0027] Optionally, it also includes: a rejection module, used to calculate a first distance between the virtual base station and the anchor node before correcting the initial positioning result based on the virtual observations and ultra-wideband distance data; calculate a second distance between the virtual base station and the tag to be located; use the first distance, the second distance, and the ultra-wideband distance data as the three sides of a triangle; and reject abnormal data in the ultra-wideband distance data based on the side length relationship of the three sides of the triangle.

[0028] Optionally, the construction module is further used to: determine the coverage area of ​​the anchor node based on the coordinate data of the anchor node; determine the grid density of the virtual base station system based on the coverage area; divide the target area into grids based on the grid density, and generate virtual base stations and corresponding parameters at each grid point to complete the construction of the virtual base station system in the target area.

[0029] Optionally, the calculation module is further used to: obtain the observation equation of the ultra-wideband distance data of the tag to be located; perform distance difference on the observation equation to obtain the initial positioning result of the tag to be located.

[0030] Alternatively, the observation equation for the virtual observations is:

[0031] ;

[0032] in, These are virtual observations. Let be the true geometric distance from the anchor node to the virtual base station. For delays in electronic components at the virtual base station end, For delay of electronic components at the anchor node end, This refers to the antenna phase center deviation at the virtual base station. The antenna phase center deviation at the anchor node end. This refers to the multipath error in ultra-wideband propagation. To observe the noise, For ultra-broadband virtual base stations, For anchor nodes.

[0033] A third aspect of the present invention provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the ultra-wideband positioning method as described in the above embodiments.

[0034] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program or instructions stored thereon, which are executed by a processor to perform the ultra-wideband positioning method as described above.

[0035] Therefore, the present invention has at least the following beneficial effects:

[0036] This invention can acquire ultra-wideband distance data and anchor node coordinates of a tag to be located, calculate the initial positioning result of the tag based on the ultra-wideband distance data, construct a virtual base station system based on the anchor node coordinates, and select a target virtual base station to obtain virtual observation values. By introducing the virtual base station system, signal blind spots can be filled, and the initial positioning result can be corrected based on the virtual observation values ​​and ultra-wideband distance data, eliminating positioning errors caused by ultra-wideband distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning, especially suitable for positioning scenarios in complex environments. Therefore, it solves the technical problem of low positioning accuracy in related technologies.

[0037] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0038] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0039] Figure 1 A flowchart of an ultra-wideband positioning method provided according to an embodiment of the present invention;

[0040] Figure 2 This is a schematic diagram of an ultra-wideband ranging method provided according to an embodiment of the present invention;

[0041] Figure 3 This is a schematic diagram of a virtual base station grid system provided according to an embodiment of the present invention;

[0042] Figure 4 A flowchart illustrating an ultra-wideband positioning method provided according to a specific embodiment of the present invention;

[0043] Figure 5 This is a virtual base station layout diagram for a cross-room verification experiment provided according to an embodiment of the present invention;

[0044] Figure 6 This is a diagram illustrating the effect of removing gross errors from ultra-wideband ranging data according to an embodiment of the present invention.

[0045] Figure 7 This is a diagram showing the positioning effect before data gross error removal and differential positioning calculation according to an embodiment of the present invention;

[0046] Figure 8 This is a positioning effect diagram after data gross error removal and differential positioning calculation according to an embodiment of the present invention;

[0047] Figure 9 This is an example diagram of an ultra-wideband positioning device provided according to an embodiment of the present invention;

[0048] Figure 10 This is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present invention. Detailed Implementation

[0049] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0050] Before describing the solution of the present invention, let's first introduce the ultra-wideband technology involved in the present invention to help understand the solution of the present invention.

[0051] Ultra-wideband (UWB) technology stands out among numerous indoor positioning technologies due to its advantages such as strong penetration, strong multipath resistance, high resolution, low power consumption, and low system complexity. This technology achieves data transmission through nanosecond-level narrow pulses, boasting an ultra-wide bandwidth on the order of GHz, with an operating spectrum between 3.1 and 10.6 GHz. In industrial positioning scenarios, where positioning accuracy is a primary concern, UWB technology, with its centimeter-level ranging capabilities, demonstrates application potential surpassing other traditional indoor positioning technologies, making it the preferred solution for high-precision indoor positioning systems. UWB indoor positioning has significant application potential in areas such as autonomous high-precision positioning for robotic indoor operations, indoor positioning and intelligent navigation for unmanned vehicles / drones, high-precision underground engineering (such as tunnels and mines), construction layout for large indoor venues, and installation monitoring of precision industrial equipment.

[0052] Ultra-wideband (UWB) ranging accuracy can reach the centimeter level. However, due to the complexity of indoor environments, signal measurements are easily affected by various factors during positioning and tracking, such as non-line-of-sight environments, signal transmission, and signal reflection, leading to a decrease in positioning accuracy. Currently, most commercially available UWB positioning systems can only achieve a positioning accuracy of 10-30cm. While this is sufficient for basic daily personnel and vehicle positioning, it falls short of industrial-grade (high-precision) accuracy requirements. Therefore, it is essential to develop an UWB indoor positioning method that improves ranging accuracy and reliability in complex indoor environments.

[0053] To address this, the present invention provides an ultra-wideband (UWB) positioning method. This method acquires UWB distance data and anchor node coordinates of the tag to be positioned, calculates the initial positioning result of the tag based on the UWB distance data, constructs a virtual base station system based on the anchor node coordinates, and selects a target virtual base station to obtain virtual observations. By introducing the virtual base station system, signal blind spots can be filled, and the initial positioning result can be corrected based on the virtual observations and UWB distance data. This eliminates positioning errors caused by UWB distance data, improves the accuracy of distance measurement, and thus improves the accuracy and reliability of tag positioning, making it particularly suitable for positioning scenarios in complex environments.

[0054] Specifically, Figure 1 This is a flowchart illustrating an ultra-wideband positioning method provided in an embodiment of the present invention.

[0055] like Figure 1 As shown, the ultra-wideband positioning method includes the following steps:

[0056] In step S101, the ultrawideband distance data of the tag to be located and the coordinate data of the anchor node within the target area are obtained.

[0057] The target area can be an area where ultra-wideband positioning can be achieved, such as an ultra-wideband test site; the anchor node is a fixed reference point whose position is known within the target area, used to assist in tag positioning; the tag to be positioned is a node whose position needs to be determined, usually attached to the object to be positioned.

[0058] The ultra-wideband distance data in this embodiment of the invention can be acquired in real time by transmitting and receiving ultra-wideband signals within the positioning area using an ultra-wideband positioning device. Employing a TW-ToF (Two-Way Time of Flight) measurement mode, the times of the anchor node's transmitted signal, tag's received signal, tag's transmitted signal, and anchor node's received signal are recorded respectively. The distance value is obtained by subtracting the two-way time. A schematic diagram of the TW-ToF measurement method is shown below. Figure 2 As shown, T1 represents the time when the anchor node sends the data packet signal; T2 represents the time when the tag receives the signal; T3 represents the time when the tag sends the signal; and T4 represents the time when the anchor node receives the data packet signal.

[0059] Specifically, at a certain moment, the anchor node transmits a pulse response signal to the tag. The tag receives the signal, processes it, and sends a feedback signal back to the anchor node. The anchor node records the time of receiving the feedback signal and calculates the flight time, thereby calculating the distance between the anchor node and the tag.

[0060] ;

[0061] in, At the speed of light, For the time when the anchor node transmits the signal, For the tag's signal reception time, For the tag's signal transmission time, This refers to the signal reception time of the anchor node.

[0062] In step S102, the initial positioning result of the tag to be located is calculated based on the ultra-wideband distance data.

[0063] In this embodiment of the invention, the initial positioning result of the tag to be located is calculated based on ultra-wideband distance data, including: obtaining the observation equation of the ultra-wideband distance data of the tag to be located; performing distance difference on the observation equation to obtain the initial positioning result of the tag to be located.

[0064] It is understood that the embodiments of the present invention can calculate the initial positioning result of the tag to be positioned based on ultra-wideband distance data. By obtaining the observation equation of the ultra-wideband distance data of the tag to be positioned, and performing distance difference on the observation equation, the initial positioning result of the tag to be positioned can be obtained.

[0065] In this embodiment of the invention, the observation equation for the virtual observation is:

[0066] ;

[0067] in, These are virtual observations. Let be the true geometric distance from the anchor node to the virtual base station. For delays in electronic components at the virtual base station end, For delay of electronic components at the anchor node end, This refers to the antenna phase center deviation at the virtual base station. The antenna phase center deviation at the anchor node end. This refers to the multipath error in ultra-wideband propagation. To observe the noise, For ultra-broadband virtual base stations, For anchor nodes.

[0068] Specifically, this invention embodiment can directly linearize the equations using the Chan algorithm based on TDoA (Time Difference of Arrival) through distance differencing, quickly obtaining high-precision initial positioning results without initial values. The Chan algorithm is a non-iterative, least-squares-based ultra-wideband indoor positioning algorithm that linearizes the observation equations through distance differencing, offering advantages such as low computational cost and high accuracy. Specifically, it includes:

[0069] The distance observation equation is derived from the resection; the equation is linearized by distance difference; and the initial positioning value of the tag is quickly obtained by performing parameter estimation based on least squares.

[0070] Since the unknowns to be solved are the three-dimensional coordinates of the label, and there are three unknowns, at least four observation equations are needed. The following formula can be obtained from the principle of spatial distance intersection:

[0071] ;

[0072] in, For the unknown coordinates of the label, For the first The known three-dimensional coordinates of each physical anchor node, To measure the first The distance from each physical anchor node to the label.

[0073] By performing distance difference analysis on the above formulas, and using the first equation as the benchmark, subtracting it from the other equations respectively, and simplifying, we obtain:

[0074] ;

[0075] ;

[0076] ;

[0077] Therefore, the initial coordinates of the label can be obtained as follows:

[0078] .

[0079] In step S103, a virtual base station system for the target area is constructed based on the coordinate data of the anchor nodes. The target virtual base station of the tag to be located is selected in the virtual base station system, and the virtual observation value of the target virtual base station is obtained.

[0080] Among them, the target virtual base station can be selected as the virtual base station that is closest to the tag to be located at the current time. When the two are close, their spatial electromagnetic environment and atmospheric environment are more similar, and the common error effects are also similar. In this way, the virtual observation value of the virtual base station constructed by various error terms is more accurate. When performing differential calculations later, some environmental errors and some hardware system errors can also be approximately eliminated, thereby improving the positioning accuracy. The virtual observation value is the theoretical distance observation value between the target virtual base station and the anchor node.

[0081] It is understood that the present invention can construct a virtual base station system for the target area based on the coordinate data of the anchor node to enhance the subsequent positioning accuracy, and select the target virtual base station of the tag to be located in the virtual base station system to obtain the virtual observation value of the target virtual base station so as to correct the initial positioning result in the future.

[0082] In this embodiment of the invention, constructing a virtual base station system for a target area based on the coordinate data of anchor nodes includes: determining the coverage area of ​​anchor nodes based on the coordinate data of anchor nodes; determining the grid density of the virtual base station system based on the coverage area; dividing the target area into grids based on the grid density, and generating virtual base stations and corresponding parameters at each grid point to complete the construction of the virtual base station system for the target area.

[0083] It is understood that the embodiments of the present invention can construct a virtual base station system for the target area based on the coordinate data of the anchor nodes, divide the target area into a grid based on coordinates with reference to the grid virtual reference station technology, select the smallest bounding rectangle in the plane direction of the physical anchor nodes as the range of the grid, determine the ultra-wideband virtual grid spacing, generate virtual base stations and their related parameters, including key information such as location coordinates, at each grid point, and construct a virtual base station grid system covering the entire target area. By constructing a virtual base station system with a reasonable density, it is possible to meet the positioning accuracy requirements, control the computational complexity, and improve the positioning efficiency.

[0084] Specifically, in this embodiment of the invention, relevant information (coordinate parameters, etc.) of the ultra-wideband physical anchor nodes can be obtained first. Then, the range of the grid is determined based on the coverage of the physical anchor nodes. In this invention, the smallest bounding rectangle in the planar direction of the physical anchor nodes is selected as the range of the grid. Next, the grid spacing of the ultra-wideband virtual base station is determined. After dividing the grid, a virtual base station and its related parameters, including key information such as location coordinates, are generated at each grid point. Finally, a virtual base station grid system covering the entire target area is constructed. The specific steps are as follows:

[0085] Obtain the relevant parameters of the physical anchor node;

[0086] Determine the coverage area of ​​the physical anchor nodes;

[0087] Select the grid density;

[0088] Divide the grid and establish virtual base stations;

[0089] Generate virtual base station related parameters;

[0090] Construct a virtual base station grid system covering the entire target area.

[0091] Virtual Reference Station (VRS), also known as virtual base station technology, is a network-based RTK (Real-time kinematic) technology. This technology achieves high-precision positioning of user stations by constructing a gridded network of Global Positioning System (GPS) reference stations and combining this with algorithms for generating virtual stations around mobile terminals. Traditional VRS technology suffers from communication channel congestion and significantly increased computational load when the number of users increases dramatically. To address this, gridded VRS technology constructs a gridded array of reference stations, generating virtual observations containing error models at each grid point, enabling parallel real-time positioning for multiple users over a wide area.

[0092] This invention, modeled after grid-based VRS technology, divides the experimental site into a coordinate-based grid and generates virtual base stations on the grid points. This addresses the problem in ultra-wideband indoor positioning where simply adding physical anchor nodes to improve positioning accuracy leads to low resource utilization efficiency and escalating hardware costs. Figure 3 As shown, Figure 3 It is a virtual base station grid system.

[0093] The three-dimensional location coordinate parameters of the virtual base station are calculated as follows:

[0094] ;

[0095] ;

[0096] ;

[0097] in, These are the location coordinates of the virtual base station. These are the initial grid point plane coordinates, which need to be interpolated using the plane coordinates of the surrounding physical anchor nodes. These are the row index and column index of the grid point, respectively. It refers to the grid spacing. It is the average elevation of the physical anchor nodes. The value of depends on the specific circumstances.

[0098] Determining the elevation of a virtual base station is a crucial step in its construction, requiring careful consideration of the geometric layout of physical anchor nodes. To ensure the stability and accuracy of the positioning calculation process and prevent singularity or ill-conditioned problems in the solutions, the elevation of the virtual base station should not be a single fixed value but rather set in an alternating pattern of high and low elevations. Considering that the room height in indoor environments is approximately 3 meters and the physical anchor node placement height is between 1 meter and 2.5 meters, this invention allows setting the elevation of the virtual base station to a random number following a normal distribution, with the mean being the average elevation of the physical anchor nodes. The standard deviation is 0.5m. This method simulates, to some extent, the height differences of anchor nodes in the actual environment, making the elevation distribution of the virtual base station closer to reality, thereby improving the reliability and adaptability of the positioning system.

[0099] It is important to note that a higher grid density results in a greater number of grid parameters being generated. To ensure accurate ultra-wideband indoor positioning, it is necessary to minimize the number of grid points generated, thereby reducing the overall computational load. Considering the sub-meter level of indoor positioning accuracy and the computational complexity of the algorithm, this invention selects a grid spacing of 2 meters.

[0100] In step S104, the initial positioning results are corrected based on virtual observations and ultra-wideband distance data.

[0101] It is understood that the embodiments of the present invention can correct the initial positioning results based on virtual observations and ultra-wideband distance data. By introducing a virtual base station system, signal blind spots can be filled, and the initial positioning results can be corrected based on virtual observations and ultra-wideband distance data, thereby improving the accuracy and reliability of tag positioning, which is especially suitable for positioning scenarios in complex environments.

[0102] In this embodiment of the invention, the initial positioning result is corrected based on virtual observations and ultra-wideband distance data, including: constructing a double-difference function model based on virtual observations and ultra-wideband distance data; inputting the initial positioning result into the double-difference function model; and using the least squares method to iteratively correct the initial positioning result.

[0103] It is understood that the embodiments of the present invention can construct a double-difference function model based on virtual observations and ultra-wideband distance data, input the initial positioning result into the double-difference function model, and use the least squares method to iteratively correct the initial positioning result, so as to reduce the error generated during the positioning process and significantly improve the positioning accuracy.

[0104] In this embodiment of the invention, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate errors at the anchor node end, and the second function model is used to eliminate errors between the positioning tag and the virtual base station end. The first function model is as follows:

[0105] ;

[0106] in, These are ultra-wideband virtual observations. For tags For anchor nodes The measured distance value, For ultra-broadband virtual base stations, For anchor nodes, For tags With virtual base stations to anchor nodes respectively The difference between the true value and the distance. For delays in electronic components at the virtual base station end, Delay for electronic components at the tag end, This refers to the antenna phase center deviation at the virtual base station. This refers to the antenna phase center deviation at the tag end. For anchor nodes The difference in antenna phase center deviation, For tags With virtual base stations At the anchor node The difference in multipath error in the direction, For tags With virtual base stations At the anchor node The difference in observation noise in the direction;

[0107] The second function model is:

[0108] ;

[0109] in, It is a double difference factor. For virtual base stations and tags For the double-difference observations of the first and second anchor nodes, For virtual base stations With tags For the single-difference observations of the first anchor node, For virtual base stations With tags For the single-difference observations of the second anchor node, For virtual base stations and tags The difference between the true distances relative to the first anchor node, For virtual base stations and tags The difference between the true distances relative to the second anchor node, For virtual base stations and tags The antenna phase deviation double difference is located in the direction of the first anchor node and the second anchor node. The antenna phase deviation is the double difference between the first anchor node and the second anchor node. For virtual base stations and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node. For virtual base stations and tags The double difference in observation noise error in the direction of the first anchor node and the second anchor node.

[0110] The first function model in this embodiment of the invention is the "tag-to-tag" single-difference observation equation for the virtual base station and the tag with respect to the common-view anchor node. By using the "tag-to-tag" single difference, the delay of electronic components at the anchor node end can be eliminated, while reducing antenna phase center deviation and multipath effects at the tag end and the virtual base station end.

[0111] The second function model is a double-difference observation equation between the virtual base station and the tag at the anchor node, which can eliminate the delay error of electronic components at the tag and virtual base station ends.

[0112] Specifically, this invention can select a suitable virtual base station (i.e., the target virtual base station) as the differential object for the tag, construct virtual observations of the virtual base station, and build a double-difference positioning function model. The double-difference positioning solution relies on high-precision prior initial values. High-precision positioning tag initial values ​​are obtained through the Chan algorithm, and subsequent positioning solutions are performed based on these prior initial values. The specific steps include:

[0113] Select the virtual base station closest to the tag at the current time as the difference object to construct virtual observations;

[0114] Obtain the initial double difference value of the high-precision positioning tag (i.e., the initial positioning result);

[0115] First, differential estimation is performed between the virtual base station and the positioning tag, and then differential estimation is performed between the anchor nodes to form a double-difference observation equation. This effectively eliminates or significantly reduces various errors in the ranging values. Parameter estimation is then performed to obtain the corrected positioning results.

[0116] In this embodiment of the invention, before correcting the initial positioning result based on virtual observations and ultra-wideband distance data, the method further includes: calculating a first distance between the virtual base station and the anchor node; calculating a second distance between the virtual base station and the tag to be located; using the first distance, the second distance, and the ultra-wideband distance data as the three sides of a triangle; and removing abnormal data from the ultra-wideband distance data based on the side length relationship of the three sides of the triangle.

[0117] The first distance is the baseline distance, which serves as the first side of the triangle.

[0118] It is understood that in this embodiment of the invention, the positions of the virtual base station and the physical anchor node are fixed. The baseline distance between the virtual base station and the physical anchor node is calculated and used as a constraint. The virtual base station, the physical anchor node, and the tag form a triangle, with the baseline distance serving as the first side of the triangle. The distance between the virtual base station and the positioning tag is calculated using the initial positioning results and used as the second side of the triangle. The original ultra-wideband distance data serves as the third side of the triangle. Abnormal data is identified and removed by combining the side length relationship between the other two sides of the triangle and the first side, in order to improve the quality of the positioning data and avoid the impact of outliers on the positioning results.

[0119] Specifically, using a virtual base station (assuming the node number is...) ), physical anchor node (assuming node number is ) and labels (assuming node number is Taking a triangle as an example, first calculate the short baseline distance between the virtual base station and the physical anchor node. This is one side of the triangle, and it is used as a constraint. Then, the current time step number is obtained. The original distance observations corresponding to the physical anchor nodes (i.e., ultra-wideband distance data). And the distance between the virtual base station and the tag calculated by inverse coordinates As the other two sides of the triangle, they should satisfy the fundamental theorem of triangles. Considering the nominal ranging accuracy of ultra-wideband, the judgment condition should be:

[0120] ;

[0121] in, This indicates the nominal ranging accuracy of the ultra-wideband equipment (which can be determined according to actual needs). Indicates the weight.

[0122] Theoretically, the absolute value of the distance difference between the physical anchor node and the virtual base station to the tag should be less than the short baseline distance, and the sum of the distances between the physical anchor node and the virtual base station to the tag should be greater than the short baseline distance. Therefore, raw ranging values ​​that meet the above conditions are considered to have no gross errors and are usable, with a corresponding weight of 1. Raw ranging values ​​that do not meet the above conditions are considered to have gross errors and are assigned a weight of 0, i.e., discarded.

[0123] Furthermore, it should be noted that after achieving accurate positioning, the positioning results can be evaluated for accuracy. By comparing and analyzing cross-room indoor positioning experiments with external high-precision reference results, it can be determined whether the method has advantages over traditional algorithms, thereby highlighting the effectiveness of the ultra-wideband positioning solution strategy of the present invention.

[0124] The ultra-wideband positioning method of the present invention is described below through a specific embodiment, and the specific process is as follows: Figure 4 As shown, it includes:

[0125] 1. Collect ultra-wideband ranging data (i.e., ultra-wideband distance data).

[0126] The TW-ToF ranging method involves an anchor node transmitting a pulse response signal to a tag at a specific moment. The tag receives and processes the signal, then sends a feedback signal back to the anchor node. The anchor node records the time it receives the feedback signal, thereby calculating the time of flight and ultimately the distance between the anchor node and the tag. A schematic diagram of the TW-ToF measurement method is shown below. Figure 2 As shown.

[0127] Specifically, the anchor node transmits a pulse response signal to the tag at a certain moment. The tag receives the signal, processes it, and sends a feedback signal back to the anchor node. The anchor node records the time of receiving the feedback signal and calculates the flight time, thereby calculating the distance between the anchor node and the tag.

[0128] (1)

[0129] in, At the speed of light, For the time when the anchor node transmits the signal, For the tag's signal reception time, For the tag's signal transmission time, This refers to the signal reception time of the anchor node.

[0130] 2. Establishment of ultra-broadband virtual base stations.

[0131] This invention mimics the grid-based VRS technology to divide the experimental site into a coordinate-based grid, and generates virtual base stations on the grid points. The virtual base stations are as follows: Figure 3 As shown, this is used to solve the problem of low resource utilization efficiency and rising hardware costs caused by simply adding physical anchor nodes to improve positioning accuracy in ultra-wideband indoor positioning.

[0132] The three-dimensional location coordinate parameters of the virtual base station are calculated as follows:

[0133] ;

[0134] ;

[0135] (2)

[0136] in, These are the location coordinates of the virtual base station. These are the initial grid point plane coordinates, which need to be interpolated using the plane coordinates of the surrounding physical anchor nodes. These are the row index and column index of the grid point, respectively. It is the grid spacing. It is the average elevation of the physical anchor nodes. The value of depends on the specific circumstances.

[0137] 3. Rapid acquisition of initial values ​​for ultra-wideband dual-difference positioning.

[0138] The Chan algorithm is one of the classic algorithms in ultra-wideband indoor positioning. When the line of sight (LOS) is good and the ranging error follows a zero-mean Gaussian distribution, the Chan algorithm can achieve good positioning results. The Chan algorithm estimates the position by using redundant ranging information and the known coordinates of the anchor node. Since the Chan algorithm obtains a linearized equation by subtracting the observation equations, it can calculate the three-dimensional coordinates of the tag. Since the unknown to be solved is the three-dimensional coordinates of the tag, at least four observation equations are required. Formula (3) can be obtained from the principle of spatial distance intersection:

[0139] (3)

[0140] in, For the unknown coordinates of the label, For the first The known three-dimensional coordinates of each physical anchor node, To measure the first The distance from each physical anchor node to the label.

[0141] By performing distance difference on formula (3), and using the first equation as the benchmark, subtracting the other equations from it, we can obtain the following:

[0142] ;

[0143] ;

[0144] (4)

[0145] Therefore, the initial coordinates of the label can be obtained as follows:

[0146] (5)

[0147] 4. Gross error detection and removal in ultra-wideband ranging data.

[0148] Using a virtual base station (assuming node number is) ), physical anchor node (assuming node number is ) and labels (assuming node number is Taking a triangle as an example, first calculate the short baseline distance between the virtual base station and the physical anchor node. This is one side of the triangle, and it is used as a constraint. Then, the current time step number is obtained. The original distance observations corresponding to the physical anchor nodes And the distance between the virtual base station and the tag calculated by inverse coordinates As the other two sides of the triangle, they should satisfy the fundamental theorem of triangles. Considering the nominal ranging accuracy of ultra-wideband, the judgment condition should be:

[0149] (6)

[0150] in, This indicates the nominal ranging accuracy of the ultra-wideband equipment (which can be determined according to actual needs). Indicates the weight.

[0151] Theoretically, the absolute value of the distance difference between the physical anchor node and the virtual base station to the tag should be less than the short baseline distance, and the sum of the distances between the physical anchor node and the virtual base station to the tag should be greater than the short baseline distance. Therefore, raw ranging values ​​that meet the above conditions are considered to have no gross errors and are usable, with a corresponding weight of 1. Raw ranging values ​​that do not meet the above conditions are considered to have gross errors and are assigned a weight of 0, i.e., discarded.

[0152] 5. Generate virtual base station virtual observations and construct a double-difference function model.

[0153] Similarly, using a virtual base station (assuming node number is...) ), physical anchor node (assuming node number is ) and labels (assuming node number is Taking a virtual base station as an example, the virtual base station closest to the current tag location is selected as the tag differential object. This is because when the virtual base station is close to the tag, their spatial electromagnetic and atmospheric environments are more similar, and the common error effects they are affected by are also similar. Thus, the virtual observations of the virtual base station constructed from various error terms are more accurate, and some environmental errors and some hardware system errors can be approximately eliminated during subsequent differential calculations, thereby improving positioning accuracy.

[0154] The observation equation for the virtual base station is:

[0155] (7)

[0156] in, This refers to an ultra-wideband virtual base station. Represents ultra-wideband virtual observations. This represents the true geometric distance from the physical anchor node to the virtual base station. This indicates the latency of electronic components at the virtual base station. This indicates the delay of electronic components at the physical anchor node. This indicates the antenna phase center deviation at the virtual base station. This indicates the antenna phase center deviation at the physical anchor node. This represents the multipath error during ultra-wideband propagation. This indicates observation noise.

[0157] The general form of a single difference equation is:

[0158] (8)

[0159] virtual base station With tags For common-view anchor nodes The single-difference observation equation between tags is:

[0160] (9)

[0161] Therefore, the virtual observation value of the virtual base station is:

[0162] (10)

[0163] According to formula (10), the virtual observations of the virtual base station are constructed by adding various error corrections to the ranging observations of the tag. Since the virtual base station is close to the tag, the multipath effect is assumed to be consistent with the tag during the actual construction process, and formula (10) can be rewritten as:

[0164] (11)

[0165] in, This represents the distance measurement observation value of the tag. This indicates the single difference operator; its other meanings are consistent with formula (7).

[0166] The specific calculation steps for virtual observations of a virtual base station are as follows:

[0167] (1) Calculate the distance term correction.

[0168] The formula for calculating the distance correction is:

[0169] (12)

[0170] in:

[0171] ;

[0172] (13)

[0173] in, The meaning is consistent with formula (7). This represents the true geometric distance from the label to the physical anchor node. These are the three-dimensional coordinates of the selected virtual base station. These are the three-dimensional coordinates of the physical anchor node. These are the three-dimensional coordinates of the label, obtained using the Chan algorithm.

[0174] (2) Correction for delay items of electronic components.

[0175] This represents the difference in latency between the virtual base station and the tag's electronic components; electronic component latency. Theoretically, it is a constant value, and its magnitude depends on the device itself. Therefore, when constructing virtual observations for a virtual base station, The value is also constant and can be estimated using any fixed value.

[0176] (14)

[0177] (3) Corrections for the remaining items.

[0178] The virtual observations from the virtual base station also include corrections for antenna phase center deviation and observation noise. This represents the difference in antenna phase center deviation between the virtual base station and the tag. This represents the difference in antenna phase center deviation at the anchor node. This value is related to both the signal itself and the antenna orientation, making it difficult to estimate using a single fixed value or a single model. However, after the single difference between the virtual base station and the tag, this error has been significantly reduced. Therefore, in order to simplify the function model of the virtual observation and ensure that the double-difference positioning accuracy is not affected, this invention summarizes the remaining correction terms in the virtual observation into one term and represents it using Gaussian noise.

[0179] Gaussian noise is an ideal form of random noise, whose probability density function follows a normal distribution, exhibiting zero mean and fixed variance. The mathematical expression for Gaussian noise is:

[0180] (15)

[0181] in, The standard deviation of noise reflects its intensity. In the process of generating virtual observations, The nominal ranging accuracy of the ultra-wideband equipment is set at 2cm, so that the virtual observation value is closer to the real ranging value.

[0182] After the virtual base station generates virtual observations for tag synchronization, it constructs the observation equation. Equation (9) is the virtual base station... With tags For common-view anchor nodes The "inter-tag" single-difference observation equation. By using the "inter-tag" single difference, the delay of electronic components at the anchor node end can be eliminated, while reducing the antenna phase center deviation and multipath effect at the tag end and the virtual base station end. Assuming that the common-view anchor nodes are numbered 1 and 2, then formula (9) can be rewritten as:

[0183] (16)

[0184] (17)

[0185] By further subtracting formulas (16) and (17), i.e., by performing "inter-anchor node" subtraction, we can obtain the double-difference observation equation between the virtual base station and the tag as follows:

[0186] (18)

[0187] in, It is a double difference operator. This represents the difference between the true distance of the virtual base station and the tag relative to the anchor node number 1. The calculation formula is the same as that in formula (12), and the meanings of other parameters are consistent with those in formula (7).

[0188] As can be seen from formula (18), the error regarding the delay of electronic components has been eliminated after double difference, which confirms that when constructing virtual observations for virtual base stations, the error is... Setting the value of to a fixed constant is reasonable. The double-difference observation equation also includes double-difference parameters such as antenna phase center deviation and multipath error, but these have been significantly weakened and can be approximated as noise. The above equation can be simplified to:

[0189] (19)

[0190] in, This represents the truncation error and all random errors.

[0191] (20)

[0192] ;(twenty one)

[0193] Therefore, formula (19) can be written as:

[0194] ;(twenty two)

[0195] According to Taylor series expansion formula, formula (22) can be linearized as follows:

[0196] ;(twenty three)

[0197] in, The coordinate correction for the label. The initial double difference value for the label. and These represent the coordinates of the physical anchor nodes numbered 1 and 2, respectively. and These are the approximate distances between the label and the physical anchor nodes numbered 1 and 2, respectively, which can be calculated using the coordinates.

[0198] To solve for the 3D coordinate correction of the tag, the number of common-view physical anchor nodes must be no less than 4. The double-difference equation requires defining one of the physical anchor nodes as the reference anchor node, based on the principle of maximizing the signal-to-noise ratio and eliminating ranging error indicators. Here, we first use the physical anchor node numbered 1 as the reference anchor node, but in actual positioning, it needs to be selected according to the specific situation of the ultra-wideband equipment. Formula (23) can be written in matrix form:

[0199] ;(twenty four)

[0200] (25)

[0201] in,

[0202] ;

[0203] (26)

[0204] At this point, the three-dimensional coordinate correction of the label can be solved using the least squares algorithm.

[0205] (27)

[0206] During the localization process, the initial double-difference values ​​of the labels are obtained using the Chan algorithm, and then substituted into the double-difference equation to obtain the optimal estimate of the coordinate corrections. The solution process can be achieved by iteratively updating the initial coordinate values, allowing the coordinate values ​​to approximate the true values ​​as closely as possible. Typically, 2-3 iterations are sufficient.

[0207] 5. Verify the effectiveness of the ultra-wideband positioning solution strategy.

[0208] To address the issues of low resource utilization efficiency and escalating hardware costs resulting from simply increasing physical anchor nodes to improve positioning accuracy, this invention proposes a method for establishing ultra-wideband virtual base stations. Referring to the principle of grid-based VRS, virtual base stations are uniformly deployed within the experimental area. Based on this, a method for detecting gross errors in ultra-wideband ranging based on short baseline constraints is proposed. This method can identify and eliminate gross errors in ultra-wideband ranging at the raw data level, obtaining high-quality observation data. Then, suitable virtual base stations are selected as the differential objects for tags, a positioning function model is constructed, and the Chan algorithm is used to quickly obtain initial values ​​for ultra-wideband double-difference positioning. Double-difference positioning is then calculated, thereby achieving accurate indoor positioning. The following are the results of the verification experiments:

[0209] from Figure 5 It can be seen that, Figure 5 The virtual base station layout diagram is for the cross-room verification experiment. The virtual base station basically covers the entire experimental area, can provide reliable positioning assistance, has no positioning blind spots, and the virtual base station layout is reasonable.

[0210] Analysis based on the results of the gross error detection algorithm: Figure 6The figure shows the actual change of the distance measurement value between anchor node 1 and the label over time. It can be clearly seen that there are many discrete points in the original distance measurement data, that is, gross errors. By using the short baseline constraint method, most of the abnormal distance measurement values ​​can be effectively identified and removed, thereby obtaining "clean" distance measurement data and improving data reliability.

[0211] The positioning results of the traditional positioning algorithm (least square positioning method) and the ultra-wideband indoor positioning solution strategy provided in this invention are compared and analyzed. Figure 7 The localization results of the traditional algorithm are presented. Figure 8 The results of the ultra-wideband positioning solution strategy of this invention are presented. This positioning solution strategy integrates the gross error detection algorithm and differential positioning function model of this invention. By comparing the two figures, it can be clearly seen that the positioning results of the traditional method based on the original data have many outliers and obvious systematic errors. However, the positioning solution strategy of this invention uses "clean" ranging values ​​for double-difference positioning solution, which significantly improves both gross errors and systematic errors. The positioning results are close to the true value, and the positioning trajectory basically matches the reference trajectory, which can achieve accurate indoor positioning.

[0212] The ultra-wideband (UWB) positioning method proposed in this embodiment of the invention can acquire UWB distance data and anchor node coordinates of the tag to be positioned, calculate the initial positioning result of the tag based on the UWB distance data, construct a virtual base station system based on the anchor node coordinates, and select a target virtual base station to obtain virtual observation values. By introducing the virtual base station system, signal blind spots can be filled, and the initial positioning result can be corrected based on the virtual observation values ​​and UWB distance data, eliminating the positioning error of UWB distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning, especially suitable for positioning scenarios in complex environments.

[0213] Next, the ultra-wideband positioning device according to an embodiment of the present invention is described with reference to the accompanying drawings.

[0214] Figure 9 This is a block diagram of an ultra-wideband positioning device according to an embodiment of the present invention.

[0215] like Figure 9 As shown, the ultra-wideband positioning device 10 includes: an acquisition module 100, a calculation module 200, a construction module 300, and a correction module 400.

[0216] The acquisition module 100 is used to acquire the ultra-wideband distance data and anchor node coordinate data of the tag to be located within the target area; the calculation module 200 is used to calculate the initial positioning result of the tag to be located based on the ultra-wideband distance data; the construction module 300 is used to construct a virtual base station system in the target area based on the anchor node coordinate data, select the target virtual base station of the tag to be located in the virtual base station system, and acquire the virtual observation value of the target virtual base station; the correction module 400 is used to correct the initial positioning result based on the virtual observation value and the ultra-wideband distance data.

[0217] In this embodiment of the invention, the correction module 400 is further configured to: construct a double-difference function model based on virtual observations and ultra-wideband distance data; input the initial positioning result into the double-difference function model, and use the least squares method to iteratively correct the initial positioning result.

[0218] In this embodiment of the invention, the double-difference function model includes: a first function model and a second function model, wherein the first function model is used to eliminate errors at the anchor node end, and the second function model is used to eliminate errors at the tag and virtual base station ends. The first function model is as follows:

[0219] ;

[0220] in, These are ultra-wideband virtual observations. For tags For anchor nodes The measured distance value, For ultra-broadband virtual base stations, For anchor nodes, For tags With virtual base stations to anchor nodes respectively The difference between the true value and the distance. For delays in electronic components at the virtual base station end, Delay for electronic components at the tag end, This refers to the antenna phase center deviation at the virtual base station. This refers to the antenna phase center deviation at the tag end. For anchor nodes The difference in antenna phase center deviation, For tags With virtual base stations At the anchor node The difference in multipath error in the direction, For tags With virtual base stations At the anchor node The difference in observation noise in the direction;

[0221] The second function model is:

[0222] ;

[0223] in, It is a double difference factor. For virtual base stations and tags For the double-difference observations of the first and second anchor nodes, For virtual base stations With tags For the single-difference observations of the first anchor node, For virtual base stations With tags For the single-difference observations of the second anchor node, For virtual base stations and tags The difference between the true distances relative to the first anchor node, For virtual base stations and tags The difference between the true distances relative to the second anchor node, For virtual base stations and tags The antenna phase deviation double difference is located in the direction of the first anchor node and the second anchor node. The antenna phase deviation is the double difference between the first anchor node and the second anchor node. For virtual base stations and tags The double difference of multipath error in the direction of the first anchor node and the second anchor node. For virtual base stations and tags The double difference in observation noise error in the direction of the first anchor node and the second anchor node.

[0224] In this embodiment of the invention, the ultra-wideband positioning device 10 further includes a rejection module.

[0225] The elimination module is used to calculate the first distance between the virtual base station and the anchor node before correcting the initial positioning results based on virtual observations and ultra-wideband distance data; calculate the second distance between the virtual base station and the tag to be located; use the first distance, the second distance, and the ultra-wideband distance data as the three sides of a triangle; and eliminate abnormal data in the ultra-wideband distance data based on the side length relationship of the three sides of the triangle.

[0226] In this embodiment of the invention, the construction module 300 is further configured to: determine the coverage area of ​​the anchor node based on the coordinate data of the anchor node; determine the grid density of the virtual base station system based on the coverage area; divide the target area into grids based on the grid density, and generate virtual base stations and corresponding parameters at each grid point to complete the construction of the virtual base station system of the target area.

[0227] In this embodiment of the invention, the calculation module 200 is further configured to: obtain the observation equation of the ultra-wideband distance data of the tag to be located; perform distance difference on the observation equation to obtain the initial positioning result of the tag to be located.

[0228] In this embodiment of the invention, the observation equation for the virtual observation is:

[0229] ;

[0230] in, These are virtual observations. Let be the true geometric distance from the anchor node to the virtual base station. For delays in electronic components at the virtual base station end, For delay of electronic components at the anchor node end, This refers to the antenna phase center deviation at the virtual base station. The antenna phase center deviation at the anchor node end. This refers to the multipath error in ultra-wideband propagation. To observe the noise, For ultra-broadband virtual base stations, For anchor nodes.

[0231] It should be noted that the foregoing explanation of the ultra-wideband positioning method embodiment also applies to the ultra-wideband positioning device of this embodiment, and will not be repeated here.

[0232] The ultra-wideband positioning device proposed in this embodiment of the invention can acquire ultra-wideband distance data and anchor node coordinates of the tag to be positioned, calculate the initial positioning result of the tag based on the ultra-wideband distance data, construct a virtual base station system based on the anchor node coordinates, and select a target virtual base station to obtain virtual observation values. By introducing the virtual base station system, signal blind spots can be filled, and the initial positioning result can be corrected based on the virtual observation values ​​and ultra-wideband distance data, eliminating the positioning error of ultra-wideband distance data, improving the accuracy of distance measurement, and thus improving the accuracy and reliability of tag positioning, especially suitable for positioning scenarios in complex environments.

[0233] Figure 10 This is a schematic diagram of an electronic device provided in an embodiment of the present invention. The electronic device may include:

[0234] The memory 1001, the processor 1002, and the computer program stored on the memory 1001 and capable of running on the processor 1002.

[0235] When the processor 1002 executes the program, it implements the ultra-wideband positioning method provided in the above embodiments.

[0236] Furthermore, electronic devices also include:

[0237] Communication interface 1003 is used for communication between memory 1001 and processor 1002.

[0238] The memory 1001 is used to store computer programs that can run on the processor 1002.

[0239] The memory 1001 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0240] If the memory 1001, processor 1002, and communication interface 1003 are implemented independently, then the communication interface 1003, memory 1001, and processor 1002 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0241] Optionally, in a specific implementation, if the memory 1001, processor 1002, and communication interface 1003 are integrated on a single chip, then the memory 1001, processor 1002, and communication interface 1003 can communicate with each other through an internal interface.

[0242] The processor 1002 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention.

[0243] This invention also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the ultra-wideband positioning method described above.

[0244] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0245] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0246] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0247] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (FPGAs), field-programmable gate arrays (FPGAs), etc.

[0248] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. An ultra-wideband positioning method, characterized by, The method comprises the following steps: acquiring ultra-wideband distance data of a to-be-positioned tag and coordinate data of anchor nodes in a target area; calculating an initial positioning result of the to-be-positioned tag based on the ultra-wideband distance data; constructing a virtual base station system of the target area based on the coordinate data of the anchor nodes, selecting a target virtual base station of the to-be-positioned tag in the virtual base station system, and acquiring a virtual observation value of the target virtual base station; correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data; The step of correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data comprises the following steps: constructing a double-difference function model based on the virtual observation value and the ultra-wideband distance data; 2. The ultra-wideband positioning method of claim 1, wherein, inputting the initial positioning result into the double-difference function model and correcting the initial positioning result by using a least square method in a loop. ； wherein, is an ultra-wideband virtual observation value, is a tag to an anchor node of a measured distance value, is an ultra-wideband virtual base station, is an anchor node, is a tag to a virtual base station of a distance true value respectively, of a distance true value respectively, is an electronic component delay of a virtual base station end, is an electronic component delay of a tag end, is an antenna phase center deviation of a virtual base station end, is an antenna phase center deviation of a tag end, of an anchor node of an antenna phase center deviation, of a tag to a virtual base station of a multipath error in the direction of an anchor node of a multipath error in the direction of an anchor node, of a tag to a virtual base station of an observation noise in the direction of an anchor node of an observation noise in the direction of an anchor node. The double-difference function model comprises a first function model and a second function model, wherein the first function model is used to eliminate errors at the anchor node end, and the second function model is used to eliminate errors at the tag and virtual base station end, and the first function model is as follows: ； wherein is a double difference factor, is a virtual base station and a tag a double difference observation of the first anchor node and the second anchor node, is a virtual base station and a tag a single difference observation of the first anchor node, is a virtual base station and a tag a single difference observation of the second anchor node, is a virtual base station and a tag a difference of distance true values, respectively, with respect to the first anchor node, is a virtual base station and a tag a difference of distance true values, respectively, with respect to the second anchor node, is a virtual base station and a tag a double difference of antenna phase bias in directions of the first anchor node and the second anchor node, is a double difference of antenna phase bias between the first anchor node and the second anchor node, is a virtual base station and a tag a double difference of multipath error in directions of the first anchor node and the second anchor node, is a virtual base station and a tag a double difference of observation noise error in directions of the first anchor node and the second anchor node.

3. The ultra-wideband positioning method of claim 1, wherein, The second function model is as follows: Before the step of correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data, the method further comprises the following steps: calculating a first distance between the virtual base station and the anchor node; calculating a second distance between the virtual base station and the to-be-positioned tag; taking the first distance, the second distance and the ultra-wideband distance data as three sides of a triangle; 4. The ultra-wideband positioning method of claim 1, wherein, eliminating abnormal data in the ultra-wideband distance data based on the length relationship of the three sides of the triangle. The step of constructing the virtual base station system of the target area based on the coordinate data of the anchor nodes comprises the following steps: determining a coverage area range of the anchor nodes based on the coordinate data of the anchor nodes; determining a grid density of the virtual base station system based on the coverage area range; 5. The ultra-wideband positioning method of claim 1, wherein, dividing a grid in the target area based on the grid density, and generating a virtual base station and corresponding parameters at each grid point to complete the construction of the virtual base station system of the target area. The step of calculating the initial positioning result of the to-be-positioned tag based on the ultra-wideband distance data comprises the following steps: acquiring an observation equation of the ultra-wideband distance data of the to-be-positioned tag; 6. The ultra-wideband positioning method of claim 1, wherein, performing distance difference on the observation equation to obtain the initial positioning result of the to-be-positioned tag. ； wherein, is a virtual observation value, is a true value of a geometric distance from the anchor node to the virtual base station, is an electronic component delay at the virtual base station end, is an electronic component delay at the anchor node end, is an antenna phase center deviation at the virtual base station end, is an antenna phase center deviation at the anchor node end, is a multipath error in the ultra-wideband propagation process, is an observation noise, is an ultra-wideband virtual base station, is an anchor node.

7. An ultra-wideband positioning device, characterized by The observation equation of the virtual observation value is as follows: comprises the following steps: an acquiring module, configured to acquire ultra-wideband distance data of a to-be-positioned tag and coordinate data of anchor nodes in a target area; a calculating module, configured to calculate an initial positioning result of the to-be-positioned tag based on the ultra-wideband distance data; a constructing module, configured to construct a virtual base station system of the target area based on the coordinate data of the anchor nodes, select a target virtual base station of the to-be-positioned tag in the virtual base station system, and acquire a virtual observation value of the target virtual base station; a correcting module, configured to correct the initial positioning result based on the virtual observation value and the ultra-wideband distance data; The correcting the initial positioning result based on the virtual observation value and the ultra-wideband distance data comprises: constructing a double-difference function model based on the virtual observation value and the ultra-wideband distance data; The initial positioning result is input into the double-difference function model, and the initial positioning result is corrected by using a least square method and loop iteration.

8. An electronic device, comprising: Comprise: A memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor executes the program to implement the ultra-wideband positioning method according to any one of claims 1-6.

9. A computer readable storage medium having stored thereon a computer program or instructions, characterized in that, The computer program or instructions are executed by the processor to implement the ultra-wideband positioning method according to any one of claims 1-6.

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