Ultra-wideband positioning method for offshore dispatching, storage medium and program product

Abstract

The embodiment of the invention provides an ultra-wideband positioning method for offshore dispatching, a storage medium and a program product. The method comprises the following steps: controlling a beacon base station to periodically broadcast beacon frame signals to a plurality of ultra-wideband base stations so as to synchronize the time sequence of the plurality of ultra-wideband base stations; controlling the plurality of ultra-wideband base stations to receive radio signals transmitted by ultra-wideband tag equipment on the to-be-positioned target, so that the plurality of ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and the radio signals; acquiring first ranging data from the plurality of ultra-wideband base stations; preprocessing the first ranging data to obtain second ranging data; acquiring offset vector data of the target to be positioned, wherein the offset vector data are equal at any moment in the same time slot; and determining position information of the to-be-positioned target by adopting a preset positioning system distance model based on the second distance measurement data, the coordinate information and the offset vector data. The method is used for realizing accurate positioning of the moving to-be-positioned target.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to an ultra-wideband positioning method, storage medium, and program product for maritime transport. Background Technology

[0002] In maritime relocation scenarios, real-time and precise positioning of multiple targets, including carrier-based aircraft, tractors, and personnel, is a core requirement for ensuring relocation safety and efficiency. This scenario has significant unique characteristics: the operating area is limited by deck space, targets are densely distributed and in close proximity, and the platform is in continuous motion, experiencing phenomena such as rolling, pitching, and heave, which pose challenges to positioning stability.

[0003] In existing ultra-wideband (UWB) positioning technologies, multiple UWB base stations are first deployed in the positioning area, and UWB tag devices are installed on the target to be positioned. Then, wireless signal interaction is carried out between the UWB tag devices and the UWB base stations. The UWB base stations collect raw ranging data based on ranging algorithms. Furthermore, the host computer collects the raw ranging data from multiple UWB base stations and uses positioning algorithms to calculate the coordinates of the target to be positioned.

[0004] However, in maritime transport scenarios, due to the time sequence between multiple ultra-wideband base stations, if the target to be located is in a moving state, the raw ranging data collected will be obtained at different locations, thus causing additional positioning errors. Summary of the Invention

[0005] This application provides an ultra-wideband positioning method, storage medium, and program product for maritime transport, which can be used to achieve accurate positioning of a moving target to be located.

[0006] In a first aspect, embodiments of this application provide an ultra-wideband positioning method for maritime transport, applied to a host computer, comprising:

[0007] The control beacon base station periodically broadcasts beacon frame signals to multiple ultra-wideband base stations to synchronize the timing of the multiple ultra-wideband base stations, and the timing includes multiple time slots;

[0008] Multiple ultra-wideband base stations are controlled to receive radio signals emitted by ultra-wideband tag devices on the target to be located, so that the multiple ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and radio signals;

[0009] First ranging data was collected from multiple ultra-wideband base stations;

[0010] The first ranging data is preprocessed to obtain the second ranging data;

[0011] Obtain the coordinate information of multiple ultra-wideband base stations;

[0012] The offset vector data of the target to be located is collected, wherein the offset vector data are equal at any time within the same time slot;

[0013] Based on the second ranging data, coordinate information, and offset vector data, the location information of the target to be located is determined using a preset positioning system distance model.

[0014] In one possible implementation, the coordinate information of n ultra-wideband base stations is obtained, where n is an integer greater than or equal to 3;

[0015] Identify n ultra-wideband base stations as a base station positioning group;

[0016] The control base station positioning group locates each unlocated ultra-wideband base station one by one, and adds the located ultra-wideband base stations to the base station positioning group until all ultra-wideband base stations have been located, so as to obtain the coordinate information of multiple ultra-wideband base stations.

[0017] In one possible implementation, multiple raw ranging data from multiple ultra-wideband base stations are acquired based on a first preset ranging algorithm and radio signal measurements.

[0018] The ultra-wideband base station corresponding to the smallest original ranging data among multiple original ranging data is selected as the main base station;

[0019] So that the main base station can obtain third ranging data based on the second preset ranging algorithm and radio signals;

[0020] This enables the remaining ultra-wideband base stations, excluding the main base station, to obtain fourth ranging data based on the third preset ranging algorithm and radio signals.

[0021] In one possible implementation, the first ranging data is averaged to obtain the third ranging data;

[0022] The third ranging data is processed by one or more of the following methods: Kalman filtering, wavelet denoising, and median filtering, to obtain the second ranging data.

[0023] In one possible implementation, multiple ultra-wideband base stations are traversed until multiple deviation data corresponding to the multiple ultra-wideband base stations are obtained, including:

[0024] Each time, a unique ultra-wideband base station is selected, and the location information of the target to be located is determined based on the first ranging data of the other ultra-wideband base stations besides the selected one.

[0025] Calculate the difference between the location information and the first ranging data of the corresponding selected ultra-wideband base station to obtain the deviation data of the selected ultra-wideband base station;

[0026] If the deviation data is greater than the preset deviation threshold, the first ranging data of the corresponding ultra-wideband base station will be removed.

[0027] In one possible implementation, a two-dimensional planar model of the area where the ultra-wideband base station needs to be deployed is obtained;

[0028] On a two-dimensional plane model, one of the rectangular distribution algorithm and the geometric distribution algorithm is used to determine the deployment coordinate information of the ultra-wideband base station. The deployment coordinate information is used to instruct relevant personnel to deploy the ultra-wideband base station at the corresponding coordinates.

[0029] Secondly, embodiments of this application provide an ultra-wideband positioning device for maritime transport, comprising:

[0030] The control module is used to control the beacon base station to periodically broadcast beacon frame signals to multiple ultra-wideband base stations in order to synchronize the timing of the multiple ultra-wideband base stations, the timing including multiple time slots;

[0031] The control module is used to control multiple ultra-wideband base stations to receive radio signals emitted by ultra-wideband tag devices on the target to be located, so that the multiple ultra-wideband base stations can obtain first ranging data based on a first preset ranging algorithm and radio signals;

[0032] The acquisition module is used to acquire first ranging data from multiple ultra-wideband base stations;

[0033] The processing module is used to preprocess the first ranging data to obtain the second ranging data;

[0034] The acquisition module is also used to obtain the coordinate information of multiple ultra-wideband base stations;

[0035] The acquisition module is also used to acquire the offset vector data of the target to be located, wherein the offset vector data is equal at any time in the same time slot;

[0036] The positioning module is used to determine the location information of the target to be located based on the second ranging data, coordinate information, and offset vector data, using a preset positioning system distance model.

[0037] Thirdly, embodiments of this application provide a host computer, including: a memory and a processor;

[0038] The memory stores instructions that the computer executes;

[0039] The processor executes computer execution instructions stored in memory, causing the processor to perform the first aspect and / or various possible implementations of the first aspect as described above.

[0040] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, are used to implement the first aspect and / or various possible implementations of the first aspect.

[0041] Fifthly, embodiments of this application provide a computer program product, including a computer program that, when executed by a processor, implements the first aspect and / or various possible implementations of the first aspect.

[0042] The ultra-wideband (UWB) positioning method, storage medium, and program product for maritime transport provided in this application achieve timing synchronization among UWB base stations by controlling the beacon base station to periodically broadcast beacon frame signals to multiple UWB base stations. This synchronization mechanism reduces ranging errors caused by inconsistencies in the timing of each base station, laying the foundation for subsequent accurate ranging and positioning. By combining the coordinate information of multiple UWB base stations and utilizing the principle of multi-base station cooperative positioning, the limitations of single-base station positioning can be reduced, the positioning coverage area can be expanded, and the positioning accuracy can be improved. By introducing offset vector data, the positional offset of the target to be positioned during maritime transport due to dynamic movement can be specifically compensated, making the preset positioning system distance model more consistent with the actual scenario, ultimately accurately determining the position information of the target to be positioned and reducing positioning errors caused by the movement of the target to be positioned. Attached Figure Description

[0043] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0044] Figure 1a A schematic diagram illustrating a maritime transport scenario provided in an embodiment of this application;

[0045] Figure 1b A schematic diagram of multiple ultra-wideband tag devices on a target to be located, provided in an embodiment of this application;

[0046] Figure 1c A schematic diagram illustrating the positioning process of a moving target to be located in time slot k, as provided in an embodiment of this application;

[0047] Figure 2 A flowchart illustrating the ultra-wideband positioning method for maritime transport provided in this application embodiment;

[0048] Figure 3a A flowchart illustrating the ultra-wideband positioning method for maritime transport provided in this application embodiment. Figure 2 ;

[0049] Figure 3b A schematic diagram of the positioning error distribution of an ultra-wideband base station in a two-dimensional plane, provided as an embodiment of this application;

[0050] Figure 3c A schematic diagram of the positioning error distribution of an ultra-wideband base station in three-dimensional space, provided for an embodiment of this application;

[0051] Figure 3d A schematic diagram of the linear distribution of ultra-wideband base stations provided in an embodiment of this application;

[0052] Figure 3e This is a schematic diagram of the rectangular distribution deployment of ultra-wideband base stations provided in an embodiment of this application;

[0053] Figure 3f A schematic diagram illustrating the geometric distribution of ultra-wideband base stations provided in an embodiment of this application;

[0054] Figure 3g A schematic diagram of positioning error for a linearly distributed ultra-wideband base station provided in an embodiment of this application;

[0055] Figure 3h A schematic diagram of the positioning error of a rectangular distribution of ultra-wideband base stations provided in an embodiment of this application;

[0056] Figure 3i A schematic diagram of the positioning error for the geometric distribution of ultra-wideband base stations provided in an embodiment of this application;

[0057] Figure 3j This is a schematic diagram of the positioning error of the TDOA algorithm provided in the embodiments of this application;

[0058] Figure 3k This is a schematic diagram of the positioning error of the TOA algorithm provided in the embodiments of this application;

[0059] Figure 3l This is a schematic diagram of the positioning error of the hybrid algorithm provided in the embodiments of this application;

[0060] Figure 3m A schematic diagram of the positioning error selected for the main base station provided in this application embodiment;

[0061] Figure 3n A schematic diagram of the positioning error selected for the main base station provided in the embodiments of this application. Figure 2 ;

[0062] Figure 3o Schematic diagram three showing the positioning error of the selected main base station provided in the embodiments of this application;

[0063] Figure 3p A schematic diagram of the positioning error selected for the main base station provided in the embodiments of this application. Figure 4 ;

[0064] Figure 3q A schematic diagram of the positioning error of cyclically selecting the main base station provided in an embodiment of this application;

[0065] Figure 3r A schematic diagram illustrating the positioning results of an ultra-wideband base station in LOS and NLOS states, provided in an embodiment of this application.

[0066] Figure 3s A schematic diagram illustrating the positioning results of an ultra-wideband base station in LOS state, as provided in an embodiment of this application;

[0067] Figure 3t A schematic diagram comparing the error distribution of the first ranging data under clock deviation with the normal distribution provided in the embodiments of this application;

[0068] Figure 3u This is a schematic diagram illustrating the ranging error based on the number of data collection attempts provided in this embodiment of the application. Figure 3v This is a schematic diagram illustrating the distribution of the third ranging data over time in an embodiment of this application.

[0069] Figure 3v This is a schematic diagram illustrating the distribution of the third ranging data over time in an embodiment of this application.

[0070] Figure 4 A schematic diagram of the structure of the ultra-wideband positioning device for maritime transport provided in the embodiments of this application;

[0071] Figure 5 This is a schematic diagram of the structure of the host computer provided in an embodiment of this application.

[0072] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0073] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0074] Figure 1a This is a schematic diagram of a maritime transport scenario provided in an embodiment of this application, such as... Figure 1a As shown, the specific application scenarios of this application include the target to be located, ultra-wideband base station a, ultra-wideband base station b, and ultra-wideband base station c.

[0075] Among them, the target to be located is equipped with an ultra-wideband tag device.

[0076] It is possible that multiple targets may exist in the same maritime transport scenario; these targets may vary in shape and size, therefore, multiple ultra-wideband tag devices may be attached to them to improve positioning accuracy, as shown in 1b. Figure 1bThis is a schematic diagram of multiple ultra-wideband tag devices on a target to be located, provided in an embodiment of this application.

[0077] Ultra-wideband (UWB) tag devices refer to UWB positioning tags used for targets to be located (such as shipborne aircraft, towing vehicles, personnel, etc.). They are the positioning objects of the entire positioning network and belong to mobile devices. Their core function is to communicate with UWB base stations, transmitting their own location-related information through UWB signals to achieve positioning in cooperation with the base stations.

[0078] It is possible that there is an obstruction between the target to be located and the ultra-wideband base station b.

[0079] In maritime transport scenarios, to achieve simultaneous and precise positioning of multiple targets on deck, each communication between the ultra-wideband (UWB) base station and the UWB tag device must strictly adhere to the time sequence. During the positioning process of the targets by UWB base stations a, b, and c, at any given time slot (a time slot includes several moments), UWB base stations a, b, and c communicate with the UWB tag device on the target based on a time-division transmission strategy to determine the target's location information.

[0080] However, due to the time-division nature of communication between ultra-wideband base stations and ultra-wideband tag devices, and the mobility of the target to be located, the ranging data of the target measured by each base station at different times within the same time slot will be different, leading to additional errors in the final determined location information of the target. For example... Figure 1c As shown, Figure 1c This is a schematic diagram illustrating the positioning process of a moving target to be located in time slot k, as provided in an embodiment of this application. The red signal icon represents an ultra-wideband base station, the square represents the moving target to be located, the dashed line represents the trajectory of the target, p1, p2, p3, and p4 are the actual positions of the target at times t1, t2, t3, and t4, and d1,k, d2,k, d3,k, and d4,k are ranging data measured by different ultra-wideband base stations at times t1, t2, t3, and t4, and the measured ranging data are all different.

[0081] To address the aforementioned technical problems, the following technical concept is proposed: If p1 is defined as the accurate position information of the target to be located in time slot k, then d1,k is the accurate ranging data. Subsequent measurements d2,k, d3,k, and d4,k all deviate from the accurate ranging data, defined as offset vectors. Based on this, the inventors propose that when the time interval is sufficiently small, the offset vectors between any two points within the same time slot are equal. This allows the offset vector of the moving target to be located to be obtained, and the positioning system distance model is improved so that it can correct the offset caused by different ranging data based on the offset vector, ultimately accurately determining the position information of the target to be located.

[0082] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0083] Figure 2 A flowchart illustrating the ultra-wideband positioning method for maritime transport provided in this application embodiment is shown below. Figure 2 As shown in the embodiments of this application, the ultra-wideband positioning method for maritime transport is applied to any host computer, and the method includes:

[0084] S201. Control the beacon base station to periodically broadcast beacon frame signals to multiple ultra-wideband base stations to synchronize the timing of the multiple ultra-wideband base stations, the timing including multiple time slots.

[0085] The beacon base station serves as the synchronization source for Time Division Multiple Address (TDMA), with signal coverage spanning the entire positioning system, including multiple ultra-wideband (UWB) base stations and UWB tag devices. The UWB base station, controlled by the host computer, handles the detection, identification, and positioning of the UWB tag devices, but its signal coverage is relatively small. The host computer coordinates the operation of the beacon base station and the UWB base station, performing tasks such as frame partitioning, tag registration and time slot allocation, and positioning calculations.

[0086] S202. Control multiple ultra-wideband base stations to receive radio signals emitted by ultra-wideband tag devices on the target to be located, so that the multiple ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and radio signals.

[0087] Specifically, the ultra-wideband tag device can actively send radio signals to multiple ultra-wideband base stations, or multiple ultra-wideband base stations can actively send excitation signals to the ultra-wideband tag device, and then the ultra-wideband tag device can passively send radio signals to multiple ultra-wideband base stations based on the excitation signals.

[0088] S203. Collect the first ranging data from multiple ultra-wideband base stations.

[0089] S204. Preprocess the first ranging data to obtain the second ranging data.

[0090] Preprocessing may include handling missing values ​​and outliers.

[0091] S205. Obtain the coordinate information of multiple ultra-wideband base stations.

[0092] Specifically, data from multiple ultra-wideband base stations were collected manually and then entered into the host computer.

[0093] S206. Collect the offset vector data of the target to be located, wherein the offset vector data are equal at any time in the same time slot.

[0094] The offset vector ∆d depends on the target velocity and the positioning frequency. It can be understood that because the target is moving, the target information calculated by the receiver during the positioning process is actually the information from the previous moment, as the target is constantly moving and its position has changed. Therefore, the offset vector can be considered the product of v and t, where v is the target velocity and t is the time required for one positioning operation.

[0095] S207. Based on the second ranging data, coordinate information, and offset vector data, the location information of the target to be located is determined using a preset positioning system distance model.

[0096] Specifically, the preset positioning system distance model is shown in the following formula (1):

[0097] (1)

[0098] in, P represents the second ranging data at the i-th base station in time slot k, where P is the coordinate of the target to be located in the three-dimensional coordinate system (x-axis, y-axis, and z-axis) at base station i or time slot k.

[0099] The offset vector data is shown in formula (2):

[0100] (2)

[0101] in, Used to indicate time slot k, it represents the actual position occupied by the target when the i-th base station performs ranging on the target. Used to indicate the position of the target to be located in time slot k; Used to indicate displacement.

[0102] Formula (2) is merged into formula (1) to obtain formula (3). Based on formula (3), the location information of the target to be located is determined. Formula (3) is shown below:

[0103] (3)

[0104] Where P is the coordinate of the target to be located in the three-dimensional coordinate system (x-axis, y-axis and z-axis) when base station i is in time slot k; , and The displacements of the target to be located in the x, y, and z directions; Used to indicate time slot k, the distance between the target to be located and base station i when the i-th base station measures the distance to the target to be located.

[0105] The ultra-wideband (UWB) positioning method for maritime transport provided in this application achieves timing synchronization among UWB base stations by controlling beacon base stations to periodically broadcast beacon frame signals to multiple UWB base stations. This synchronization mechanism reduces ranging errors caused by inconsistencies in the timing of each base station, laying the foundation for subsequent accurate ranging and positioning. By combining the coordinate information of multiple UWB base stations and utilizing the principle of multi-base station cooperative positioning, the limitations of single-base station positioning can be reduced, the positioning coverage area can be expanded, and the positioning accuracy can be improved. By introducing offset vector data, the positional offset of the target to be positioned during maritime transport due to dynamic movement can be specifically compensated, making the preset positioning system distance model more consistent with the actual scenario, ultimately accurately determining the position information of the target to be positioned and reducing positioning errors caused by the movement of the target to be positioned.

[0106] Figure 3a A flowchart illustrating the ultra-wideband positioning method for maritime transport provided in this application embodiment. Figure 2 ,like Figure 3a As shown, the method includes:

[0107] S301. Obtain the two-dimensional planar model of the ultra-wideband base station to be deployed.

[0108] In maritime transport scenarios, the positioning accuracy of deploying ultra-wideband base stations in a two-dimensional plane is higher than that of deploying them in three-dimensional space. Specifically, this includes:

[0109] A maritime transport scenario model is constructed, assuming four ultra-wideband (UWB) base stations are fixed on the ship's deck. The deck typically experiences low movement frequency. During positioning, the UWB equipment continuously measures the ranging data of the target—the carrier-based aircraft—ignoring situations where the aircraft cannot be located or positioning is interrupted. The preset coordinate information of the carrier-based aircraft is as follows: The preset ranging data to the carrier-based aircraft measured by each ultra-wideband base station are as follows: , , , Then, according to the distance formula between two points, the positional relationship between the carrier-based aircraft and each station can be described by the following formula (4):

[0110] (4)

[0111] in, Let x, y, and z be the ranging data of the i-th ultra-wideband base station, and let x, y, and z be the spatial coordinate information of the carrier-based aircraft in the maritime transport scenario model. , , This refers to the spatial coordinate information of the i-th ultra-wideband base station in the maritime transport scenario model.

[0112] The least squares algorithm can be used to determine the position information of carrier-based aircraft. Based on this, the intrinsic relationship between the accuracy of aircraft position information calculation, measurement accuracy, and base station deployment can be established. Throughout the positioning process, distance measurement data from four ultra-wideband base stations... , , , It can be considered as independent and of equal precision. , , , The standard deviation is denoted as The covariance matrix of the standard deviation is shown in formula (5), and the corresponding covariance matrix is ​​shown in formula (6), including:

[0113] (5)

[0114] (6)

[0115] in, Providing evidence for covariance The covariance matrix of the standard deviation, It is a 4x4 identity matrix. for , , , standard deviation Let A and B be unknowns. It is a cofactor matrix.

[0116] in, It is the cofactor matrix, as shown in formula (7) below:

[0117] (7)

[0118] in, It is a cofactor matrix. , , yes The main diagonal element.

[0119] The main diagonal elements are , , The variance of the incremental coordinates of the carrier-based aircraft is given by the following formula (8):

[0120] (8)

[0121] in, for , , , standard deviation Let x be the variance of the incremental x-axis coordinates of the carrier-based aircraft. Let be the variance of the incremental y-axis coordinates of the carrier-based aircraft. Let be the variance of the incremental z-axis coordinates of the carrier-based aircraft. , , yes The main diagonal element.

[0122] Position measurement accuracy is the standard deviation of incremental coordinates As shown in the following formula (9):

[0123] (9)

[0124] in, , , yes Main diagonal elements, standard deviation of incremental coordinates The value, for , , , standard deviation Let x be the variance of the incremental x-axis coordinates of the carrier-based aircraft. Let be the variance of the incremental y-axis coordinates of the carrier-based aircraft. This represents the variance of the incremental z-axis coordinates of the carrier-based aircraft.

[0125] The position accuracy attenuation factor is shown in the following formula (10):

[0126] (10)

[0127] in, This is the position accuracy attenuation factor. , , yes The main diagonal element.

[0128] Optimizing the optimal solution is to make Minimum UWB base station coordinate information The objective function is optimized as shown in formulas (11) and (12) below:

[0129] (11)

[0130] (12)

[0131] in, , , yes The main diagonal element, To optimize the objective function, This refers to the coordinate information of the ultra-wideband base station.

[0132] Because the deployment of bases is limited by the geometry of the ship, only certain areas are suitable for base deployment. For example, areas on the runway and those blocked by the island superstructure and fixed shipboard equipment are not suitable for base deployment.

[0133] It is possible to determine the deployment coordinates of ultra-wideband base stations in a two-dimensional plane or three-dimensional space based on the optimization objective function, as shown in Table 1 below:

[0134] Table 1

[0135] Dimension Coordinate 1 Coordinate 2 Coordinate 3 Coordinate 4 2 (0, 0) (400, 0) (0, 50) (400, 50) 3 (0, 0, 0) (400, 0, 0) (0, 50, 0) (400, 50, 20)

[0136] In the maritime transport scenario model, ultra-wideband base stations were deployed according to the coordinates in Table 1, and simulation tests were conducted to analyze the positioning error of the ultra-wideband base stations in two-dimensional plane or three-dimensional space, such as... Figure 3b and Figure 3c As shown, Figure 3b This is a schematic diagram of the positioning error distribution of an ultra-wideband base station in a two-dimensional plane, provided in an embodiment of this application. Figure 3c This is a schematic diagram of the positioning error distribution of an ultra-wideband base station in three-dimensional space provided in an embodiment of this application. In the diagram, the red dots represent ultra-wideband base stations. The bluer the color, the smaller the positioning error of the target to be located at that pixel point; the yellower the color, the larger the positioning error of the target to be located at that pixel point. It can be seen that the positioning accuracy of deploying an ultra-wideband base station in a two-dimensional plane is better than that of deploying an ultra-wideband base station in three-dimensional space.

[0137] Specifically, the two-dimensional planar model of the ultra-wideband base station to be deployed is measured manually and entered into the host computer.

[0138] S302. On a two-dimensional plane model, one of the rectangular distribution algorithm and the geometric distribution algorithm is used to determine the deployment coordinate information of the ultra-wideband base station. The deployment coordinate information is used to instruct relevant personnel to deploy the ultra-wideband base station at the corresponding coordinates.

[0139] For example, the distribution of ultra-wideband base stations in the two-dimensional plane in Table 1 above is further divided. The division methods include rectangular distribution algorithm, geometric distribution algorithm, and linear distribution algorithm. Therefore, the deployment coordinate information of ultra-wideband base stations determined by the linear distribution algorithm is shown in the following formula (13), the deployment coordinate information of ultra-wideband base stations determined by the rectangular distribution algorithm is shown in the following formula (14), and the deployment coordinate information of ultra-wideband base stations determined by the geometric distribution algorithm is shown in the following formula (15), including:

[0140] (13)

[0141] (14)

[0142] (15)

[0143] Among them, S1, S2, S3 and S4 are deployment coordinate information 1, deployment coordinate information 2, deployment coordinate information 3 and deployment coordinate information 4, respectively.

[0144] The geometric distribution algorithm increases the interval between the four stations, thus maximizing the planar geometric distribution of the station layout. Considering that in actual station deployment, it may not be possible to place all stations at the edge of the effective deployment area, a station layout method with a geometric distribution shape larger than a rectangle is selected.

[0145] Based on the deployment coordinates of the aforementioned ultra-wideband base stations, relevant personnel are instructed to deploy ultra-wideband base stations at the corresponding coordinates, such as... Figure 3d , Figure 3e and Figure 3f As shown, the area within the solid black lines represents the deployable region. Figure 3d This is a schematic diagram of the linear distribution of ultra-wideband base stations provided in an embodiment of this application, where the red circles represent ultra-wideband base stations; Figure 3e This is a schematic diagram of the rectangular distribution of ultra-wideband base stations provided in an embodiment of this application, where the red squares represent ultra-wideband base stations; Figure 3f This is a schematic diagram of the geometric distribution of ultra-wideband base stations provided in an embodiment of this application, where the red diamond represents an ultra-wideband base station.

[0146] Based on the above Figure 3d , Figure 3e and Figure 3f The coordinates of the ultra-wideband base station deployment shown are used to conduct simulated positioning tests to obtain the corresponding positioning error distribution information, such as... Figure 3g, Figure 3h and Figure 3i As shown, Figure 3g This is a schematic diagram illustrating the positioning error of a linearly distributed ultra-wideband base station provided in an embodiment of this application. Figure 3h This is a schematic diagram of the positioning error of a rectangular distribution of ultra-wideband base stations provided in an embodiment of this application. Figure 3i This is a schematic diagram of the positioning error of the geometric distribution of ultra-wideband base stations provided in an embodiment of this application. The closer the color of any pixel is to blue, the smaller the error; the closer the color is to yellow, the larger the error. The red anchor dots represent ultra-wideband base stations. Figure 3g , Figure 3h and Figure 3i It can be intuitively seen that the positioning error of the deployment coordinate information of the ultra-wideband base station determined by the linear distribution algorithm is relatively large, while the positioning error of the deployment coordinate information of the ultra-wideband base station determined by the rectangular distribution algorithm is relatively small. The positioning error of the deployment coordinate information of the ultra-wideband base station determined by the geometric distribution algorithm is the smallest among the three algorithms. However, in reality, due to the complex deck environment, it is not possible to place all ultra-wideband base stations on the boundary, that is, they may be blocked by deck obstacles or personnel and equipment. As long as the geometric distribution area of ​​the ultra-wideband base station deployment is increased as much as possible, its positioning accuracy can be better than the rectangular distribution algorithm.

[0147] In addition, the orientation of the base station and the direction of its antenna are also factors to consider. By correctly setting the orientation of the base station and the direction of its antenna, the signal reception quality and positioning accuracy can be optimized to the maximum extent. Finally, it is also necessary to consider potential obstacles and interference factors in the monitoring area, as well as the complexity of the surrounding environment, all of which will affect the deployment method and effectiveness of the base station.

[0148] S303. Control the beacon base station to periodically broadcast beacon frame signals to multiple ultra-wideband base stations to synchronize the timing of the multiple ultra-wideband base stations, the timing including multiple time slots.

[0149] S304. Control multiple ultra-wideband base stations to receive radio signals transmitted by ultra-wideband tag devices on the target to be located, so that the multiple ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and radio signals.

[0150] In one possible implementation, the first ranging data includes third ranging data and fourth ranging data; correspondingly, multiple ultra-wideband base stations obtain the first ranging data based on a first preset ranging algorithm and radio signals, including:

[0151] Multiple raw ranging data are obtained from multiple ultra-wideband base stations based on a first preset ranging algorithm and radio signals; the ultra-wideband base station corresponding to the smallest raw ranging data among the multiple raw ranging data is selected as the main base station; the main base station obtains third ranging data based on a second preset ranging algorithm and radio signals; and the remaining ultra-wideband base stations other than the main base station obtain fourth ranging data based on a third preset ranging algorithm and radio signals.

[0152] Specifically, such as Figure 1b As shown, due to the large size of the target being transported, it cannot be simply treated as a point mass for positioning based on UWB base stations. To improve the safety and efficiency of carrier-based aircraft transport, it is necessary to accurately locate the aircraft's position to further determine its orientation and attitude. To this end, UWB tag devices can be mounted on key locations on the aircraft's fuselage to accurately locate the aircraft's outline, thereby further determining its orientation. By mounting a small number of UWB tags on the aircraft and using UWB base stations to locate each tag, the aircraft's orientation can be calculated using an existing aircraft model. For example, one UWB tag device can be mounted on each wingtip of the aircraft, and each tag device can have a pre-set left and right tag. After locating the two UWB tags using a first pre-set ranging algorithm, the two tags are connected. The line connecting these two tags is a vector. Therefore, by drawing a perpendicular line to the vector connection between the two UWB tags, the specific orientation of the aircraft can be determined.

[0153] The first preset ranging algorithm includes a Time of Arrival (TOA) algorithm and a Time Difference of Arrival (TDOA) algorithm. The TOA algorithm requires extremely high clock synchronization accuracy, thus requiring at least three clock synchronization measurements, resulting in a long calculation time and potentially failing to meet the demands of highly dynamic multi-target positioning. While the TDOA algorithm is faster, its positioning accuracy is inherently lower than TOA. Furthermore, it cannot locate ultra-wideband tag devices situated on the asymptote of a hyperbola formed by two ultra-wideband base stations, potentially leading to the loss of some target locations during multi-target positioning.

[0154] Therefore, in order to improve positioning accuracy and speed, the host computer can designate a main base station so that the main base station obtains third ranging data based on a second preset ranging algorithm and radio signals. The second preset ranging algorithm is the TOA algorithm. The other ultra-wideband base stations besides the main base station obtain fourth ranging data based on the third preset ranging algorithm and radio signals. The third preset ranging algorithm is the TDOA algorithm. For example, it is shown in the following formula (16).

[0155] (16)

[0156] Where r1 is the third ranging data, and r2 to r N For the fourth ranging data, d N,1 This represents the difference between the third and fourth ranging data.

[0157] Simulated positioning tests were conducted on the TDOA algorithm, the TOA algorithm, and the hybrid algorithm provided in the embodiments of this application, such as... Figure 3j , Figure 3k and Figure 3l As shown, Figure 3j This is a schematic diagram illustrating the positioning error of the TDOA algorithm provided in the embodiments of this application. Figure 3k This is a schematic diagram illustrating the positioning error of the TOA algorithm provided in the embodiments of this application. Figure 3l This is a schematic diagram of the positioning error of the hybrid algorithm provided in the embodiments of this application. The red dot anchor node is an ultra-wideband base station. The positioning error is obtained by positioning the target for each pixel. The closer the color is to blue, the smaller the positioning error. The closer the color is to yellow, the larger the positioning error.

[0158] Figure 3j In this study, the positioning error of TDOA increases with the distance between the target and each ultra-wideband base station. It is easy to observe that the position with the largest error is distributed on the horizontal and vertical straight lines with the center of the positioning area as the intersection. This position is the asymptote of the hyperbola constructed with any two ultra-wideband base stations as the focus. It can be seen that TDOA is almost unable to locate the target when it is located on the asymptote of the hyperbola.

[0159] Figure 3k In this approach, TOA (Time-of-Action) positioning is directly based on the distances from each UWB (Ultra-Wideband) base station to the target (i.e., circles centered on the UWB base stations with the distances from the UWB base stations to the target as their radii; the intersection of these circles represents the predicted location of the target). Because the rate of change of the tangent increases as the radius of the circle decreases, the positioning error is large near each UWB base station and small further away from the UWB base stations (i.e., the center of the positioning area). The error distribution shows that TOA significantly improves positioning accuracy compared to TDOA (Time-of-Action Positioning). However, TOA also needs to consider clock synchronization issues, and its system capacity is far lower than that of TDOA, making it unable to meet the requirements of multi-target positioning.

[0160] Figure 3l In this application, the hybrid algorithm positioning error and Figure 3k Similarly, but the positioning error value is lower than that of the TOA algorithm, and the positioning accuracy is significantly improved compared to the TOA algorithm. Moreover, it does not need to consider the problem of low system capacity caused by clock synchronization.

[0161] In this process, the target to be located can be roughly located first to obtain multiple raw ranging data. The host computer can then designate the ultra-wideband base station closest to the target as the master base station to improve the positioning accuracy.

[0162] For example, a simulated two-dimensional planar model is constructed, and four ultra-wideband base stations are deployed on the simulated two-dimensional planar model. One ultra-wideband base station is selected as the master base station in turn. The above-mentioned hybrid algorithm is used to locate the target. The influence of environmental noise is eliminated by calculating the average value, and the positioning error is analyzed as follows. Figure 3m , Figure 3n , Figure 3o and Figure 3p As shown, Figure 3m This is a schematic diagram of the positioning error selected for the main base station provided in an embodiment of this application. Figure 3n A schematic diagram of the positioning error selected for the main base station provided in the embodiments of this application. Figure 2 , Figure 3o Schematic diagram three showing the positioning error of the selected main base station provided in the embodiments of this application. Figure 3p A schematic diagram of the positioning error selected for the main base station provided in the embodiments of this application. Figure 4 The red dot anchor nodes represent ultra-broadband base stations. Figure 3m The coordinates of the central main base station are (60, 45). Figure 3n The coordinates of the central main base station are (100, 15). Figure 3o The coordinates of the central main base station are (200, 35). Figure 3p The coordinates of the central base station are (350,0). The bluer the pixel color, the smaller the error; the yellower the pixel color, the larger the error.

[0163] Figure 3m , Figure 3n , Figure 3o and Figure 3p In this process, when a primary base station is selected, the average measurement error exhibits a non-uniform distribution. Furthermore, the farther the target is from the primary base station, the greater its average measurement error; conversely, the closer the target is to the primary base station, the smaller the average measurement error.

[0164] When the overall noise variance of the environment is constant, the average measurement error is also constant. Regardless of which ultra-wideband base station is chosen as the main base station, the average measurement error will be approximately the same at the same distance. It can be assumed that, given a sufficiently large number of measurements, the average measurement error is only related to the distance from the main base station and the magnitude of noise in the environment.

[0165] Alternatively, a cyclical selection method could be used, setting each ultra-wideband base station as the primary base station for positioning, and then averaging all the positioning results to reduce the error caused by the selection of the primary base station. Figure 3q As shown, Figure 3qThis is a schematic diagram of the positioning error of cyclically selecting the main base station provided in the embodiment of this application. The red dot anchor node is the ultra-wideband base station. The bluer the pixel color, the smaller the error. The yellower the pixel color, the larger the error.

[0166] S305. Collect first ranging data from multiple ultra-wideband base stations.

[0167] In one possible implementation, multiple ultra-wideband (UWB) base stations are traversed until multiple deviation data corresponding to the multiple UWB base stations are obtained, including: selecting one UWB base station each time without repetition; determining the location information of the target to be located based on the first ranging data of the other UWB base stations besides the selected UWB base station; calculating the difference between the location information and the first ranging data of the corresponding selected UWB base station to obtain the deviation data of the selected UWB base station; if the deviation data is greater than a preset deviation threshold, then removing the first ranging data of the corresponding UWB base station.

[0168] Specifically, such as Figure 1a As shown, there may be obstructions between the ultra-wideband base station and the target to be located, resulting in two states for the ultra-wideband base station in maritime transport scenarios: line-of-sight (LOS) state and non-line-of-sight (NLOS) state. LOS state refers to the absence of obstructions between the ultra-wideband base station and the target, while NLOS state refers to the presence of obstructions. Specific details are shown in Tables 2 and 3 below, including:

[0169] Table 2

[0170]

[0171] Table 3

[0172]

[0173] Table 2 shows the ranging data (distance column) obtained by an ultra-wideband base station measuring the target under LOS (Local Optical State) condition, and the ranging data (distance column) obtained by an ultra-wideband base station measuring the same target under NLOS (Normally In Sustained Operation) condition. It is evident that NLOS condition introduces a significant positioning error, as shown in the simulation results. Figure 3r As shown, Figure 3r This is a schematic diagram illustrating the positioning results of an ultra-wideband base station in LOS and NLOS states, as provided in an embodiment of this application.

[0174] In existing technologies, to avoid the influence of ultra-wideband base stations in NLOS (Normally Inaccessible) conditions on positioning results, there are two main research approaches: residual-based identification methods and statistical identification methods. The core idea of ​​residual-based identification algorithms is that under NLOS propagation conditions, the residuals of the positioning parameter estimation results are often larger than those under LOS propagation conditions, thus enabling NLOS identification. Residual-based algorithms can identify NLOS data without relying on any prior information and typically achieve high identification accuracy. However, the implementation of these algorithms usually requires calculating multiple combinations, which leads to significant computational complexity. Therefore, statistical identification methods are chosen. Signal transmission between the target and the base station is greatly affected by propagation conditions. The signals received by the base station in LOS and NLOS scenarios are obviously different, resulting in differences in signal statistical characteristics.

[0175] To avoid the influence of ultra-wideband (UWB) base stations in NLOS (Not in Service) state on the positioning results, this embodiment of the application iterates through multiple UWB base stations until multiple deviation data corresponding to multiple UWB base stations are obtained. This includes: selecting one UWB base station each time without repetition; determining the location information of the target to be located based on the first ranging data of the remaining UWB base stations (excluding the selected UWB base station); calculating the difference between the location information and the first ranging data of the corresponding selected UWB base station to obtain the deviation data of the selected UWB base station; if the deviation data is greater than a preset deviation threshold, removing the first ranging data of the corresponding UWB base station, thereby excluding the first ranging data generated by UWB base stations in NLOS state, improving the accuracy of the location information of the target to be located. Figure 3s As shown, Figure 3s This is a schematic diagram illustrating the positioning results of an ultra-wideband base station in LOS state provided in an embodiment of this application. Figure 3r Based on this, ultra-wideband base stations in NLOS state were excluded, resulting in more accurate location information of the target to be located.

[0176] S306. Preprocess the first ranging data to obtain the second ranging data.

[0177] In one possible implementation, the average value of the first ranging data is calculated to obtain the third ranging data; the third ranging data is then processed by one or more of Kalman filtering, wavelet denoising, and median filtering to obtain the second ranging data.

[0178] Specifically, ultra-wideband (UWB) base stations and UWB tag devices typically use high-precision crystal oscillators to generate clock signals. However, due to unavoidable imperfections in the crystal oscillator manufacturing process, coupled with the influence of factors such as temperature changes and power supply voltage fluctuations, the crystal oscillator frequency may experience slight fluctuations, leading to clock drift. This instability of the internal clock components gradually accumulates over long-term use, eventually resulting in clock offset errors. Furthermore, UWB tag devices are usually in motion and may be subject to interference from the external environment. For example, temperature changes, mechanical vibrations, and electromagnetic interference can all affect the internal clock components, leading to clock offset errors. Electromagnetic waves travel at extremely high speeds in space, often approaching the speed of light; therefore, even a small clock deviation can cause significant ranging errors in the system.

[0179] For example, the effects of clock skew are as follows: Figure 3t As shown, Figure 3t This is a schematic diagram comparing the error distribution of the first ranging data under clock deviation with the normal distribution provided in the embodiments of this application. The positioning error distribution caused by clock deviation basically conforms to the normal distribution. Therefore, the ranging data error can be reduced by averaging multiple sets of first ranging data, thereby improving the positioning accuracy.

[0180] It's possible that the more initial ranging data collected, the smaller the error of the averaged third ranging data. However, considering the real-time nature of positioning, it's necessary to find a critical number of data acquisitions—that is, the fewest possible acquisitions while ensuring acceptable error. We can find the minimum acceptable number of acquisitions by averaging the distance error from 1 to 100 measurements. Figure 3u This is a schematic diagram illustrating the ranging error based on the number of data collection attempts provided in this embodiment of the application. Figure 3v This is a schematic diagram illustrating the distribution of the third ranging data over time provided in the embodiments of this application, such as... Figure 3u As shown, after averaging approximately 20 measurements, the error between the average distance and the average distance of all data is less than 1 cm, indicating that the two are approximately equal. That is, averaging every 20 sets of the first distance measurement data yields good performance. Figure 3v As shown, the third ranging data obtained by averaging every 20 sets of data fluctuates by no more than 3cm throughout the entire positioning process, which can be considered as good performance.

[0181] S307. Obtain the coordinate information of multiple ultra-wideband base stations.

[0182] In one possible implementation, the coordinate information of n ultra-wideband base stations is obtained, where n is an integer greater than or equal to 3; the n ultra-wideband base stations are determined as a base station positioning group; the base station positioning group is controlled to locate the unlocated ultra-wideband base stations one by one, and the located ultra-wideband base stations are added to the base station positioning group until all ultra-wideband base stations have been located, so as to obtain the coordinate information of multiple ultra-wideband base stations.

[0183] It is possible to obtain the coordinate information of n ultra-wideband base stations by manually measuring and inputting the data into the host computer.

[0184] S308. Collect the offset vector data of the target to be located, wherein the offset vector data are equal at any time within the same time slot.

[0185] S309. Based on the second ranging data, coordinate information, and offset vector data, the location information of the target to be located is determined using a preset positioning system distance model.

[0186] The ultra-wideband (UWB) positioning method for maritime transport provided in this application achieves timing synchronization among UWB base stations by controlling beacon base stations to periodically broadcast beacon frame signals to multiple UWB base stations. This synchronization mechanism reduces ranging errors caused by inconsistencies in the timing of each base station, laying the foundation for subsequent accurate ranging and positioning. By combining the coordinate information of multiple UWB base stations and utilizing the principle of multi-base station collaborative positioning, the limitations of single-base station positioning can be reduced, the positioning coverage area can be expanded, and the positioning accuracy can be improved. By introducing offset vector data, the positional offset of the target to be positioned during maritime transport due to dynamic movement can be specifically compensated, making the preset positioning system distance model more consistent with the actual scenario, ultimately accurately determining the position information of the target to be positioned and reducing positioning errors caused by the movement of the target to be positioned. Furthermore, on the two-dimensional plane, one of the rectangular distribution algorithm and the geometric distribution algorithm is used to determine the deployment coordinate information of the UWB base stations, which significantly reduces positioning errors and improves positioning accuracy compared to three-dimensional distribution and linear distribution.

[0187] Furthermore, the host computer controls the base station positioning group to locate each unlocated ultra-wideband base station one by one, and adds the located ultra-wideband base stations to the base station positioning group until all ultra-wideband base stations have been located, so as to obtain the coordinate information of multiple ultra-wideband base stations. This achieves rapid positioning of ultra-wideband base stations and is suitable for positioning systems with easily changing positioning network topologies but low requirements for positioning accuracy.

[0188] The host computer designates the base station closest to the target as the main base station, enabling the main base station and other ultra-wideband base stations to perform ranging according to different preset ranging algorithms, thereby improving positioning efficiency and accuracy.

[0189] The host computer can effectively reduce positioning errors caused by clock offset by averaging the first ranging data.

[0190] The host computer identifies the ultra-wideband base station in NLOS state in the first ranging data through the deviation data, and removes the first ranging data of the corresponding ultra-wideband base station to improve positioning accuracy.

[0191] Figure 4 This is a schematic diagram of the structure of the ultra-wideband positioning device for maritime transport provided in the embodiments of this application, as shown below. Figure 4 As shown, the ultra-wideband positioning device 40 for maritime transport provided in this embodiment includes: a control module 401, a data acquisition module 402, a processing module 403, and a positioning module 404.

[0192] The control module 401 is used to control the beacon base station to periodically broadcast beacon frame signals to multiple ultra-wideband base stations in order to synchronize the timing of the multiple ultra-wideband base stations, the timing including multiple time slots;

[0193] Control module 401 is used to control multiple ultra-wideband base stations to receive radio signals transmitted by ultra-wideband tag devices on the target to be located, so that the multiple ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and radio signals;

[0194] Acquisition module 402 is used to acquire first ranging data from multiple ultra-wideband base stations;

[0195] The processing module 403 is used to preprocess the first ranging data to obtain the second ranging data;

[0196] The acquisition module 402 is also used to acquire the coordinate information of multiple ultra-wideband base stations;

[0197] The acquisition module 402 is also used to acquire the offset vector data of the target to be located, wherein the offset vector data is equal at any time in the same time slot;

[0198] The positioning module 404 is used to determine the location information of the target to be located based on the second ranging data, coordinate information and offset vector data, using a preset positioning system distance model.

[0199] In one possible implementation, the acquisition module 402 is specifically used for:

[0200] Obtain the coordinate information of n ultra-wideband base stations, where n is an integer greater than or equal to 3;

[0201] Identify n ultra-wideband base stations as a base station positioning group;

[0202] The control base station positioning group locates each unlocated ultra-wideband base station one by one, and adds the located ultra-wideband base stations to the base station positioning group until all ultra-wideband base stations have been located, so as to obtain the coordinate information of multiple ultra-wideband base stations.

[0203] In one possible implementation, the control module 401 is specifically used for:

[0204] Acquire multiple raw ranging data from multiple ultra-wideband base stations based on a first preset ranging algorithm and radio signal measurements;

[0205] The ultra-wideband base station corresponding to the smallest original ranging data among multiple original ranging data is selected as the main base station;

[0206] So that the main base station can obtain third ranging data based on the second preset ranging algorithm and radio signals;

[0207] This enables the remaining ultra-wideband base stations, excluding the main base station, to obtain fourth ranging data based on the third preset ranging algorithm and radio signals.

[0208] In one possible implementation, the processing module 403 is specifically used for:

[0209] The average value of the first ranging data is calculated to obtain the third ranging data;

[0210] The third ranging data is processed by one or more of the following methods: Kalman filtering, wavelet denoising, and median filtering, to obtain the second ranging data.

[0211] In one possible implementation, the processing module 403 is further configured to:

[0212] Iterate through multiple ultra-wideband base stations until you obtain multiple deviation data corresponding to the multiple ultra-wideband base stations, including:

[0213] Each time, a unique ultra-wideband base station is selected, and the location information of the target to be located is determined based on the first ranging data of the other ultra-wideband base stations besides the selected one.

[0214] Calculate the difference between the location information and the first ranging data of the corresponding selected ultra-wideband base station to obtain the deviation data of the selected ultra-wideband base station;

[0215] If the deviation data is greater than the preset deviation threshold, the first ranging data of the corresponding ultra-wideband base station will be removed.

[0216] In one possible implementation, the processing module 403 is further configured to:

[0217] Obtain a two-dimensional planar model of the ultra-wideband base station to be deployed;

[0218] On a two-dimensional plane model, one of the rectangular distribution algorithm and the geometric distribution algorithm is used to determine the deployment coordinate information of the ultra-wideband base station. The deployment coordinate information is used to instruct relevant personnel to deploy the ultra-wideband base station at the corresponding coordinates.

[0219] The ultra-wideband positioning device for maritime transport provided in this embodiment can execute the method provided in the above-described method embodiment. Its implementation principle and technical effect are similar, and will not be described in detail here.

[0220] Figure 5 This is a schematic diagram of the host computer structure provided in an embodiment of this application. Figure 5 As shown, the host computer 50 provided in this embodiment includes at least one processor 501 and a memory 502. Optionally, the host computer 50 further includes a communication component 503. The processor 501, memory 502, and communication component 503 are connected via a bus.

[0221] In a specific implementation, at least one processor 501 executes computer execution instructions stored in memory 502, causing at least one processor 501 to perform the above-described method.

[0222] The specific implementation process of processor 501 can be found in the above method embodiments, and its implementation principle and technical effect are similar. It will not be repeated here.

[0223] In the above embodiments, it should be understood that the processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), etc. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the method disclosed in this invention can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules within the processor.

[0224] The memory may include random access memory (RAM) and may also include non-volatile memory (NVM), such as at least one disk storage device.

[0225] 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 as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0226] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.

[0227] This application also provides a computer-readable storage medium storing computer-executable instructions, which, when executed by a processor, implement the above-described method.

[0228] The aforementioned readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk. The readable storage medium can be any available medium accessible to a general-purpose or special-purpose computer.

[0229] An exemplary readable storage medium is coupled to a processor, enabling the processor to read information from and write information to the readable storage medium. Of course, the readable storage medium can also be a component of the processor. The processor and the readable storage medium can reside in an Application Specific Integrated Circuit (ASIC). Alternatively, the processor and the readable storage medium can exist as discrete components in the device.

[0230] The division of units is merely a logical functional division; in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices, or units, and may be electrical, mechanical, or other forms.

[0231] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0232] In addition, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0233] If a function is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0234] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0235] Finally, it should be noted that other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein, and is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for ultra-wideband positioning in maritime transport, characterized in that, Applications in host computers include: The control beacon base station periodically broadcasts beacon frame signals to multiple ultra-wideband base stations to synchronize the timing of the multiple ultra-wideband base stations, the timing including multiple time slots; The system controls multiple ultra-wideband base stations to receive radio signals emitted by an ultra-wideband tag device on the target to be located, so that the multiple ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and the radio signals. The first ranging data is collected from multiple ultra-wideband base stations; The first ranging data is preprocessed to obtain the second ranging data; Obtain the coordinate information of multiple ultra-wideband base stations; The offset vector data of the target to be located is collected, wherein the offset vector data is equal at any time within the same time slot; Based on the second ranging data, the coordinate information, and the offset vector data, the location information of the target to be located is determined using a preset positioning system distance model.

2. The method according to claim 1, characterized in that, The step of obtaining the coordinate information of the multiple ultra-wideband base stations includes: Obtain the coordinate information of n ultra-wideband base stations, where n is an integer greater than or equal to 3; The n ultra-wideband base stations are identified as a base station positioning group; The base station positioning group is controlled to locate each of the unlocated ultra-wideband base stations one by one, and the located ultra-wideband base stations are added to the base station positioning group until all the ultra-wideband base stations have been located, so as to obtain the coordinate information of multiple ultra-wideband base stations.

3. The method according to claim 1, characterized in that, The first ranging data includes the third ranging data and the fourth ranging data; Accordingly, the step of enabling the plurality of ultra-wideband base stations to obtain first ranging data based on a first preset ranging algorithm and the radio signal includes: Acquire multiple raw ranging data from the ultra-wideband base stations based on a first preset ranging algorithm and the radio signal measurement; The ultra-wideband base station corresponding to the smallest original ranging data among multiple original ranging data is selected as the main base station; So that the main base station obtains third ranging data based on the second preset ranging algorithm and the radio signal; This enables the remaining ultra-wideband base stations, excluding the main base station, to obtain fourth ranging data based on a third preset ranging algorithm and the radio signal.

4. The method according to claim 1, characterized in that, The preprocessing of the first ranging data to obtain the second ranging data includes: The average value of the first ranging data is calculated to obtain the third ranging data; The third ranging data is processed by one or more of the following methods: Kalman filtering, wavelet denoising, and median filtering, to obtain the second ranging data.

5. The method according to claim 1, characterized in that, After collecting the first ranging data from the plurality of ultra-wideband base stations, the method further includes: The process iterates through multiple ultra-wideband base stations until multiple deviation data corresponding to the multiple ultra-wideband base stations are obtained, including: Each time, one of the ultra-wideband base stations is selected without repetition. Based on the first ranging data of the other ultra-wideband base stations besides the selected one, the location information of the target to be located is determined. The difference between the location information and the first ranging data of the corresponding selected ultra-wideband base station is calculated to obtain the deviation data of the selected ultra-wideband base station. If the deviation data is greater than a preset deviation threshold, then the first ranging data of the corresponding ultra-wideband base station is removed.

6. The method according to claim 1, characterized in that, Also includes: Obtain a two-dimensional planar model of the ultra-wideband base station to be deployed; On the two-dimensional plane model, one of the rectangular distribution algorithm and the geometric distribution algorithm is used to determine the deployment coordinate information of the ultra-wideband base station. The deployment coordinate information is used to instruct relevant personnel to deploy the ultra-wideband base station at the corresponding coordinates.

7. A wideband positioning device for maritime transport, characterized in that, include: A control module is used to control the beacon base station to periodically broadcast beacon frame signals to multiple ultra-wideband base stations to synchronize the timing of the multiple ultra-wideband base stations, the timing including multiple time slots; The control module is used to control multiple ultra-wideband base stations to receive radio signals emitted by ultra-wideband tag devices on the target to be located, so that the multiple ultra-wideband base stations obtain first ranging data based on a first preset ranging algorithm and the radio signals; The acquisition module is used to acquire the first ranging data from multiple ultra-wideband base stations; The processing module is used to preprocess the first ranging data to obtain the second ranging data; The acquisition module is also used to acquire the coordinate information of multiple ultra-wideband base stations; The acquisition module is also used to acquire the offset vector data of the target to be located, wherein the offset vector data is equal at any time in the same time slot; The positioning module is used to determine the location information of the target to be located based on the second ranging data, the coordinate information, and the offset vector data, using a preset positioning system distance model.

8. A host computer, characterized in that, include: Memory, processor; The memory stores computer-executed instructions; The processor executes computer execution instructions stored in the memory, causing the processor to perform the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer-executable instructions, which, when executed by a processor, are used to implement the method as described in any one of claims 1-6.

10. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method described in any one of claims 1-6.

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