Positioning method, device and equipment based on double UWB base stations, medium and product

Abstract

The embodiment of the invention provides a positioning method and device based on double UWB base stations, equipment, a medium and a product. The method comprises the steps that first distance information of a mobile tag and a first UWB base station and second distance information of the mobile tag and a second UWB base station are acquired; performing filtering processing on a first distance difference value of the first distance information and the second distance information to obtain a second distance difference value; correcting the first distance information according to the second distance difference value and the first distance difference value, determining third distance information, correcting the second distance information according to the second distance difference value and the first distance difference value, and determining fourth distance information; and determining a positioning result according to the third distance information, the fourth distance information and fifth distance information of the first UWB base station and the second UWB base station. According to the technical scheme provided by the embodiment of the invention, the positioning result of the mobile tag is determined based on the second distance difference obtained after filtering, so that positioning drift and misjudgment caused by abnormal distance measurement can be reduced, and the effect of improving positioning precision and robustness is achieved.

Description

A positioning method, apparatus, equipment, medium, and product based on dual UWB base stations. Technical Field

[0001] This disclosure relates to the field of ultra-wideband positioning technology, and in particular to a positioning method, apparatus, device, medium and product based on dual UWB base stations. Background Technology

[0002] UWB-based ranging technology offers centimeter-level positioning accuracy and has been widely applied in various positioning scenarios, including tunnels. In environments such as tunnels, due to cost and deployment limitations, it is often difficult to deploy multiple base station systems. Therefore, two UWB base stations are commonly used to locate mobile tags, in order to meet basic positioning requirements and reduce deployment costs.

[0003] Currently, the main method for locating mobile tags based on dual UWB base stations is to determine the mobile tag's coordinates by calculating the distances from the mobile tag to the two UWB base stations, and then directly perform post-processing such as Kalman filtering on the calculated coordinates to determine the final tag coordinates. However, this method suffers from problems such as the mobile tag's location being prone to shifting, low positioning accuracy, and limited robustness. Summary of the Invention

[0004] This disclosure provides a positioning method, apparatus, device, medium, and product based on dual UWB base stations to reduce positioning drift and misjudgment caused by abnormal ranging, thereby improving positioning accuracy and robustness.

[0005] In a first aspect, embodiments of this disclosure provide a positioning method based on dual UWB base stations. The method includes: acquiring first distance information between a mobile tag and a first UWB base station at a current time, and second distance information between the mobile tag and a second UWB base station; obtaining a second distance difference by filtering the first distance information and the second distance information using a first distance difference filter; correcting the first distance information based on the second distance difference and the first distance difference to determine third distance information, and correcting the second distance information based on the second distance difference and the first distance difference to determine fourth distance information; and determining the positioning result of the mobile tag at the current time based on the third distance information, the fourth distance information, and fifth distance information between the first UWB base station and the second UWB base station.

[0006] Secondly, embodiments of the present invention also provide a positioning device based on dual UWB base stations. The device includes: a distance information acquisition module, configured to acquire first distance information between a mobile tag and a first UWB base station at the current time, and second distance information between the mobile tag and a second UWB base station; a filtering processing module, configured to obtain a second distance difference by filtering the first distance information and the second distance information using a first distance difference; a correction module, configured to correct the first distance information based on the second distance difference and the first distance difference to determine third distance information, and to correct the second distance information based on the second distance difference and the first distance difference to determine fourth distance information; and a positioning result determination module, configured to determine the positioning result of the mobile tag at the current time based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station.

[0007] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising: one or more processors; and a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement the positioning method based on dual UWB base stations as described in any embodiment of the present invention.

[0008] Fourthly, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform the positioning method based on dual UWB base stations as described in any embodiment of the present invention.

[0009] Fifthly, embodiments of the present invention also provide a computer program product, including a computer program, characterized in that, when executed by a processor, the computer program implements the positioning method based on dual UWB base stations as described in any embodiment of the present invention.

[0010] The technical solution of this disclosure first obtains the first distance information between the mobile tag and the first UWB base station, and the second distance information between the mobile tag and the second UWB base station at the current moment. Then, a second distance difference is obtained by filtering the first distance difference between the first and second distance information. Further, the first distance information is corrected based on the second and first distance differences to determine the third distance information, and the second distance information is corrected based on the second and first distance differences to determine the fourth distance information. Finally, the positioning result of the mobile tag at the current moment is determined based on the third and fourth distance information, and the fifth distance information between the first and second UWB base stations. This solves the problems in the prior art where, when locating a mobile tag based on two UWB base stations, the coordinates of the mobile tag are determined by calculating the distances from the mobile tag to the two UWB base stations, and then post-processing such as Kalman filtering is directly applied to the calculated coordinates to determine the final tag coordinates. This approach suffers from issues such as easily changing mobile tag positions, low positioning accuracy, and limited robustness. The embodiments disclosed herein achieve the determination of the positioning result of the mobile tag based on the second distance difference obtained after filtering, which can reduce positioning drift and misjudgment caused by abnormal ranging, thereby improving positioning accuracy and robustness. Attached Figure Description

[0011] To more clearly illustrate the technical solutions of exemplary embodiments of the present invention, the accompanying drawings used in describing the embodiments are briefly introduced below. Obviously, the accompanying drawings described are only a portion of the drawings of the embodiments to be described in this invention, and not all of the drawings. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort.

[0012] Figure 1 is a flowchart illustrating a positioning method based on dual UWB base stations provided in an embodiment of this disclosure; Figure 2 is a schematic diagram illustrating a dual UWB base station provided in an embodiment of this disclosure; Figure 3 is a flowchart illustrating a positioning method based on dual UWB base stations provided in an embodiment of this disclosure; Figure 4 is a structural schematic diagram illustrating a positioning device based on dual UWB base stations provided in an embodiment of this disclosure; Figure 5 is a structural schematic diagram illustrating an electronic device provided in an embodiment of this disclosure. Detailed Implementation

[0013] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0014] Before introducing the technical solutions provided in the embodiments of this disclosure, the application scenarios can be illustrated first. The technical solutions provided in the embodiments of this disclosure can be applied to scenarios where mobile tags are located based on dual UWB base stations. Based on the technical solutions in the embodiments of this disclosure, the positioning result of the mobile tag is determined based on the second distance difference obtained after filtering, which can reduce positioning drift and misjudgment caused by abnormal ranging, thereby improving positioning accuracy and robustness.

[0015] Figure 1 is a flowchart illustrating a positioning method based on dual UWB base stations provided in this embodiment of the present disclosure. This embodiment is applicable to the scenario of locating mobile tags based on dual UWB base stations. The method can be executed by a positioning device based on dual UWB base stations. This device can be implemented in the form of software and / or hardware. The hardware can be a mobile electronic device. This electronic device can execute the positioning method based on dual UWB base stations provided in this technical solution.

[0016] As shown in Figure 1, the method includes: S110, obtaining the first distance information between the mobile tag and the first UWB base station at the current time, and the second distance information between the mobile tag and the second UWB base station.

[0017] The first and second UWB base stations are two of the two base stations in a dual UWB base station system. The current time refers to the point in time corresponding to the ranging operation. A mobile tag is a movable UWB terminal device worn on a person or object, used to communicate and measure distances with the first and second UWB base stations, thereby achieving the location of the mobile tag.

[0018] It should be noted that the first and second UWB base stations are UWB devices permanently installed in the environment. The locations of the first and second UWB base stations are usually known, and they are responsible for ranging from the mobile tag to provide a positioning reference. The first distance information refers to the distance from the mobile tag to the first UWB base station. The second distance information refers to the distance from the mobile tag to the second UWB base station.

[0019] Specifically, two UWB base stations with known and fixed locations are deployed, namely, a first UWB base station and a second UWB base station are deployed at preset locations. Both the first and second UWB base stations can communicate with the mobile tag. At the current moment, the first distance information between the mobile tag and the first UWB base station is obtained, and the second distance information between the mobile tag and the second UWB base station is obtained.

[0020] S120. The second distance difference is obtained by filtering the first distance difference between the first distance information and the second distance information.

[0021] It should be noted that the first distance difference refers to the difference obtained by directly subtracting the first distance information from the second distance information and taking the absolute value at the current moment. The second distance difference refers to the difference obtained after filtering the first distance difference.

[0022] Optionally, based on the first distance information and the second distance information, the first distance difference at the current time is determined; the first distance difference at the current time is processed according to the first distance difference at the current time, the second distance difference at the previous time, and the filtering coefficient, and the second distance difference at the current time is determined.

[0023] It's important to note that the filtering coefficient refers to a pre-set coefficient used to control whether the current distance difference (first distance difference) or the previous distance difference (second distance difference) is given more weight. A larger filtering coefficient means the current distance difference closely follows the current distance difference (first distance difference), resulting in a faster response but more susceptibility to jitter. Conversely, a smaller filtering coefficient means the current distance difference relies more on historical data, i.e., more on the previous distance difference, resulting in a smoother but slower response.

[0024] For example, the second distance difference at the current time can be determined based on the following formula: ;in, This refers to the second distance difference at the current moment; This refers to the second distance difference between the current time and the previous time. This refers to the first distance difference at the current moment; This refers to the filter coefficients.

[0025] Specifically, firstly, based on the first distance information and the second distance information, the first distance difference at the current time is determined. Then, based on the first distance difference at the current time, the second distance difference at the previous time, and the filtering coefficients, the first distance difference at the current time is processed to determine the second distance difference at the current time.

[0026] S130. Correct the first distance information based on the second distance difference and the first distance difference to determine the third distance information, and correct the second distance information based on the second distance difference and the first distance difference to determine the fourth distance information.

[0027] The third distance information refers to the distance information obtained after correcting the first distance information. The fourth distance information refers to the distance information obtained after correcting the second distance information.

[0028] Optionally, a correction coefficient is determined based on the second distance difference and the first distance difference; the first distance information is corrected according to the correction coefficient to determine the third distance information; and the second distance information is corrected according to the correction coefficient to determine the fourth distance information.

[0029] It should be noted that the formula for determining the correction coefficient based on the second distance difference and the first distance difference can be: ;in, This refers to the second distance difference at the current moment; This refers to the first distance difference at the current moment; This refers to the correction factor.

[0030] It should be noted that the formula for determining the third distance information by correcting the first distance information based on the correction coefficient can be: ;in, This refers to the first distance information; This refers to third-distance information.

[0031] It should also be noted that, based on the correction coefficient, the formula for determining the fourth distance information after correcting the second distance information can be: ;in, This refers to the second distance information; This refers to the fourth distance information.

[0032] Specifically, after determining the second distance difference, the first distance information is corrected based on the second distance difference and the first distance difference to determine the third distance information; the second distance information is corrected based on the second distance difference and the first distance difference to determine the fourth distance information.

[0033] S140. Based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station, determine the location result of the mobile tag at the current moment.

[0034] It should be noted that, see Figure 2, This refers to the first UWB base station. This refers to the second UWB base station. The fifth distance information represents the distance between the first UWB base station and the second UWB base station.

[0035] Specifically, after determining the third and fourth distance information, the location result of the mobile tag at the current moment can be determined based on the third and fourth distance information, as well as the fifth distance information between the first and second UWB base stations.

[0036] The technical solution of this disclosure first obtains the first distance information between the mobile tag and the first UWB base station, and the second distance information between the mobile tag and the second UWB base station at the current moment. Then, a second distance difference is obtained by filtering the first distance difference between the first and second distance information. Further, the first distance information is corrected based on the second and first distance differences to determine the third distance information, and the second distance information is corrected based on the second and first distance differences to determine the fourth distance information. Finally, the positioning result of the mobile tag at the current moment is determined based on the third and fourth distance information, and the fifth distance information between the first and second UWB base stations. This solves the problems in the prior art where, when locating a mobile tag based on two UWB base stations, the coordinates of the mobile tag are determined by calculating the distances from the mobile tag to the two UWB base stations, and then post-processing such as Kalman filtering is directly applied to the calculated coordinates to determine the final tag coordinates. This approach suffers from issues such as easily changing mobile tag positions, low positioning accuracy, and limited robustness. The embodiments disclosed herein achieve the determination of the positioning result of the mobile tag based on the second distance difference obtained after filtering, which can reduce positioning drift and misjudgment caused by abnormal ranging, thereby improving positioning accuracy and robustness.

[0037] Figure 3 of Embodiment 2 is a flowchart illustrating the positioning method based on dual UWB base stations provided in this embodiment of the invention. Based on the aforementioned embodiments, a more detailed explanation is provided regarding determining the positioning result of the mobile tag at the current moment based on the third distance information, the fourth distance information, and the fifth distance information between the first and second UWB base stations. For specific implementation details, please refer to the technical solution of this embodiment. Technical terms that are the same as or corresponding to those in the above embodiments will not be repeated here.

[0038] As shown in Figure 3, the method specifically includes the following steps: S210, obtaining the first distance information between the mobile tag and the first UWB base station at the current time, and the second distance information between the mobile tag and the second UWB base station.

[0039] S220. The second distance difference is obtained by filtering the first distance difference between the first distance information and the second distance information.

[0040] S230. Correct the first distance information based on the second distance difference and the first distance difference to determine the third distance information, and correct the second distance information based on the second distance difference and the first distance difference to determine the fourth distance information.

[0041] S240. Determine the first angle based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station.

[0042] The first angle refers to the angle formed by the first line connecting the mobile tag to the first UWB base station and the second line connecting the first UWB base station to the second UWB base station.

[0043] It should be noted that the formula for determining the first angle can be: Specifically, based on third distance information Fourth distance information The fifth distance information between the first UWB base station and the second UWB base station And the formula for determining the first angle, which can determine the first angle. .

[0044] S250. Based on the first angle, third distance information, fourth distance information, and fifth distance information, determine the positioning result of the mobile tag at the current moment.

[0045] Optionally, the abscissa information of the mobile tag is determined based on the first angle, the third distance information, the fourth distance information, and the fifth distance information; the ordinate information of the mobile tag is determined based on the third distance information and the abscissa information; the first coordinate is determined based on the abscissa information and the ordinate information, and the second coordinate is determined based on the first coordinate and the second line; the first coordinate and / or the second coordinate is determined as the positioning result of the mobile tag at the current moment based on the first coordinate, the second coordinate, and the preset position of the dual UWB base station.

[0046] It should be noted that the formula for determining the x-coordinate information of the moving tag can be: ;in, This represents the horizontal coordinate information of the moving tag. The formula for determining the vertical coordinate information of the moving tag can be: ;in, This indicates the vertical coordinate information of the moving label.

[0047] It should be noted that the horizontal and vertical coordinates are defined as the first coordinates. The coordinates opposite to the first coordinates with respect to the second line are defined as the second coordinates. When the dual UWB base stations are installed at the axis of symmetry of the target rectangular area, both the first and second coordinates can be used to determine the location result of the mobile tag at the current moment. When the dual UWB base stations are installed next to a wall, either the first or second coordinate can be used to determine the location result of the mobile tag at the current moment.

[0048] In this embodiment, after determining the location result of the mobile tag at the current moment, an early warning is issued to the mobile tag when the location result at the current moment is located within a predetermined warning area.

[0049] It should be noted that once the current location result is determined to be within the warning area, the system will issue a warning for the mobile tag. The warning may take the form of a beeping sound from the tag itself, a pop-up window on the platform, or a push message to the administrator.

[0050] Specifically, based on the first angle, third distance information, fourth distance information, and fifth distance information, the location result of the mobile tag at the current moment can be determined. Furthermore, after determining the location result of the mobile tag at the current moment, if the location result falls within a pre-determined warning area, an alert is issued to the mobile tag.

[0051] The technical solution of this disclosure embodiment obtains first distance information between the mobile tag and a first UWB base station, and second distance information between the mobile tag and a second UWB base station at the current moment. Then, a second distance difference is obtained by filtering the first distance difference between the first and second distance information. Next, the first distance information is corrected based on the second and first distance differences to determine third distance information, and the second distance information is corrected based on the second and first distance differences to determine fourth distance information. Further, a first angle is determined based on the third, fourth, and fifth distance information between the first and second UWB base stations. Finally, the positioning result of the mobile tag at the current moment is determined based on the first angle, third, fourth, and fifth distance information. Filtering the ranging difference between the two UWB base stations and using it to correct the two distances effectively suppresses ranging errors caused by jumps, improving the consistency and stability of distance data. The entire process only requires the ranging of two base stations and the distance between them to complete positioning, reducing the number of base stations and deployment costs, while improving the reliability and availability of the positioning results.

[0052] Figure 4 is a schematic diagram of the structure of the positioning device based on dual UWB base stations provided in this embodiment of the present disclosure. As shown in Figure 4, the device includes: a distance information acquisition module 310, a filtering processing module 320, a correction module 330, and a positioning result determination module 340.

[0053] The system includes a distance information acquisition module for acquiring first distance information between the mobile tag and the first UWB base station, and second distance information between the mobile tag and the second UWB base station at the current time; a filtering module for obtaining a second distance difference by filtering the first distance difference between the first distance information and the second distance information; a correction module for correcting the first distance information based on the second distance difference and the first distance difference to determine third distance information, and correcting the second distance information based on the second distance difference and the first distance difference to determine fourth distance information; and a positioning result determination module for determining the positioning result of the mobile tag at the current time based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station.

[0054] The technical solution of this disclosure first obtains the first distance information between the mobile tag and the first UWB base station, and the second distance information between the mobile tag and the second UWB base station at the current moment. Then, a second distance difference is obtained by filtering the first distance difference between the first and second distance information. Further, the first distance information is corrected based on the second and first distance differences to determine the third distance information, and the second distance information is corrected based on the second and first distance differences to determine the fourth distance information. Finally, the positioning result of the mobile tag at the current moment is determined based on the third and fourth distance information, and the fifth distance information between the first and second UWB base stations. This solves the problems in the prior art where, when locating a mobile tag based on two UWB base stations, the coordinates of the mobile tag are determined by calculating the distances from the mobile tag to the two UWB base stations, and then post-processing such as Kalman filtering is directly applied to the calculated coordinates to determine the final tag coordinates. This approach suffers from issues such as easily changing mobile tag positions, low positioning accuracy, and limited robustness. The embodiments disclosed herein achieve the determination of the positioning result of the mobile tag based on the second distance difference obtained after filtering, which can reduce positioning drift and misjudgment caused by abnormal ranging, thereby improving positioning accuracy and robustness.

[0055] Based on the above technical solutions, the filtering module 320 is further configured to determine the first distance difference at the current time based on the first distance information and the second distance information; and to process the first distance difference at the current time according to the first distance difference at the current time, the second distance difference at the previous time, and the filtering coefficient to determine the second distance difference at the current time.

[0056] Based on the above technical solutions, the correction module 330 is further configured to determine a correction coefficient based on the second distance difference and the first distance difference; correct the first distance information according to the correction coefficient to determine the third distance information; and correct the second distance information according to the correction coefficient to determine the fourth distance information.

[0057] Based on the above technical solutions, the positioning result determination module 340 includes: a first angle determination submodule and a positioning result calculation submodule.

[0058] The first angle determination submodule is used to determine a first angle based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station; wherein, the first angle refers to the angle formed by the first line connecting the mobile tag to the first UWB base station and the second line connecting the first UWB base station to the second UWB base station; the positioning result calculation submodule is used to determine the positioning result of the mobile tag at the current time based on the first angle, the third distance information, the fourth distance information, and the fifth distance information.

[0059] Based on the above technical solutions, the positioning result calculation submodule is further configured to determine the horizontal coordinate information of the mobile tag based on the first angle, the third distance information, the fourth distance information, and the fifth distance information; determine the vertical coordinate information of the mobile tag based on the third distance information and the horizontal coordinate information; determine the first coordinate based on the horizontal coordinate information and the vertical coordinate information, and determine the second coordinate based on the first coordinate and the second line; and determine the first coordinate and / or the second coordinate as the positioning result of the mobile tag at the current time based on the first coordinate, the second coordinate, and the preset position of the dual UWB base station.

[0060] Based on the above technical solutions, the device further includes: an early warning module, used to issue an early warning to the mobile tag when the current positioning result is located within a predetermined early warning area.

[0061] The positioning device based on dual UWB base stations provided in this disclosure can execute the positioning method based on dual UWB base stations provided in any embodiment of this disclosure, and has the corresponding functional modules and beneficial effects of the method execution.

[0062] It is worth noting that the various units and modules included in the above-mentioned device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the protection scope of the embodiments of this disclosure.

[0063] Figure 5 is a schematic diagram of the structure of an electronic device provided in an embodiment of this disclosure. Referring to Figure 5 below, a schematic diagram of the structure of an electronic device (e.g., the terminal device or server in Figure 5) 500 suitable for implementing embodiments of this disclosure is shown. The terminal device in this disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), in-vehicle terminals (e.g., in-vehicle navigation terminals), etc. The electronic device shown in Figure 5 is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this disclosure.

[0064] As shown in Figure 5, the electronic device 500 may include a processing unit (e.g., a central processing unit, a graphics processing unit, etc.) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. The RAM 503 also stores various programs and data required for the operation of the electronic device 500. The processing unit 501, ROM 502, and RAM 503 are interconnected via a bus 504. An edit / output (I / O) interface 505 is also connected to the bus 504.

[0065] Typically, the following devices can be connected to I / O interface 505: input devices 506 including, for example, touchscreens, touchpads, keyboards, mice, cameras, microphones, accelerometers, gyroscopes, etc.; output devices 507 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 508 including, for example, magnetic tapes, hard disks, etc.; and communication devices 509. Communication device 509 allows electronic device 500 to communicate wirelessly or wiredly with other devices to exchange data. Although Figure 5 shows an electronic device 500 with various devices, it should be understood that it is not required to implement or possess all of the devices shown. More or fewer devices may be implemented or possessed alternatively.

[0066] In particular, according to embodiments of this disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program carried on a non-transitory computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device 509, or installed from a storage device 508, or installed from a ROM 502. When the computer program is executed by the processing device 501, it performs the functions defined in the methods of embodiments of this disclosure.

[0067] The names of messages or information exchanged between multiple devices in the embodiments of this disclosure are for illustrative purposes only and are not intended to limit the scope of such messages or information.

[0068] The electronic device provided in this embodiment belongs to the same inventive concept as the positioning method based on dual UWB base stations provided in the above embodiments. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0069] Example 5 This embodiment of the present disclosure provides a computer storage medium storing a computer program that, when executed by a processor, implements the positioning method based on dual UWB base stations provided in the above embodiments.

[0070] It should be noted that the computer-readable medium described in this disclosure can be a computer-readable signal medium or a computer-readable storage medium, or any combination thereof. A computer-readable storage medium can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. In this disclosure, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium can be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to: wires, optical fibers, RF (radio frequency), etc., or any suitable combination thereof.

[0071] In some implementations, the server may communicate using any currently known or future-developed network protocol such as HTTP (Hypertext Transfer Protocol) and may interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0072] The aforementioned computer-readable medium may be included in the aforementioned electronic device; or it may exist independently and not assembled into the electronic device.

[0073] The aforementioned computer-readable medium carries one or more programs that, when executed by the electronic device, cause the electronic device to: acquire first distance information between the mobile tag and the first UWB base station at the current time, and second distance information between the mobile tag and the second UWB base station; obtain a second distance difference by filtering the first distance difference between the first distance information and the second distance information; correct the first distance information based on the second distance difference and the first distance difference to determine third distance information, and correct the second distance information based on the second distance difference and the first distance difference to determine fourth distance information; and determine the positioning result of the mobile tag at the current time based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station.

[0074] Computer program code for performing the operations of this disclosure can be written in one or more programming languages ​​or a combination thereof, including but not limited to object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0075] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0076] The units described in the embodiments of this disclosure can be implemented in software or hardware. The names of the units are not, in some cases, intended to limit the specific unit.

[0077] The functions described above in this document can be performed at least in part by one or more hardware logic components. For example, exemplary types of hardware logic components that can be used, without limitation, include: field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and so on.

[0078] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0079] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the above-described concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

[0080] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0081] Although the subject matter has been described using language specific to structural features and / or methodological logic, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are merely illustrative examples of implementing the claims.

Claims

1. A positioning method based on dual UWB base stations, characterized in that, The method includes: acquiring first distance information between the mobile tag and a first UWB base station at the current time, and second distance information between the mobile tag and a second UWB base station; obtaining a second distance difference by filtering the first distance information and the second distance information; correcting the first distance information based on the second distance difference and the first distance difference to determine third distance information, and correcting the second distance information based on the second distance difference and the first distance difference to determine fourth distance information; and determining the positioning result of the mobile tag at the current time based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station.

2. The method according to claim 1, characterized in that, The step of obtaining a second distance difference by filtering the first distance difference between the first distance information and the second distance information includes: determining the first distance difference at the current time based on the first distance information and the second distance information; and processing the first distance difference at the current time according to the first distance difference at the current time, the second distance difference at the previous time, and the filtering coefficient to determine the second distance difference at the current time.

3. The method according to claim 1, characterized in that, The step of correcting the first distance information based on the second distance difference and the first distance difference to determine the third distance information, and correcting the second distance information based on the second distance difference and the first distance difference to determine the fourth distance information, includes: determining a correction coefficient based on the second distance difference and the first distance difference; correcting the first distance information based on the correction coefficient to determine the third distance information, and correcting the second distance information based on the correction coefficient to determine the fourth distance information.

4. The method according to claim 1, characterized in that, Determining the location result of the mobile tag at the current moment based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station includes: determining a first angle based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station; wherein, the first angle refers to the angle formed by the first line connecting the mobile tag to the first UWB base station and the second line connecting the first UWB base station to the second UWB base station; and determining the location result of the mobile tag at the current moment based on the first angle, the third distance information, the fourth distance information, and the fifth distance information.

5. The method according to claim 4, characterized in that, Determining the positioning result of the mobile tag at the current moment based on the first angle, the third distance information, the fourth distance information, and the fifth distance information includes: determining the horizontal coordinate information of the mobile tag based on the first angle, the third distance information, the fourth distance information, and the fifth distance information; determining the vertical coordinate information of the mobile tag based on the third distance information and the horizontal coordinate information; determining a first coordinate based on the horizontal coordinate information and the vertical coordinate information, and determining a second coordinate based on the first coordinate and the second line connecting them; and determining the first coordinate and / or the second coordinate as the positioning result of the mobile tag at the current moment based on the first coordinate, the second coordinate, and the preset location of the dual UWB base station.

6. The method according to claim 5, characterized in that, After determining the location result of the mobile tag at the current time, the method further includes: issuing a warning to the mobile tag when the location result at the current time is located within a predetermined warning area.

7. A positioning device based on dual UWB base stations, characterized in that, include: The distance information acquisition module is used to acquire the first distance information between the mobile tag and the first UWB base station at the current time, and the second distance information between the mobile tag and the second UWB base station; The filtering module is used to obtain a second distance difference by filtering the first distance difference between the first distance information and the second distance information; The correction module is used to correct the first distance information based on the second distance difference and the first distance difference to determine the third distance information, and to correct the second distance information based on the second distance difference and the first distance difference to determine the fourth distance information; The positioning result determination module is used to determine the positioning result of the mobile tag at the current time based on the third distance information, the fourth distance information, and the fifth distance information between the first UWB base station and the second UWB base station.

8. An electronic device, characterized in that, The electronic device includes: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the positioning method based on dual UWB base stations as described in any one of claims 1-6.

9. A storage medium containing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are used to perform the positioning method based on dual UWB base stations as described in any one of claims 1-6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the positioning method based on dual UWB base stations as described in any one of claims 1-6.

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