A ranging and positioning system based on UWB

Abstract

The application provides a ranging positioning system based on UWB, which realizes rapid automatic networking, flexible long-distance ranging and high-precision positioning of UWB nodes through a standardized anchor point setting mechanism, a layered and time-sharing scanning strategy, a position solution algorithm and a coordinator and back clamp dual-mode ranging architecture, and can complete the whole process from node discovery, distance measurement to position solution without complex configuration. Specifically, the system of the application configures fixed anchors and uses a coordinator to realize automatic scanning discovery and information collection of UWB nodes, while supporting batch ranging of discovered nodes by the coordinator and accurate ranging of any specified target node by the back clamp device, and combining with a graph optimization position solution algorithm to complete accurate solution and output of the node position. The system can be applied to indoor and outdoor positioning and device networking and ranging scenes, such as industrial device positioning, warehouse material inventory, indoor personnel position tracking, etc., and can quickly realize multi-node networking identification, ultra-long distance measurement and accurate positioning.

Description

Technical Field

[0001] This invention relates to the field of ranging and positioning technology, and in particular to a ranging and positioning system based on UWB. Background Technology

[0002] In traditional UWB networking solutions, the coordinator's scanning range for nodes is limited, only able to identify first-level routing nodes and unable to support the discovery of multi-level routing nodes. This results in a small network coverage area, making it difficult to meet the networking needs of multiple devices in complex scenarios. The core reason is the lack of a hierarchical and time-division scanning mechanism and routing node information forwarding logic. Some UWB ranging solutions only support unidirectional ranging between the coordinator and fixed nodes, failing to enable flexible ranging of any specified module by the back-clamp device, thus limiting its application scenarios. Essentially, this is due to the lack of a dedicated ranging triggering and response mechanism for the back-clamp device. Furthermore, existing solutions can only acquire distance data between nodes, lacking effective location calculation methods. They cannot convert distance information into precise coordinate positions, or the calculation algorithm relies on multiple anchor points and has weak anti-interference capabilities, resulting in low positioning accuracy and poor practicality. Summary of the Invention

[0003] In view of the above problems, the present invention is proposed to provide a UWB-based ranging and positioning system that overcomes or at least partially solves the above problems.

[0004] This invention provides a UWB-based ranging and positioning system, comprising: The coordinator control module is used to issue hierarchical and time-division scanning instructions to the nodes to identify the nodes, and to receive the node identifiers reported by the nodes layer by layer, and to summarize the information of the discovered nodes; and after the scanning is completed, to initiate the ranging process to the discovered nodes, to receive the batch ranging information between the nodes, and to calculate the position information of each node based on the stored anchor point information and the batch ranging information between the nodes. The node response module is used to receive the hierarchical time-division scanning command, report the node identifier to the coordinator control module and forward the hierarchical time-division scanning command to the next level node; and respond to the ranging command, interact with the surrounding nodes through UWB signals to complete the distance measurement, and send the measured distance data back to the coordinator control module. The back clip ranging module is used to receive the target node identifier specified by the user, generate and send a ranging response command based on the target node identifier, and perform bidirectional ranging with the target node that has entered the response mode after receiving the ranging response command, so as to obtain the single-point ranging information of the back clip and send it to the user terminal.

[0005] Optionally, The node response module is also used to receive anchor configuration instructions from the user terminal; after verifying that the node identifier contained in the anchor configuration instruction matches its own node identifier, it configures itself as an anchor and sends the anchor position information containing its own position information to the coordinator control module. The coordinator control module is also used to receive anchor point position information from nodes, parse and store the anchor point position information.

[0006] Optionally, The coordinator control module is also used to generate a scan command including a scan timeout when a scan is initiated, broadcast the scan command to the nodes, receive node responses to determine the first-level routing nodes, forward the scan command to the next level of nodes through the responding first-level routing nodes, identify nodes step by step in a recursive manner, and after the step-by-step scan is completed, query and collect the identification information of all discovered nodes step by step.

[0007] Optionally, The coordinator control module is also used to use the stored anchor point position information as a fixed reference, the received batch distance measurement information between nodes as a constraint, and the minimum of the sum of squared errors between the calculated distance and the measured distance between nodes as the objective. It employs a position calculation algorithm based on the least squares principle to iteratively adjust the coordinates of each node and calculate the position information of each node.

[0008] Optionally, The back clip ranging module is also used to perform bidirectional ranging if a direct UWB connection can be established with the target node, obtain the single-point ranging information of the back clip, and send it to the user terminal; if a direct UWB connection cannot be established with the target node, it receives the target node location information provided by the coordinator control module based on the calculated node location information, and sends the target node location information to the user terminal.

[0009] Optionally, The coordinator control module is also used to generate clear commands when generating scan commands and send clear commands to nodes to clear the historical scan status of each node.

[0010] Optionally, The coordinator control module is also used to initialize UWB communication parameters, read its own chip identifier, and load stored anchor point information from internal memory after the coordinator starts up.

[0011] Optionally, The node response module is also used to record the identifier of the parent node that issued the hierarchical time-division scanning command after receiving the hierarchical time-division scanning command.

[0012] Optionally, The coordinator control module is also used to output the calculated position information of each node to the user terminal.

[0013] Optionally, The back clip ranging module is also used to receive the target node identifier from the user terminal via serial port or Bluetooth, and to send back the target node's back clip single-point ranging information to the user terminal. The coordinator control module is also used to output the calculated position information of each node to the user terminal via serial port or Bluetooth.

[0014] This invention has the following advantages: This invention achieves rapid automatic networking, flexible long-distance ranging, and high-precision positioning of UWB nodes through a standardized anchor point setting mechanism, a hierarchical and time-division scanning strategy, an efficient position calculation algorithm, and a coordinator-back clip dual-mode ranging architecture. It completes the entire process from node discovery and distance measurement to position calculation without complex configuration. Specifically, the system configures fixed anchor points and utilizes a coordinator to automatically scan and discover UWB nodes and collect information. It also supports batch ranging of discovered nodes by the coordinator and precise ranging of any specified target node by the back clip device. Combined with a graph-optimized position calculation algorithm, it ultimately completes the accurate calculation of node positions and coordinate output. This system can be widely applied to indoor and outdoor positioning and device networking ranging scenarios, such as industrial equipment positioning, warehouse inventory management, and indoor personnel tracking, enabling rapid identification of multi-node device networks, ultra-long-distance measurement, and precise positioning. Attached Figure Description

[0015] Figure 1 This is a timing diagram of the system module interaction of the UWB-based ranging and positioning system provided by the present invention. Detailed Implementation

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0017] Figure 1 This is a timing diagram of the system module interactions of the present invention, referring to... Figure 1 This invention consists of three parts: a coordinator, a back clip device, and UWB nodes (including anchor nodes). It achieves device interaction based on the UWB communication protocol, and the core process is divided into three main stages: anchor point setting, device scanning, and ranging execution. The specific implementation is as follows: 1. System Module Architecture

[0018] 2. Detailed Explanation of Core Processes (1) Anchor point setting and information feedback process 101 Coordinator Initialization: After the coordinator starts up, it initializes the UWB communication parameters, reads its own chip ID, and loads the stored anchor point information from Flash. 102 Anchor point configuration command issuance: The user sends the anchor point configuration command to the target node through a back clip or mobile phone or other terminal device (serial port or Bluetooth); 103 Node Anchor Information Processing: The node receives the anchor configuration command, verifies whether the target ID matches its own chip ID, and finally forwards the configuration information to the coordinator; 104 Coordinator Anchor Point Storage: The coordinator receives anchor point information returned by the nodes, parses the data format, and stores the valid anchor point information in Flash for subsequent processing using relevant position calculation algorithms.

[0019] (2) Node scanning process The design employs a hierarchical, time-sharing scanning mechanism. The coordinator first sends a scanning command to obtain the primary routing nodes, and then forwards the scanning command through the discovered nodes. This supports the hierarchical discovery of nodes and also features a timeout rescan mechanism to ensure comprehensive and efficient scanning coverage.

[0020] 201 Scan Initialization: The coordinator generates clear and scan commands, clears the historical scan status of nodes, and triggers a scan; 202 Node Discovery: The node receives the scan command, records the chip ID of the parent node, and waits for the next layer node to respond or forward the scan command; 203 Multi-layer route reporting: After the scan is completed, the coordinator queries the route layer by layer to see if there are any node devices. If so, it returns the chip ID that was scanned. 204 Scan Result Confirmation: The coordinator aggregates all node IDs, updates the number of discovered nodes, and completes the scan.

[0021] (3) Distance measurement execution process A dual-mode ranging architecture of coordinator and back clip device is introduced. The coordinator initiates batch ranging through DSTWR (two-way ranging) process, and the back clip device triggers the target module to enter response mode through dedicated command, so as to achieve accurate ranging of any module. The two modes operate independently and do not interfere with each other.

[0022] ① Coordinator Batch Distance Measurement Mode 301 Ranging Trigger: After the coordinator completes the scan, it starts the DSTWR bidirectional ranging process and sends ranging commands to all stored nodes; 302 Node Ranging Response: After receiving the ranging command, the node verifies the target ID match, initializes the ranging parameters, performs ranging between nodes, and finally exchanges UWB signals with the coordinator. 303 Distance Data Backhaul: Nodes send distance data back to the coordinator, which then aggregates the distance information measured by each node with its surrounding nodes. ② Precise distance measurement mode for back clip devices 304 Back Clip Target Designation and Ranging Trigger: The back clip device receives the target module ID that the user is looking for via serial port (or Bluetooth), generates a ranging response command, and sends it. 305 Target Module Not Responding: The target node could have been indicated by the location calculation algorithm before a direct UWB connection with the target node was established; 306 Target Module Response: After establishing a direct UWB connection with the target node, it can be converted to perform bidirectional ranging with the back clamp device to achieve high-precision target node indication; 307 Distance Backhaul: The distance data (measured_dist) between the back clip device and the target node is backhauled to the associated terminal (such as a mobile phone).

[0023] (4) Position calculation The integrated map optimization location calculation algorithm transforms distance data into precise location information through dynamic conversion and iterative optimization of latitude, longitude, and XY coordinates, resulting in high positioning accuracy.

[0024] 401 Core Logic: The coordinator obtains the distance information between all nodes through the previous scanning and ranging, and can calculate the real position of each node in the actual application scenario. Based on the least squares principle, it iteratively adjusts the node coordinates to minimize the sum of squared errors between the calculated distance and the measured distance between the nodes. 402 Result Conversion and Output: Output the final location information via serial port (or Bluetooth).

[0025] Compared with traditional UWB networking and ranging schemes, this invention has the following advantages: 1. The hierarchical time-sharing scanning mechanism supports multi-level routing node discovery, greatly expanding the coverage of UWB networking and ranging, and enabling ultra-long-range ranging; 2. Dual-mode ranging design, combining batch ranging with coordinator and precise single-point ranging with back clip, to meet flexible ranging needs in different scenarios; 3. The integrated map-optimized location calculation algorithm transforms distance data into precise location information through dynamic conversion and iterative optimization of latitude, longitude, and XY coordinates, resulting in high positioning accuracy. 4. The algorithm supports adaptive anchor point count (≥1 anchor point is sufficient for calculation), has strong anti-interference ability, and is applicable to a wider range of scenarios.

[0026] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0027] The above provides a detailed description of a UWB-based ranging and positioning system provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application. The above embodiments are merely preferred embodiments given to fully illustrate this invention, and the protection scope of this invention is not limited thereto. Equivalent substitutions or modifications made by those skilled in the art based on this invention are all within the protection scope of this invention.

Claims

1. A UWB-based ranging and positioning system, characterized in that, include: The coordinator control module is used to send hierarchical and time-division scanning instructions to the nodes to identify the nodes, and to receive the node identifiers reported by the nodes layer by layer, and summarize the information of the discovered nodes. After scanning is completed, a ranging process is initiated to the discovered nodes, batch ranging information between nodes is received, and the position information of each node is calculated based on the stored anchor point information and batch ranging information between nodes. The node response module is used to receive the hierarchical time-division scanning command, report the node identifier to the coordinator control module and forward the hierarchical time-division scanning command to the next level node; and respond to the ranging command, interact with the surrounding nodes through UWB signals to complete the distance measurement, and send the measured distance data back to the coordinator control module. The back clip ranging module is used to receive the target node identifier specified by the user, generate and send a ranging response command based on the target node identifier, and perform bidirectional ranging with the target node that has entered the response mode after receiving the ranging response command, so as to obtain the single-point ranging information of the back clip and send it to the user terminal.

2. The UWB-based ranging and positioning system according to claim 1, characterized in that, The node response module is also used to receive anchor configuration instructions from the user terminal; after verifying that the node identifier contained in the anchor configuration instruction matches its own node identifier, it configures itself as an anchor and sends the anchor position information containing its own position information to the coordinator control module. The coordinator control module is also used to receive anchor point position information from nodes, parse and store the anchor point position information.

3. The UWB-based ranging and positioning system according to claim 1, characterized in that, The coordinator control module is also used to generate a scan command including a scan timeout when a scan is initiated, broadcast the scan command to the nodes, receive node responses to determine the first-level routing nodes, forward the scan command to the next level of nodes through the responding first-level routing nodes, identify nodes step by step in a recursive manner, and after the step-by-step scan is completed, query and collect the identification information of all discovered nodes step by step.

4. The UWB-based ranging and positioning system according to claim 1, characterized in that, The coordinator control module is also used to use the stored anchor point position information as a fixed reference, the received batch distance measurement information between nodes as a constraint, and the minimum of the sum of squared errors between the calculated distance and the measured distance between nodes as the objective. It employs a position calculation algorithm based on the least squares principle to iteratively adjust the coordinates of each node and calculate the position information of each node.

5. The UWB-based ranging and positioning system according to claim 1, characterized in that, The back clip ranging module is also used to perform bidirectional ranging if a direct UWB connection can be established with the target node, obtain the single-point ranging information of the back clip, and send it to the user terminal; if a direct UWB connection cannot be established with the target node, it receives the target node location information provided by the coordinator control module based on the calculated node location information, and sends the target node location information to the user terminal.

6. The UWB-based ranging and positioning system according to claim 3, characterized in that, The coordinator control module is also used to generate clear commands when generating scan commands and send clear commands to nodes to clear the historical scan status of each node.

7. The UWB-based ranging and positioning system according to claim 1, characterized in that, The coordinator control module is also used to initialize UWB communication parameters, read its own chip identifier, and load stored anchor point information from internal memory after the coordinator starts up.

8. The UWB-based ranging and positioning system according to claim 1, characterized in that, The node response module is also used to record the identifier of the parent node that issued the hierarchical time-division scanning command after receiving the hierarchical time-division scanning command.

9. The UWB-based ranging and positioning system according to claim 1, characterized in that, The coordinator control module is also used to output the calculated position information of each node to the user terminal.

10. The UWB-based ranging and positioning system according to claim 9, characterized in that, The back clip ranging module is also used to receive the target node identifier from the user terminal via serial port or Bluetooth, and to send back the target node's back clip single-point ranging information to the user terminal. The coordinator control module is also used to output the calculated position information of each node to the user terminal via serial port or Bluetooth.

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