A UWB precise positioning method and system based on multipath interference suppression technology

Abstract

The application discloses a kind of UWB precision positioning method and system based on multipath interference suppression technology, belong to ultra-wideband positioning technical field, by multiple ultra-wideband base station to target ultra-wideband mobile station is interconnected distance evaluation, obtain interconnected distance measurement value, form complete positioning base station architecture, and construct the base station autoregressive filter model of each base station, to received ultra-wideband pulse signal is dynamically learned, corresponding interconnected distance prediction value is generated, based on interconnected distance prediction value and interconnected distance measurement value, by polygon positioning the positioning result of target ultra-wideband mobile station is solved out, the accurate positioning of target ultra-wideband mobile station is realized;And the introduction of autoregressive model greatly reduces prediction error, improves positioning accuracy;In addition, since the calculation complexity of base station autoregressive filter model is lower, so that the calculation efficiency is higher, and can be embedded in the microprocessor of ultra-wideband base station, with strong scene adaptability and practicality.

Description

Technical Field

[0001] This invention belongs to the field of ultra-wideband positioning technology, specifically relating to a UWB precise positioning method and system based on multipath interference suppression technology. Background Technology

[0002] Ultra-wideband (UWB) positioning uses time-of-arrival (TOA) or time-of-flight (TOF) ranging methods to calculate the distance between a tag and a base station based on signal propagation time, achieving centimeter-level positioning accuracy in ideal environments. However, in complex indoor environments, obstacles such as concrete walls, metal equipment, and glass partitions often cause signal reflection and diffraction, resulting in multipath effects and non-line-of-sight (NLOS) errors. This leads to systematically inflated ranging values ​​or random anomalies, becoming a major factor limiting positioning accuracy. Existing optimization methods have limitations: first-path detection based on channel impulse response (CIR) is limited by the signal-to-noise ratio; statistical analysis methods are highly dependent on parameters and difficult to adapt to dynamic scenarios; machine learning classifiers are difficult to widely apply due to high training data costs and insufficient generalization ability.

[0003] As mentioned above, how to provide a UWB precise positioning method and system based on multipath interference suppression technology that has high computational efficiency, strong adaptability and can improve positioning accuracy has become an urgent research topic in this field. Summary of the Invention

[0004] The purpose of this invention is to provide a UWB precise positioning method and system based on multipath interference suppression technology, so as to solve the above-mentioned problems existing in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides a UWB precise positioning method based on multipath interference suppression technology, comprising: The system acquires ultra-wideband pulse signals emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, records the time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal for each ultra-wideband positioning base station, records the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculates the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal of each ultra-wideband positioning base station. Based on multipath interference suppression technology, a corresponding base station autoregressive model is built for each of the ultra-wideband positioning base stations. Based on the interconnection distance measurement between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station. The base station autoregressive model is then embedded into the base station Kalman filter model, and a corresponding base station autoregressive filter model is established for each ultra-wideband positioning base station. For each of the ultra-wideband positioning base stations, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station are calculated using the corresponding base station autoregressive filtering model. Based on the prior state prediction vector, the interconnection distance measurement value, and the innovation process value, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated. The interconnection distance prediction value is extracted from the posterior state prediction vector to obtain the interconnection distance prediction value between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. Using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, the coordinates of the target ultra-wideband mobile station are calculated through multilateral positioning, and the coordinates of the target ultra-wideband mobile station are used as the positioning result of the target ultra-wideband mobile station. The positioning result is then output to the base station management platform.

[0006] In one possible design, before acquiring the ultra-wideband pulse signal emitted by the target ultra-wideband rover via multiple ultra-wideband positioning base stations, the following is also included: The positioning requirements for a target ultra-wideband mobile station are obtained, wherein the positioning requirements for the target ultra-wideband mobile station include the identifier code of the target ultra-wideband mobile station, the current area range of the target ultra-wideband mobile station, and the positioning coordinate dimension requirements of the target ultra-wideband mobile station. The identifier code of the target ultra-wideband mobile station is a unique identifier of the target ultra-wideband mobile station, the current area range of the target ultra-wideband mobile station is the coordinate interval of the current location range of the target ultra-wideband mobile station, and the positioning coordinate dimension requirements of the target ultra-wideband mobile station are either two-dimensional coordinates or three-dimensional coordinates. Based on the positioning coordinate dimension requirements of the target ultra-wideband mobile station, the required number of ultra-wideband base stations participating in the positioning is determined. If the positioning coordinate dimension requirement of the target ultra-wideband mobile station is two-dimensional coordinates, then the required number of ultra-wideband base stations participating in the positioning is at least three. If the positioning coordinate dimension requirement of the target ultra-wideband mobile station is three-dimensional coordinates, then the required number of ultra-wideband base stations participating in the positioning is at least four. Based on the current area range of the target ultra-wideband mobile station, select multiple ultra-wideband base stations that are closest to the current area range of the target ultra-wideband mobile station and meet the participation quantity requirements, and use them as ultra-wideband positioning base stations. By selecting each of the ultra-wideband positioning base stations, the identifier encoding of the target ultra-wideband mobile station is used to confirm the target; The time synchronization server sends time synchronization pulse signals to each of the ultra-wideband positioning base stations that have completed target confirmation. Each ultra-wideband positioning base station uses the time synchronization pulse signals to perform internal time calibration in order to complete the positioning preparation for each ultra-wideband positioning base station.

[0007] In one possible design, multiple ultra-wideband (UWB) positioning base stations acquire UWB pulse signals emitted by the target UWB mobile station. The time when each UWB positioning base station acquires the UWB pulse signal is recorded as the arrival time of the UWB pulse signal for each UWB positioning base station. The time when the target UWB mobile station emits the UWB pulse signal is recorded as the emission time of the UWB pulse signal. Based on the arrival and emission times of the UWB pulse signals from each UWB positioning base station, the interconnection distance measurement between each UWB positioning base station and the target UWB mobile station is calculated, including: By completing the pre-positioning preparations of each of the ultra-wideband positioning base stations, the ultra-wideband pulse signal emitted by the target ultra-wideband mobile station is obtained, wherein the ultra-wideband pulse signal includes the identifier code of the target ultra-wideband mobile station. Each of the ultra-wideband positioning base stations confirms the identifier encoding of the target ultra-wideband rover in the ultra-wideband pulse signal, and after confirmation, each of the ultra-wideband positioning base stations records the time information of receiving the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each of the ultra-wideband positioning base stations. The time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal is recorded as the ultra-wideband pulse signal emission time, and the ultra-wideband pulse signal emission time is sent to each of the ultra-wideband positioning base stations. Based on the arrival time and emission time of the ultra-wideband pulse signal of each of the ultra-wideband positioning base stations, the interconnection distance measurement between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station is calculated using the following formula (1): (1) in, , ... This represents the measured interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. The number of ultra-wideband base stations participating in the positioning process. At the speed of light, , ... This indicates the arrival time of the ultra-wideband pulse signal for each of the aforementioned ultra-wideband positioning base stations. This indicates the time when the ultra-wideband pulse signal was emitted.

[0008] In one possible design, based on multipath interference suppression technology, a corresponding base station autoregressive model is constructed for each of the ultra-wideband positioning base stations, including: The ultra-wideband pulse signals emitted by the target ultra-wideband mobile station at multiple ultra-wideband pulse signal emission times are obtained through each of the ultra-wideband positioning base stations, and the arrival times of the ultra-wideband pulse signals corresponding to the emission times of each ultra-wideband pulse signal are obtained through each of the ultra-wideband positioning base stations. In each of the ultra-wideband positioning base stations, multiple interconnection distance measurement values ​​are calculated based on the emission time of each ultra-wideband pulse signal and the corresponding arrival time of the ultra-wideband pulse signal. The interconnection distance measurement values ​​are then arranged in the order of the arrival time of the ultra-wideband pulse signals to form a corresponding interconnection distance measurement value sequence in each of the ultra-wideband positioning base stations. For each of the ultra-wideband positioning base stations, based on multipath interference suppression technology, a corresponding interconnection distance measurement value sequence is formed according to each of the interconnection distance measurement values, and the base station autoregressive model corresponding to each of the ultra-wideband positioning base stations is built using the following formula (2): (2) in, , ... Indicates the first The interconnection distance measurements are calculated based on the arrival time of each of the ultra-wideband (UWB) pulse signals at each of the aforementioned UWB positioning base stations. This refers to the base station index number of each of the aforementioned ultra-wideband positioning base stations. , ... For the arrival time of each ultra-wideband pulse signal. The number of all said interconnection distance measurements in the sequence of said interconnection distance measurements. , ... This represents the model weighting coefficients of the base station autoregressive model. Added white noise is used to model the autoregressive model of the base station.

[0009] In one possible design, based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station, and the base station autoregressive model is embedded into the base station Kalman filter model. A corresponding base station autoregressive filter model is established for each ultra-wideband positioning base station, including: Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding Kalman filter state vector is defined for each of the ultra-wideband positioning base stations, wherein the Kalman filter state vector is used to characterize the distance to be predicted between the ultra-wideband positioning base station and the target ultra-wideband mobile station; For each of the ultra-wideband positioning base stations, based on the Kalman filter state vector of the ultra-wideband positioning base station, the corresponding base station Kalman filter state equation is established for each of the ultra-wideband positioning base stations using the following formula (3): (3) in, The arrival time of the ultra-wideband pulse signal is... The Kalman filter state vector at that time, The arrival time of the ultra-wideband pulse signal is... The Kalman filter state vector at that time, This indicates that the arrival time of the ultra-wideband pulse signal is... The arrival time of ultra-wideband pulse signals is The state transition matrix between them Represents the state noise coefficient matrix. This refers to the state noise component; Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding Kalman filter observation vector is defined for each of the ultra-wideband positioning base stations, wherein the Kalman filter observation vector is used to characterize the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station; For each of the ultra-wideband positioning base stations, based on the Kalman filter state vector of the ultra-wideband positioning base station and the Kalman filter observation vector between the ultra-wideband positioning base station and the target ultra-wideband rover, the corresponding base station Kalman filter observation equation is established for each of the ultra-wideband positioning base stations using the following formula (4): (4) in, The arrival time of the ultra-wideband pulse signal is... The Kalman filter observation vector between the ultra-wideband positioning base station and the target ultra-wideband rover at that time. The coefficient matrix of the observation vector. To observe the noise components; By integrating the base station Kalman filter state equation and base station Kalman filter observation equation corresponding to each of the ultra-wideband positioning base stations, a base station Kalman filter model corresponding to each of the ultra-wideband positioning base stations is established. For each of the ultra-wideband positioning base stations, the base station autoregressive model of each ultra-wideband positioning base station is embedded into the base station Kalman filter model of each ultra-wideband positioning base station in a one-to-one correspondence. The base station autoregressive model is used to update the base station Kalman filter state equation and base station Kalman filter observation equation of each ultra-wideband positioning base station to obtain the base station autoregressive filter model corresponding to each ultra-wideband positioning base station.

[0010] In one possible design, for each of the ultra-wideband positioning base stations, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband rover are calculated using the corresponding base station autoregressive filtering model, including: For each of the ultra-wideband positioning base stations, the arrival time of the ultra-wideband pulse signal is... As the prediction calculation time, the Kalman filter state vector of the ultra-wideband positioning base station is calculated using the base station autoregressive filtering model during the prediction calculation time, which serves as the prior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover, and the Kalman filter observation vector of the ultra-wideband positioning base station is calculated using the base station autoregressive filtering model. Based on the prior state prediction vector and the Kalman filter observation vector of the ultra-wideband positioning base station, the innovation process value is calculated using the following formula (5): (5) in, This represents the value of the information process. This represents the prior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station; Obtain a preset prediction anomaly threshold and apply it to the innovation process value. Calculate the absolute value of the innovation process. And using the predicted anomaly threshold to evaluate the absolute value of the innovation process value. Perform anomaly detection and obtain the detection result; If the determination result is abnormal, then the absolute value of the innovation process value is considered to be abnormal. The corresponding prior state prediction vector is the abnormal prediction vector. The abnormal prediction vector is removed, and prediction calculation and abnormal judgment are performed again until the judgment result is normal. If the determination result is normal, then the absolute value of the innovation process value is considered normal. The corresponding prior state prediction vector is the normal prediction vector, and for the normal prediction vector, the corresponding prior prediction error covariance matrix is ​​calculated.

[0011] In one possible design, a posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated based on the prior state prediction vector, the interconnection distance measurement value, and the innovation process value. Interconnection distance prediction values ​​are then extracted from the posterior state prediction vector to obtain the interconnection distance prediction values ​​between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, including: In each of the ultra-wideband positioning base stations, for the prior state prediction vector whose determination result is normal, the Kalman gain matrix corresponding to the prior state prediction vector is calculated using the prior prediction error covariance matrix corresponding to the prior state prediction vector. For each of the ultra-wideband positioning base stations, based on the prior state prediction vector The value of the information process The posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover is calculated using the following formula (6) and the Kalman gain matrix: (6) in, This represents the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station. This represents the Kalman gain matrix; For each of the ultra-wideband positioning base stations, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover is... The autoregressive filtered distance prediction value is extracted and used as the interconnection distance prediction value between the ultra-wideband positioning base station and the target ultra-wideband mobile station. The autoregressive filtered distance prediction value is the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station. One of the elements.

[0012] In one possible design, using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, the coordinates of the target ultra-wideband mobile station are calculated through multilateral positioning. These coordinates are then used as the positioning result of the target ultra-wideband mobile station, and the positioning result is output to the base station management platform, including: The coordinates of each of the ultra-wideband positioning base stations are obtained. The predicted interconnection distance between each ultra-wideband positioning base station and the target ultra-wideband mobile station is matched with the coordinates of each ultra-wideband positioning base station. A nonlinear positioning equation for each ultra-wideband positioning base station with respect to the target ultra-wideband mobile station is established as the target positioning equation for each ultra-wideband positioning base station. The target positioning equations of each ultra-wideband positioning base station are integrated to form a set of multilateral target positioning equations. The polygonal target positioning equations are linearized and calculated using the least squares method to obtain the coordinates of the target ultra-wideband rover station. The coordinates of the target ultra-wideband mobile station are used as the positioning result of the target ultra-wideband mobile station, and the positioning result is output to the base station management platform.

[0013] In one possible design, after obtaining the coordinates of the target ultra-wideband mobile station, the following steps are also included: For each of the ultra-wideband positioning base stations, the coordinates of the target ultra-wideband rover corresponding to each arrival time of the ultra-wideband pulse signal are calculated at the arrival times of the multiple ultra-wideband pulse signals. A preset sliding window is obtained, and the coordinate values ​​of the target ultra-wideband mobile station corresponding to the arrival time of each ultra-wideband pulse signal are smoothed using the sliding window to obtain the coordinate values ​​of the target ultra-wideband mobile station after smoothing. The coordinate values ​​of the target ultra-wideband mobile station after smoothing are used as the positioning result of the target ultra-wideband mobile station and output to the base station management platform.

[0014] Secondly, the present invention provides a UWB precise positioning system based on multipath interference suppression technology, comprising: The interconnection distance measurement calculation unit is used to acquire ultra-wideband pulse signals emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, record the time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each ultra-wideband positioning base station, record the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculate the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal of each ultra-wideband positioning base station. The autoregressive filter model building unit is used to build a corresponding base station autoregressive model for each of the ultra-wideband positioning base stations based on multipath interference suppression technology. Based on the interconnection distance measurement between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station, and the base station autoregressive model is embedded into the base station Kalman filter model to build a corresponding base station autoregressive filter model for each ultra-wideband positioning base station. The interconnection distance prediction calculation unit is used to calculate, for each of the ultra-wideband positioning base stations, the prior state prediction vector and the innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station using the corresponding base station autoregressive filtering model; calculate the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station based on the prior state prediction vector, the interconnection distance measurement value and the innovation process value; and extract the interconnection distance prediction value from the posterior state prediction vector to obtain the interconnection distance prediction value between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. The target coordinate positioning calculation unit is used to calculate the coordinate value of the target ultra-wideband mobile station by using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station through multilateral positioning, and uses the coordinate value of the target ultra-wideband mobile station as the positioning result of the target ultra-wideband mobile station, and outputs the positioning result to the base station management platform.

[0015] Thirdly, the present invention provides an electronic device comprising a memory, a processor, and a transceiver connected in sequence and communication, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect or any possible design of the first aspect.

[0016] Fourthly, the present invention provides a computer-readable storage medium storing instructions that, when executed on a computer, perform the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect or any possible design of the first aspect.

[0017] Fifthly, the present invention provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect or any possible design of the first aspect.

[0018] Beneficial Effects: This invention provides a UWB precise positioning method based on multipath interference suppression technology, including: First, acquiring ultra-wideband pulse signals emitted by a target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, recording the time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal for each ultra-wideband positioning base station, recording the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculating the interconnection distance measurement between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal for each ultra-wideband positioning base station; Second, based on multipath interference suppression technology, building a corresponding base station autoregressive model for each ultra-wideband positioning base station, establishing a corresponding base station Kalman filter model for the ultra-wideband positioning base station based on the interconnection distance measurement between the ultra-wideband positioning base station and the target ultra-wideband mobile station, and applying the base station autoregressive model to the target ultra-wideband mobile station. The regression model is embedded in the base station Kalman filter model, and a corresponding base station autoregressive filter model is established for each ultra-wideband positioning base station. Then, for each ultra-wideband positioning base station, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station are calculated using the corresponding base station autoregressive filter model. Based on the prior state prediction vector, the interconnection distance measurement value, and the innovation process value, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated, and the interconnection distance prediction value is extracted from the posterior state prediction vector to obtain the interconnection distance prediction value between each ultra-wideband positioning base station and the target ultra-wideband mobile station. Finally, using the interconnection distance prediction value between each ultra-wideband positioning base station and the target ultra-wideband mobile station, the coordinate value of the target ultra-wideband mobile station is calculated through multilateral positioning, and the coordinate value of the target ultra-wideband mobile station is used as the positioning result of the target ultra-wideband mobile station. The positioning result is output to the base station management platform.Interconnection distances between each UWB base station and the target UWB rover are evaluated, resulting in a complete positioning base station architecture. Furthermore, an autoregressive model is embedded into the corresponding Kalman filter model of each UWB base station to construct its own autoregressive filter model. Each base station's autoregressive filter model dynamically learns from multiple received UWB pulse signals to generate corresponding predicted interconnection distances. Based on these predicted and measured interconnection distances, the positioning result of the target UWB rover is calculated using multilateral positioning, achieving accurate positioning. The introduction of the autoregressive model significantly reduces positioning errors and improves accuracy. Moreover, the low computational complexity of the autoregressive filter model ensures high computational efficiency for positioning results, allowing it to be embedded into the microprocessor of the UWB base station, thus exhibiting strong scenario adaptability and practicality. Attached Figure Description

[0019] Figure 1 A flowchart illustrating the UWB precise positioning method based on multipath interference suppression technology provided in this embodiment of the invention; Figure 2 A schematic diagram illustrating the calculation method for polygonal positioning provided in an embodiment of the present invention; Figure 3 This is a functional structure diagram of a UWB precision positioning system based on multipath interference suppression technology provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0021] It should be understood that although the terms first, second, etc., may be used herein to describe various units, these units should not be limited by these terms. These terms are only used to distinguish one unit from another. For example, a first unit may be referred to as a second unit, and similarly, a second unit may be referred to as a first unit, without departing from the scope of the exemplary embodiments of the invention.

[0022] It should be understood that the term "and / or" that may appear in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, B exists alone, and A and B exist simultaneously. The term " / and" that may appear in this document describes another relationship between related objects, indicating that two relationships can exist. For example, A / and B can mean: A exists alone, and A and B exist alone. In addition, the character " / " that may appear in this document generally indicates that the related objects before and after it are in an "or" relationship.

[0023] Example: like Figure 1 As shown, the first aspect of this embodiment provides a UWB precise positioning method based on multipath interference suppression technology, which may include, but is not limited to, the following steps: S1. Obtain the ultra-wideband pulse signal emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, record the time when each ultra-wideband positioning base station obtains the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each ultra-wideband positioning base station, record the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculate the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal of each ultra-wideband positioning base station. In one possible implementation, before obtaining the ultra-wideband pulse signal emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations in step S1, the following steps S101-S105 may also be included, but are not limited to: S101. Obtain the positioning requirements of the target ultra-wideband mobile station, wherein the positioning requirements of the target ultra-wideband mobile station include the identifier code of the target ultra-wideband mobile station, the current area range of the target ultra-wideband mobile station, and the positioning coordinate dimension requirements of the target ultra-wideband mobile station, and the identifier code of the target ultra-wideband mobile station is the unique identifier of the target ultra-wideband mobile station, the current area range of the target ultra-wideband mobile station is the coordinate interval of the current location range of the target ultra-wideband mobile station, and the positioning coordinate dimension requirements of the target ultra-wideband mobile station are two-dimensional positioning coordinates or three-dimensional positioning coordinates; S102. Based on the positioning coordinate dimension requirement of the target ultra-wideband mobile station, determine the required number of ultra-wideband base stations participating in the positioning. If the positioning coordinate dimension requirement of the target ultra-wideband mobile station is a two-dimensional positioning coordinate, then the required number of ultra-wideband base stations participating in the positioning is at least three. If the positioning coordinate dimension requirement of the target ultra-wideband mobile station is a three-dimensional positioning coordinate, then the required number of ultra-wideband base stations participating in the positioning is at least four. S103. Based on the current area range of the target ultra-wideband mobile station, select multiple ultra-wideband base stations that are closest to the current area range of the target ultra-wideband mobile station and meet the participation quantity requirements, and use them as ultra-wideband positioning base stations. S104. By selecting each of the ultra-wideband positioning base stations, the identifier encoding of the target ultra-wideband mobile station is used to confirm the target; S105. A time synchronization pulse signal is sent to each of the ultra-wideband positioning base stations that have completed target confirmation via a time synchronization server. Each of the ultra-wideband positioning base stations uses the time synchronization pulse signal to perform internal time calibration in order to complete the positioning preparation for each of the ultra-wideband positioning base stations.

[0024] In one possible implementation, in step S1, multiple ultra-wideband positioning base stations acquire ultra-wideband pulse signals emitted by the target ultra-wideband mobile station. The time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal is recorded as the arrival time of the ultra-wideband pulse signal for each ultra-wideband positioning base station. The time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal is recorded as the emission time of the ultra-wideband pulse signal. Based on the arrival time and emission time of the ultra-wideband pulse signals from each ultra-wideband positioning base station, the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated. This can be, but is not limited to, decomposed into the following formulas S11-S14, specifically including: S11. By completing the pre-positioning preparation of each of the ultra-wideband positioning base stations, the ultra-wideband pulse signal emitted by the target ultra-wideband mobile station is obtained, wherein the ultra-wideband pulse signal includes the identifier code of the target ultra-wideband mobile station. S12. Each of the ultra-wideband positioning base stations confirms the identifier encoding of the target ultra-wideband mobile station in the ultra-wideband pulse signal, and after the confirmation is completed, each of the ultra-wideband positioning base stations records the time information of receiving the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each of the ultra-wideband positioning base stations. S13. Record the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the ultra-wideband pulse signal emission time, and send the ultra-wideband pulse signal emission time to each of the ultra-wideband positioning base stations. S14. Based on the arrival time and emission time of the ultra-wideband pulse signal of each of the ultra-wideband positioning base stations, the interconnection distance measurement between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station is calculated using the following formula (1): (1) in, , ... This represents the measured interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. The number of ultra-wideband base stations participating in the positioning process. At the speed of light, , ... This indicates the arrival time of the ultra-wideband pulse signal for each of the aforementioned ultra-wideband positioning base stations. This indicates the time when the ultra-wideband pulse signal was emitted.

[0025] It should be noted that the UWB precise positioning method based on multipath interference suppression technology provided in this embodiment adopts the target positioning calculation method of multilateral positioning. Therefore, this method can directly measure the time when the target UWB mobile station arrives at the UWB positioning base station, and use the product of time and the speed of light as the distance from the target UWB mobile station to each UWB positioning base station.

[0026] like Figure 2 As shown, specifically, taking the positioning coordinate dimension requirement of the target ultra-wideband mobile station as a two-dimensional positioning coordinate as an example, two distance circles are formed with the coordinates of each ultra-wideband positioning base station as the center and the distance from the target ultra-wideband mobile station to the ultra-wideband positioning base station as the radius. The radii of these two distance circles are respectively... and These two distance circles intersect at two points, which yields two location solutions for the target ultrawideband rover. Therefore, a third distance circle (with radius ) is needed. To determine the true location of a unique target ultra-wideband (UWB) mobile station, at least three base stations are needed to achieve two-dimensional spatial positioning, where the target UWB mobile station is located at the intersection of three distance circles. These three base stations must not be collinear. Correspondingly, to achieve three-dimensional spatial positioning, distance spheres are formed with the coordinates of each UWB base station as the center and the distance from the target UWB mobile station to each base station as the radius. The intersection of these distance spheres represents the three-dimensional coordinates of the target UWB mobile station. This requires at least four UWB base stations, and any three of these base stations must form a straight line in space.

[0027] S2. Based on multipath interference suppression technology, a corresponding base station autoregressive model is built for each of the ultra-wideband positioning base stations. Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station. The base station autoregressive model is then embedded into the base station Kalman filter model, and a corresponding base station autoregressive filter model is established for each ultra-wideband positioning base station. In one possible implementation, in step S2, based on multipath interference suppression technology, a corresponding base station autoregressive model is constructed for each of the ultra-wideband positioning base stations, which can be decomposed, but is not limited to, into the following formulas S21-S23, specifically including: S21. Obtain the ultra-wideband pulse signals emitted by the target ultra-wideband mobile station at multiple ultra-wideband pulse signal emission times through each of the ultra-wideband positioning base stations, and obtain the arrival time of the ultra-wideband pulse signals corresponding to the emission times of each ultra-wideband pulse signal through each of the ultra-wideband positioning base stations. S22. In each of the ultra-wideband positioning base stations, based on the transmission time of each ultra-wideband pulse signal and the corresponding arrival time of the ultra-wideband pulse signal, multiple interconnection distance measurement values ​​are calculated, and the interconnection distance measurement values ​​are arranged in the order of the arrival time of the ultra-wideband pulse signal to form a corresponding interconnection distance measurement value sequence in each of the ultra-wideband positioning base stations. S23. For each of the ultra-wideband positioning base stations, based on multipath interference suppression technology, a corresponding interconnection distance measurement value sequence is formed according to each of the interconnection distance measurement values, and the base station autoregressive model corresponding to each of the ultra-wideband positioning base stations is built using the following formula (2): (2) in, , ... Indicates the first The interconnection distance measurements are calculated based on the arrival time of each of the ultra-wideband (UWB) pulse signals at each of the aforementioned UWB positioning base stations. This refers to the base station index number of each of the aforementioned ultra-wideband positioning base stations. , ... For the arrival time of each ultra-wideband pulse signal. The number of all said interconnection distance measurements in the sequence of said interconnection distance measurements. , ... This represents the model weighting coefficients of the base station autoregressive model. Added white noise is used to model the autoregressive model of the base station.

[0028] In one possible implementation, in step S2, based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station, and the base station autoregressive model is embedded into the base station Kalman filter model. The establishment of a corresponding base station autoregressive filter model for each ultra-wideband positioning base station can be, but is not limited to, decomposed into the following formulas S24-S29, specifically including: S24. Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, define a corresponding Kalman filter state vector for each of the ultra-wideband positioning base stations, wherein the Kalman filter state vector is used to characterize the distance to be predicted between the ultra-wideband positioning base station and the target ultra-wideband mobile station; S25. For each of the ultra-wideband positioning base stations, based on the Kalman filter state vector of the ultra-wideband positioning base station, the corresponding base station Kalman filter state equation is established for each of the ultra-wideband positioning base stations using the following formula (3): (3) in, The arrival time of the ultra-wideband pulse signal is... The Kalman filter state vector at that time, The arrival time of the ultra-wideband pulse signal is... The Kalman filter state vector at that time, This indicates that the arrival time of the ultra-wideband pulse signal is... The arrival time of ultra-wideband pulse signals is The state transition matrix between them Represents the state noise coefficient matrix. This refers to the state noise component; S26. Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, define a corresponding Kalman filter observation vector for each of the ultra-wideband positioning base stations, wherein the Kalman filter observation vector is used to characterize the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station; S27. For each of the ultra-wideband positioning base stations, based on the Kalman filter state vector of the ultra-wideband positioning base station and the Kalman filter observation vector between the ultra-wideband positioning base station and the target ultra-wideband rover, the corresponding base station Kalman filter observation equation is established for each of the ultra-wideband positioning base stations using the following formula (4): (4) in, The arrival time of the ultra-wideband pulse signal is... The Kalman filter observation vector between the ultra-wideband positioning base station and the target ultra-wideband rover at that time. The coefficient matrix of the observation vector. To observe the noise components; S28. Integrate the base station Kalman filter state equation and base station Kalman filter observation equation corresponding to each of the ultra-wideband positioning base stations to establish the base station Kalman filter model corresponding to each of the ultra-wideband positioning base stations. S29. For each of the ultra-wideband positioning base stations, the base station autoregressive model of each ultra-wideband positioning base station is embedded into the base station Kalman filter model of each ultra-wideband positioning base station in a one-to-one correspondence. The base station autoregressive model is used to update the base station Kalman filter state equation and base station Kalman filter observation equation of each ultra-wideband positioning base station to obtain the base station autoregressive filter model corresponding to each ultra-wideband positioning base station.

[0029] It should be noted that the UWB precise positioning method based on multipath interference suppression technology provided in this embodiment constructs a lightweight recursive algorithm for the base station autoregressive filtering model. This algorithm has low computational complexity and can be easily embedded into the embedded microprocessor of the UWB base station for real-time operation, exhibiting strong scenario adaptability. Furthermore, due to the simplified calculation process, the positioning method in this embodiment relies less on computing power and data communication capabilities, reducing the overall complexity and computational latency of the positioning process, and lowering the computational load. This is beneficial for building a distributed, high-concurrency positioning network. Moreover, since each UWB positioning base station does not need to store large amounts of historical data for offline model training, the constructed base station autoregressive filtering model enables real-time distance calculation, enhancing the practicality, deployability, and maintainability of the positioning method in this embodiment.

[0030] S3. For each of the ultra-wideband positioning base stations, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station are calculated using the corresponding base station autoregressive filtering model. Based on the prior state prediction vector, the interconnection distance measurement value and the innovation process value, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated. The interconnection distance prediction value is extracted from the posterior state prediction vector to obtain the interconnection distance prediction value between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. In one possible implementation, in step S3, for each of the ultra-wideband positioning base stations, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station are calculated using the corresponding base station autoregressive filtering model. This can be, but is not limited to, decomposed into the following formulas S31-S35, specifically including: S31. For each of the ultra-wideband positioning base stations, the arrival time of the ultra-wideband pulse signal is... As the prediction calculation time, the Kalman filter state vector of the ultra-wideband positioning base station is calculated using the base station autoregressive filtering model during the prediction calculation time, which serves as the prior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover, and the Kalman filter observation vector of the ultra-wideband positioning base station is calculated using the base station autoregressive filtering model. S32. Based on the prior state prediction vector and the Kalman filter observation vector of the ultra-wideband positioning base station, the innovation process value is calculated using the following formula (5): (5) in, This represents the value of the information process. This represents the prior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station; S33. Obtain a preset prediction anomaly threshold, and apply it to the innovation process value. Calculate the absolute value of the innovation process. And using the predicted anomaly threshold to evaluate the absolute value of the innovation process value. Perform anomaly detection and obtain the detection result; S34. If the determination result is abnormal, then the absolute value of the innovation process value is considered to be abnormal. The corresponding prior state prediction vector is the abnormal prediction vector. The abnormal prediction vector is removed, and prediction calculation and abnormal judgment are performed again until the judgment result is normal. S35. If the determination result is normal, then the absolute value of the innovation process is considered to be normal. The corresponding prior state prediction vector is the normal prediction vector, and for the normal prediction vector, the corresponding prior prediction error covariance matrix is ​​calculated.

[0031] In one possible implementation, in step S3, a posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated based on the prior state prediction vector, the interconnection distance measurement value, and the innovation process value. Interconnection distance prediction values ​​are then extracted from the posterior state prediction vector to obtain the interconnection distance prediction values ​​between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. This can be, but is not limited to, decomposed into the following formulas S36-S38, specifically including: S36. In each of the ultra-wideband positioning base stations, for the prior state prediction vector whose determination result is normal, the Kalman gain matrix corresponding to the prior state prediction vector is calculated using the prior prediction error covariance matrix corresponding to the prior state prediction vector. S37. For each of the ultra-wideband positioning base stations, based on the prior state prediction vector... The value of the information process The posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover is calculated using the following formula (6) and the Kalman gain matrix: (6) in, This represents the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station. This represents the Kalman gain matrix; S38. For each of the ultra-wideband positioning base stations, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover is calculated. The autoregressive filtered distance prediction value is extracted and used as the interconnection distance prediction value between the ultra-wideband positioning base station and the target ultra-wideband mobile station. The autoregressive filtered distance prediction value is the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station. One of the elements.

[0032] It should be noted that the precise positioning method provided in this embodiment combines a base station autoregressive model and a base station Kalman filter model to form a base station autoregressive filter model. This model dynamically predicts distance change trends using historical ranging data (in one possible implementation, it can also predict residual change trends). By combining Kalman filter state estimation and observation updates, and setting a prediction anomaly threshold, it adaptively removes abnormal prediction vectors. Applying the base station autoregressive filter model directly to UWB positioning base stations effectively resists the effects of multipath effects and NLOS errors, significantly improving positioning robustness and accuracy in complex indoor environments. In both static and dynamic scenarios, compared to traditional Kalman filtering, the base station autoregressive filter model in this embodiment can generally reduce the original positioning error to approximately 40% in both the X and Y directions for two-dimensional positioning of rover stations. The precise positioning method provided in this embodiment exhibits excellent correction capabilities and positioning robustness in complex indoor environments, significantly improving the positioning accuracy and stability of the UWB system.

[0033] Furthermore, the UWB precise positioning method based on multipath interference suppression technology provided in this embodiment does not rely on a fixed scene model. The model weighting coefficients of the base station autoregressive model described in this embodiment can be updated online in real time through a recursive algorithm (such as recursive least squares method), so that the final base station autoregressive filtering model can continuously track environmental changes (such as changes in obstacle material, the appearance of interference sources, etc.). On this basis, the base station Kalman filter model ensures that the base station autoregressive filtering model in this embodiment can maintain excellent error suppression performance in both static and dynamic scenes through dynamic monitoring of the innovation sequence and anomaly vector removal. In particular, under various non-line-of-sight error conditions with different materials and distances, the prediction performance of the base station autoregressive filtering model can always maintain a relatively stable output, which greatly improves the scene adaptability of the precise positioning method in this embodiment.

[0034] S4. Using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, the coordinates of the target ultra-wideband mobile station are calculated through multilateral positioning, and the coordinates of the target ultra-wideband mobile station are used as the positioning result of the target ultra-wideband mobile station. The positioning result is then output to the base station management platform.

[0035] In one possible implementation, in step S4, using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, the coordinates of the target ultra-wideband mobile station are calculated through multilateral positioning, and the coordinates of the target ultra-wideband mobile station are used as the positioning result of the target ultra-wideband mobile station. The positioning result is then output to the base station management platform. This step can be decomposed into, but is not limited to, the following formulas S41-S4, specifically including: S41. Obtain the coordinates of each of the ultra-wideband positioning base stations, correspond the predicted interconnection distance between each ultra-wideband positioning base station and the target ultra-wideband mobile station with the coordinates of each ultra-wideband positioning base station, establish the nonlinear positioning equation of each ultra-wideband positioning base station with respect to the target ultra-wideband mobile station as the target positioning equation of each ultra-wideband positioning base station, and integrate the target positioning equations of each ultra-wideband positioning base station to form a set of multilateral target positioning equations. S42. Linearize the polygonal target positioning equation set and perform least squares calculation to obtain the coordinate values ​​of the target ultra-wideband rover station; S43. Use the coordinates of the target ultra-wideband mobile station as the positioning result of the target ultra-wideband mobile station, and output the positioning result to the base station management platform.

[0036] In one possible implementation, after obtaining the coordinates of the target ultra-wideband mobile station in step S42, the following steps S421-S422 may also be included, but are not limited to: S421. For each of the ultra-wideband positioning base stations, calculate the coordinate value of the target ultra-wideband rover corresponding to the arrival time of each of the multiple ultra-wideband pulse signals at the arrival time of the ultra-wideband pulse signals; S422. Obtain a preset sliding window, use the sliding window to smooth the coordinate values ​​of the target ultra-wideband mobile station corresponding to the arrival time of each ultra-wideband pulse signal, obtain the coordinate values ​​of the target ultra-wideband mobile station after smoothing, and use the coordinate values ​​of the target ultra-wideband mobile station after smoothing as the positioning result of the target ultra-wideband mobile station, and output them to the base station management platform.

[0037] It should be noted that the UWB precise positioning method based on multipath interference suppression technology provided in this embodiment constructs a rigorous geometric model (refer to...). Figure 2 The optimal estimation method (linearization and least squares) was employed to solve the problem caused by observation errors and model nonlinearity, thus achieving accurate positioning results for the target ultra-wideband rover. Furthermore, to optimize the positioning results, methods such as validity testing, residual analysis, and window smoothing were used, among others, to ultimately output a stable, reliable, and applicable positioning result.

[0038] like Figure 3 As shown, the second aspect of this embodiment provides a hardware system for implementing the UWB precise positioning method based on multipath interference suppression technology described in the first aspect of the embodiment, including: The interconnection distance measurement calculation unit is used to acquire ultra-wideband pulse signals emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, record the time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each ultra-wideband positioning base station, record the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculate the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal of each ultra-wideband positioning base station. The autoregressive filter model building unit is used to build a corresponding base station autoregressive model for each of the ultra-wideband positioning base stations based on multipath interference suppression technology. Based on the interconnection distance measurement between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station, and the base station autoregressive model is embedded into the base station Kalman filter model to build a corresponding base station autoregressive filter model for each ultra-wideband positioning base station. The interconnection distance prediction calculation unit is used to calculate, for each of the ultra-wideband positioning base stations, the prior state prediction vector and the innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station using the corresponding base station autoregressive filtering model; calculate the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station based on the prior state prediction vector, the interconnection distance measurement value and the innovation process value; and extract the interconnection distance prediction value from the posterior state prediction vector to obtain the interconnection distance prediction value between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. The target coordinate positioning calculation unit is used to calculate the coordinate value of the target ultra-wideband mobile station by using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station through multilateral positioning, and uses the coordinate value of the target ultra-wideband mobile station as the positioning result of the target ultra-wideband mobile station, and outputs the positioning result to the base station management platform.

[0039] The working process, working details and technical effects of the system provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0040] like Figure 4 As shown, the third aspect of this embodiment provides an electronic device, including: a memory, a processor, and a transceiver that are sequentially and communicatively connected, wherein the memory is used to store a computer program, the transceiver is used to send and receive messages, and the processor is used to read the computer program and execute the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect of the embodiment.

[0041] For specific examples, the memory may include, but is not limited to, random access memory (RAM), read-only memory (ROM), flash memory, first-in-first-out (FIFO) memory, and / or first-in-last-out (FILO) memory, etc.; specifically, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor may be implemented using at least one hardware form of DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor, also known as the CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state.

[0042] In some embodiments, the processor may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content to be displayed on the screen. For example, the processor may not be limited to microprocessors of the STM32F105 series, reduced instruction set computer (RISC) microprocessors, x86 architecture processors, or processors with integrated neural network processing units (NPUs). The transceiver may be, but is not limited to, a Wi-Fi transceiver, a Bluetooth transceiver, a General Packet Radio Service (GPRS) transceiver, a ZigBee transceiver (a low-power LAN protocol based on the IEEE 802.15.4 standard), a 3G transceiver, a 4G transceiver, and / or a 5G transceiver. Furthermore, the device may also include, but is not limited to, a power module, a display screen, and other necessary components.

[0043] The working process, working details and technical effects of the electronic device provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0044] The fourth aspect of this embodiment provides a storage medium that stores instructions for the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect of the embodiment. That is, the storage medium stores instructions that, when executed on a computer, perform the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect of the embodiment.

[0045] The storage medium refers to a carrier for storing data, which may include, but is not limited to, floppy disks, optical disks, hard disks, flash memory, USB flash drives, and / or memory sticks. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.

[0046] The working process, working details and technical effects of the storage medium provided in this embodiment can be found in the first aspect of the embodiment, and will not be repeated here.

[0047] The fifth aspect of this embodiment provides a computer program product containing instructions that, when executed on a computer, cause the computer to perform the UWB precise positioning method based on multipath interference suppression technology as described in the first aspect of this embodiment, wherein the computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.

[0048] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A UWB precise positioning method based on multipath interference suppression technology, characterized in that, include: The system acquires ultra-wideband pulse signals emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, records the time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal for each ultra-wideband positioning base station, records the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculates the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal of each ultra-wideband positioning base station. Based on multipath interference suppression technology, a corresponding base station autoregressive model is built for each of the ultra-wideband positioning base stations. Based on the interconnection distance measurement between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station. The base station autoregressive model is then embedded into the base station Kalman filter model, and a corresponding base station autoregressive filter model is established for each ultra-wideband positioning base station. For each of the ultra-wideband positioning base stations, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station are calculated using the corresponding base station autoregressive filtering model. Based on the prior state prediction vector, the interconnection distance measurement value, and the innovation process value, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station is calculated. The interconnection distance prediction value is extracted from the posterior state prediction vector to obtain the interconnection distance prediction value between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. Using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, the coordinates of the target ultra-wideband mobile station are calculated through multilateral positioning, and the coordinates of the target ultra-wideband mobile station are used as the positioning result of the target ultra-wideband mobile station. The positioning result is then output to the base station management platform.

2. The UWB precise positioning method based on multipath interference suppression technology according to claim 1, characterized in that, Before acquiring the ultra-wideband pulse signal emitted by the target ultra-wideband rover through multiple ultra-wideband positioning base stations, the process also includes: The positioning requirements for a target ultra-wideband mobile station are obtained, wherein the positioning requirements for the target ultra-wideband mobile station include the identifier code of the target ultra-wideband mobile station, the current area range of the target ultra-wideband mobile station, and the positioning coordinate dimension requirements of the target ultra-wideband mobile station. The identifier code of the target ultra-wideband mobile station is a unique identifier of the target ultra-wideband mobile station, the current area range of the target ultra-wideband mobile station is the coordinate interval of the current location range of the target ultra-wideband mobile station, and the positioning coordinate dimension requirements of the target ultra-wideband mobile station are either two-dimensional coordinates or three-dimensional coordinates. Based on the positioning coordinate dimension requirements of the target ultra-wideband mobile station, the required number of ultra-wideband base stations participating in the positioning is determined. If the positioning coordinate dimension requirement of the target ultra-wideband mobile station is two-dimensional coordinates, then the required number of ultra-wideband base stations participating in the positioning is at least three. If the positioning coordinate dimension requirement of the target ultra-wideband mobile station is three-dimensional coordinates, then the required number of ultra-wideband base stations participating in the positioning is at least four. Based on the current area range of the target ultra-wideband mobile station, select multiple ultra-wideband base stations that are closest to the current area range of the target ultra-wideband mobile station and meet the participation quantity requirements, and use them as ultra-wideband positioning base stations. By selecting each of the ultra-wideband positioning base stations, the identifier encoding of the target ultra-wideband mobile station is used to confirm the target; The time synchronization server sends time synchronization pulse signals to each of the ultra-wideband positioning base stations that have completed target confirmation. Each ultra-wideband positioning base station uses the time synchronization pulse signals to perform internal time calibration in order to complete the positioning preparation for each ultra-wideband positioning base station.

3. The UWB precise positioning method based on multipath interference suppression technology according to claim 2, characterized in that, Multiple ultra-wideband (UWB) positioning base stations acquire UWB pulse signals emitted by the target UWB mobile station. The time when each UWB positioning base station acquires the UWB pulse signal is recorded as the arrival time of the UWB pulse signal for each UWB positioning base station. The time when the target UWB mobile station emits the UWB pulse signal is recorded as the emission time of the UWB pulse signal. Based on the arrival and emission times of the UWB pulse signals from each UWB positioning base station, the interconnection distance measurement between each UWB positioning base station and the target UWB mobile station is calculated, including: By completing the pre-positioning preparations of each of the ultra-wideband positioning base stations, the ultra-wideband pulse signal emitted by the target ultra-wideband mobile station is obtained, wherein the ultra-wideband pulse signal includes the identifier code of the target ultra-wideband mobile station. Each of the ultra-wideband positioning base stations confirms the identifier encoding of the target ultra-wideband rover in the ultra-wideband pulse signal, and after confirmation, each of the ultra-wideband positioning base stations records the time information of receiving the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each of the ultra-wideband positioning base stations. The time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal is recorded as the ultra-wideband pulse signal emission time, and the ultra-wideband pulse signal emission time is sent to each of the ultra-wideband positioning base stations. Based on the arrival time and emission time of the ultra-wideband pulse signal of each of the ultra-wideband positioning base stations, the interconnection distance measurement between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station is calculated using the following formula (1): （1） in, , ... This represents the measured interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. The number of ultra-wideband base stations participating in the positioning process. At the speed of light, , ... This indicates the arrival time of the ultra-wideband pulse signal for each of the aforementioned ultra-wideband positioning base stations. This indicates the time when the ultra-wideband pulse signal was emitted.

4. The UWB precise positioning method based on multipath interference suppression technology according to claim 1, characterized in that, Based on multipath interference suppression technology, a corresponding autoregressive model is constructed for each of the ultra-wideband positioning base stations, including: The ultra-wideband pulse signals emitted by the target ultra-wideband mobile station at multiple ultra-wideband pulse signal emission times are obtained through each of the ultra-wideband positioning base stations, and the arrival times of the ultra-wideband pulse signals corresponding to the emission times of each ultra-wideband pulse signal are obtained through each of the ultra-wideband positioning base stations. In each of the ultra-wideband positioning base stations, multiple interconnection distance measurement values ​​are calculated based on the emission time of each ultra-wideband pulse signal and the corresponding arrival time of the ultra-wideband pulse signal. The interconnection distance measurement values ​​are then arranged in the order of the arrival time of the ultra-wideband pulse signals to form a corresponding interconnection distance measurement value sequence in each of the ultra-wideband positioning base stations. For each of the ultra-wideband positioning base stations, based on multipath interference suppression technology, a corresponding interconnection distance measurement value sequence is formed according to each of the interconnection distance measurement values, and the base station autoregressive model corresponding to each of the ultra-wideband positioning base stations is built using the following formula (2): （2） in, , ... Indicates the first The interconnection distance measurements are calculated based on the arrival time of each of the ultra-wideband (UWB) pulse signals at each of the aforementioned UWB positioning base stations. This refers to the base station index number of each of the aforementioned ultra-wideband positioning base stations. , ... For the arrival time of each ultra-wideband pulse signal. The number of all said interconnection distance measurements in the sequence of said interconnection distance measurements. , ... This represents the model weighting coefficients of the base station autoregressive model. Added white noise is used to model the autoregressive model of the base station.

5. The UWB precise positioning method based on multipath interference suppression technology according to claim 4, characterized in that, Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station, and the base station autoregressive model is embedded into the base station Kalman filter model. A corresponding base station autoregressive filter model is established for each ultra-wideband positioning base station, including: Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding Kalman filter state vector is defined for each of the ultra-wideband positioning base stations, wherein the Kalman filter state vector is used to characterize the distance to be predicted between the ultra-wideband positioning base station and the target ultra-wideband mobile station; For each of the ultra-wideband positioning base stations, based on the Kalman filter state vector of the ultra-wideband positioning base station, the corresponding base station Kalman filter state equation is established for each of the ultra-wideband positioning base stations using the following formula (3): （3） in, The arrival time of the ultra-wideband pulse signal is... The Kalman filter state vector at that time, The arrival time of the ultra-wideband pulse signal is... The Kalman filter state vector at that time, This indicates that the arrival time of the ultra-wideband pulse signal is... The arrival time of ultra-wideband pulse signals is The state transition matrix between them Represents the state noise coefficient matrix. This refers to the state noise component; Based on the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding Kalman filter observation vector is defined for each of the ultra-wideband positioning base stations, wherein the Kalman filter observation vector is used to characterize the measured interconnection distance between the ultra-wideband positioning base station and the target ultra-wideband mobile station; For each of the ultra-wideband positioning base stations, based on the Kalman filter state vector of the ultra-wideband positioning base station and the Kalman filter observation vector between the ultra-wideband positioning base station and the target ultra-wideband rover, the corresponding base station Kalman filter observation equation is established for each of the ultra-wideband positioning base stations using the following formula (4): （4） in, The arrival time of the ultra-wideband pulse signal is... The Kalman filter observation vector between the ultra-wideband positioning base station and the target ultra-wideband rover at that time. The coefficient matrix of the observation vector. To observe the noise components; By integrating the base station Kalman filter state equation and base station Kalman filter observation equation corresponding to each of the ultra-wideband positioning base stations, a base station Kalman filter model corresponding to each of the ultra-wideband positioning base stations is established. For each of the ultra-wideband positioning base stations, the base station autoregressive model of each ultra-wideband positioning base station is embedded into the base station Kalman filter model of each ultra-wideband positioning base station in a one-to-one correspondence. The base station autoregressive model is used to update the base station Kalman filter state equation and base station Kalman filter observation equation of each ultra-wideband positioning base station to obtain the base station autoregressive filter model corresponding to each ultra-wideband positioning base station.

6. The UWB precise positioning method based on multipath interference suppression technology according to claim 5, characterized in that, For each of the ultra-wideband positioning base stations, the prior state prediction vector and innovation process value between the ultra-wideband positioning base station and the target ultra-wideband rover are calculated using the corresponding base station autoregressive filtering model, including: For each of the ultra-wideband positioning base stations, the arrival time of the ultra-wideband pulse signal is... As the prediction calculation time, the Kalman filter state vector of the ultra-wideband positioning base station is calculated using the base station autoregressive filtering model during the prediction calculation time, which serves as the prior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover, and the Kalman filter observation vector of the ultra-wideband positioning base station is calculated using the base station autoregressive filtering model. Based on the prior state prediction vector and the Kalman filter observation vector of the ultra-wideband positioning base station, the innovation process value is calculated using the following formula (5): （5） in, This represents the value of the information process. This represents the prior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station; Obtain a preset prediction anomaly threshold and apply it to the innovation process value. Calculate the absolute value of the innovation process. And using the predicted anomaly threshold to evaluate the absolute value of the innovation process value. Perform anomaly detection and obtain the detection result; If the determination result is abnormal, then the absolute value of the innovation process value is considered to be abnormal. The corresponding prior state prediction vector is the abnormal prediction vector. The abnormal prediction vector is removed, and prediction calculation and abnormal judgment are performed again until the judgment result is normal. If the determination result is normal, then the absolute value of the innovation process is considered to be normal. The corresponding prior state prediction vector is the normal prediction vector, and for the normal prediction vector, the corresponding prior prediction error covariance matrix is ​​calculated.

7. The UWB precise positioning method based on multipath interference suppression technology according to claim 6, characterized in that, Based on the prior state prediction vector, the interconnection distance measurement value, and the innovation process value, a posterior state prediction vector is calculated between the ultra-wideband positioning base station and the target ultra-wideband mobile station. Interconnection distance prediction values ​​are then extracted from the posterior state prediction vector to obtain the interconnection distance prediction values ​​between each ultra-wideband positioning base station and the target ultra-wideband mobile station, including: In each of the ultra-wideband positioning base stations, for the prior state prediction vector whose determination result is normal, the Kalman gain matrix corresponding to the prior state prediction vector is calculated using the prior prediction error covariance matrix corresponding to the prior state prediction vector. For each of the ultra-wideband positioning base stations, based on the prior state prediction vector The value of the information process The posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover is calculated using the following formula (6) and the Kalman gain matrix: （6） in, This represents the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station. This represents the Kalman gain matrix; For each of the ultra-wideband positioning base stations, the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband rover is... The autoregressive filtered distance prediction value is extracted and used as the interconnection distance prediction value between the ultra-wideband positioning base station and the target ultra-wideband mobile station. The autoregressive filtered distance prediction value is the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station. One of the elements.

8. The UWB precise positioning method based on multipath interference suppression technology according to claim 1, characterized in that, Using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station, the coordinates of the target ultra-wideband mobile station are calculated through multilateral positioning. These coordinates are then used as the positioning result of the target ultra-wideband mobile station, and the positioning result is output to the base station management platform. This includes: The coordinates of each of the ultra-wideband positioning base stations are obtained. The predicted interconnection distance between each ultra-wideband positioning base station and the target ultra-wideband mobile station is matched with the coordinates of each ultra-wideband positioning base station. A nonlinear positioning equation for each ultra-wideband positioning base station with respect to the target ultra-wideband mobile station is established as the target positioning equation for each ultra-wideband positioning base station. The target positioning equations of each ultra-wideband positioning base station are integrated to form a set of multilateral target positioning equations. The polygonal target positioning equations are linearized and calculated using the least squares method to obtain the coordinates of the target ultra-wideband rover station. The coordinates of the target ultra-wideband mobile station are used as the positioning result of the target ultra-wideband mobile station, and the positioning result is output to the base station management platform.

9. The UWB precise positioning method based on multipath interference suppression technology according to claim 8, characterized in that, After obtaining the coordinates of the target ultra-wideband mobile station, the process also includes: For each of the ultra-wideband positioning base stations, the coordinates of the target ultra-wideband rover corresponding to each arrival time of the ultra-wideband pulse signal are calculated at the arrival times of the multiple ultra-wideband pulse signals. A preset sliding window is obtained, and the coordinate values ​​of the target ultra-wideband mobile station corresponding to the arrival time of each ultra-wideband pulse signal are smoothed using the sliding window to obtain the coordinate values ​​of the target ultra-wideband mobile station after smoothing. The coordinate values ​​of the target ultra-wideband mobile station after smoothing are used as the positioning result of the target ultra-wideband mobile station and output to the base station management platform.

10. A UWB precise positioning system based on multipath interference suppression technology, characterized in that, The UWB precise positioning method based on multipath interference suppression technology as described in any one of claims 1 to 9 includes: The interconnection distance measurement calculation unit is used to acquire ultra-wideband pulse signals emitted by the target ultra-wideband mobile station through multiple ultra-wideband positioning base stations, record the time when each ultra-wideband positioning base station acquires the ultra-wideband pulse signal as the arrival time of the ultra-wideband pulse signal of each ultra-wideband positioning base station, record the time when the target ultra-wideband mobile station emits the ultra-wideband pulse signal as the emission time of the ultra-wideband pulse signal, and calculate the interconnection distance measurement value between each ultra-wideband positioning base station and the target ultra-wideband mobile station based on the arrival time and emission time of the ultra-wideband pulse signal of each ultra-wideband positioning base station. The autoregressive filter model building unit is used to build a corresponding base station autoregressive model for each of the ultra-wideband positioning base stations based on multipath interference suppression technology. Based on the interconnection distance measurement between the ultra-wideband positioning base station and the target ultra-wideband mobile station, a corresponding base station Kalman filter model is established for the ultra-wideband positioning base station, and the base station autoregressive model is embedded into the base station Kalman filter model to build a corresponding base station autoregressive filter model for each ultra-wideband positioning base station. The interconnection distance prediction calculation unit is used to calculate, for each of the ultra-wideband positioning base stations, the prior state prediction vector and the innovation process value between the ultra-wideband positioning base station and the target ultra-wideband mobile station using the corresponding base station autoregressive filtering model; calculate the posterior state prediction vector between the ultra-wideband positioning base station and the target ultra-wideband mobile station based on the prior state prediction vector, the interconnection distance measurement value and the innovation process value; and extract the interconnection distance prediction value from the posterior state prediction vector to obtain the interconnection distance prediction value between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station. The target coordinate positioning calculation unit is used to calculate the coordinate value of the target ultra-wideband mobile station by using the predicted interconnection distance between each of the ultra-wideband positioning base stations and the target ultra-wideband mobile station through multilateral positioning, and uses the coordinate value of the target ultra-wideband mobile station as the positioning result of the target ultra-wideband mobile station, and outputs the positioning result to the base station management platform.

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