Uwb multi-device spatial perception system and multi-target positioning and perception method thereof

Abstract

The application provides a UWB multi-device space perception system and a multi-target positioning and perception method thereof, the method comprising: a positioning server performing TDMA dynamic time slot scheduling according to the activity state of each UWB mobile terminal, and allocating a corresponding frequency communication time slot to each UWB mobile terminal; each UWB mobile terminal transmits a UWB ranging signal in the allocated communication time slot; when the number of UWB reference nodes receiving the UWB ranging signal from the same UWB mobile terminal reaches a preset number, each UWB reference node receiving the UWB ranging signal measures the distance data of the corresponding UWB mobile terminal and sends the distance data to the positioning server; the positioning server calculates the spatial coordinates of the corresponding UWB mobile terminal according to the distance data by using a preset hybrid positioning algorithm; the positioning server identifies a non-line-of-sight state by analyzing the channel impulse response characteristics of the UWB ranging signal, and performs weight reduction processing on the distance data identified as the non-line-of-sight state to correct the spatial coordinates to obtain corrected spatial coordinates.

Description

Technical Field

[0001] This application relates to the field of UWB spatial perception technology, and in particular to a UWB multi-device spatial perception system and its multi-target localization and perception method. Background Technology

[0002] With the rapid development of industrial IoT, smart warehousing, and indoor personnel safety management, the demand for high-precision, real-time spatial perception of multiple targets indoors is becoming increasingly urgent. Ultra-wideband (UWB) technology, with its nanosecond-level narrow pulse signal characteristics, possesses significant advantages such as strong anti-multipath interference capabilities and centimeter-level positioning accuracy, making it the mainstream technology in the field of high-precision indoor spatial perception. It is widely used in scenarios such as personnel and asset positioning, industrial equipment collaboration, and intelligent security. Existing UWB multi-device spatial perception systems mostly adopt a fixed time division multiple access (TDMA) time slot allocation mechanism, uniformly allocating communication time slots of the same frequency to all terminals to be located, and generally using a single ranging and positioning algorithm to achieve coordinate calculation. This technical solution cannot adapt to the differentiated needs of terminals in different activity states due to fixed time slot scheduling. Terminals in motion suffer from low positioning update frequency and poor real-time performance due to insufficient time slot resources, making it difficult to meet the continuous tracking requirements of dynamic targets. Meanwhile, terminals in a stationary state continuously occupy high-frequency communication time slots, not only wasting communication resources but also significantly increasing terminal power consumption and shortening battery life. Summary of the Invention

[0003] This application provides a UWB multi-device spatial sensing system and its multi-target localization and sensing method. Based on the activity status of the UWB mobile terminal, it performs TDMA dynamic time slot scheduling and allocates communication time slots with differentiated frequencies. It also uses a hybrid positioning algorithm to calculate spatial coordinates. At the same time, it identifies non-line-of-sight states based on the channel impulse response characteristics of the UWB ranging signal and performs weighted correction on the ranging data. It aims to solve the technical problems of rigid time slot scheduling, high terminal power consumption, insufficient real-time dynamic target positioning, and low positioning accuracy caused by non-line-of-sight propagation in existing UWB spatial sensing systems.

[0004] In a first aspect, embodiments of this application provide a multi-target localization and sensing method for a UWB multi-device spatial perception system. The UWB multi-device spatial perception system includes multiple UWB reference nodes, multiple UWB mobile terminals, and a positioning server. The multi-target localization and sensing method includes: the positioning server performing TDMA dynamic time slot scheduling based on the activity state of each UWB mobile terminal, and allocating communication time slots of corresponding frequencies to each UWB mobile terminal; the activity state includes a moving state and a stationary state, the moving state corresponding to a first frequency, and the stationary state corresponding to a second frequency, wherein the first frequency is greater than the second frequency; and each UWB mobile terminal operates within the allocated communication time slots. The system internally transmits UWB ranging signals. When the number of UWB reference nodes receiving UWB ranging signals from the same UWB mobile terminal reaches a preset number, each UWB reference node that received the UWB ranging signal measures its distance data with the corresponding UWB mobile terminal and sends the distance data to the positioning server. The positioning server uses a preset hybrid positioning algorithm to calculate the spatial coordinates of the corresponding UWB mobile terminal based on the distance data. The positioning server identifies non-line-of-sight states by analyzing the channel impulse response characteristics of the UWB ranging signals and performs downweighting on the distance data identified as non-line-of-sight states to correct the spatial coordinates and obtain corrected spatial coordinates.

[0005] Secondly, embodiments of this application provide a UWB multi-device spatial perception system. The UWB multi-device spatial perception system includes multiple UWB reference nodes, multiple UWB mobile terminals, and a positioning server. The positioning server is communicatively connected to the multiple UWB reference nodes and the multiple UWB mobile terminals, and includes a memory and a processor. The memory is used to store computer programs, and the processor is used to execute the computer programs to implement the multi-target positioning and perception method of the UWB multi-device spatial perception system described above.

[0006] The aforementioned UWB multi-device spatial perception system and its multi-target localization and perception method, based on the activity status of UWB mobile terminals, implements TDMA dynamic time slot scheduling and adaptive signal conflict handling, which can reasonably allocate communication resources and take into account both the real-time positioning of dynamic targets and the low power consumption requirements of stationary terminals. It adopts a preset hybrid positioning algorithm adapted to the terminal status to simultaneously ensure positioning accuracy and system concurrency carrying capacity. It relies on channel impulse response feature recognition and environmental map prediction to complete dual non-line-of-sight error correction, combined with automatic drift compensation, which greatly improves the positioning accuracy and long-term operational stability of the system in complex indoor environments, and finally achieves multi-target, high-precision, low-power, and highly robust UWB multi-device spatial perception. Attached Figure Description

[0007] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0008] Figure 1 This is a first flowchart of the multi-target localization and perception method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0009] Figure 2 A flowchart of step S101 provided for an embodiment of this application.

[0010] Figure 3 This is a second flowchart of the multi-target localization and perception method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0011] Figure 4 A flowchart of step S104 provided in the embodiments of this application.

[0012] Figure 5 A flowchart of step S105 provided in the embodiments of this application.

[0013] Figure 6 This is a third flowchart of the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0014] Figure 7 The fourth flowchart is shown for the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0015] Figure 8 The fifth flowchart is shown for the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0016] Figure 9 The sixth flowchart is shown for the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0017] Figure 10 This is a structural block diagram of the UWB multi-device spatial sensing system provided in an embodiment of this application.

[0018] Figure 11 This is a schematic diagram of the internal structure of the positioning server for the multi-target localization and perception method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0019] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0021] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar planned objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data are interchangeable where appropriate; in other words, the described embodiments are implemented according to a sequence other than that illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, may also include other content; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] It should be noted that the use of terms such as "first" and "second" in this application is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. If the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0023] Please refer to Figure 1This is a first flowchart of the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in this application embodiment. This application provides a multi-target localization and sensing method for a UWB multi-device spatial perception system 1000. Ultra-wideband (UWB) technology has advantages such as resistance to multipath interference, high positioning accuracy, and strong signal penetration, making it a core technology for realizing indoor multi-device spatial perception. The UWB multi-device spatial perception system 1000 is used to simultaneously range, spatially locate, and perceive the status of multiple moving targets in an indoor scene. The multi-target localization and sensing method can adapt to the target's activity status to achieve dynamic scheduling and accuracy optimization, meeting the needs of concurrent multi-target localization, low-power operation, and adaptation to complex environments.

[0024] The UWB multi-device spatial perception system 1000 includes multiple UWB reference nodes 200, multiple UWB mobile terminals 300, and a positioning server 100. The UWB reference nodes 200 are fixedly deployed UWB ranging reference devices (such as wall-mounted or ceiling-mounted UWB ranging base stations) with known location coordinates within a pre-planned space. The pre-planned space is an indoor positioning area where the UWB multi-device spatial perception system 1000 is deployed in advance, covering typical indoor scenarios such as factories, warehouses, and supermarkets. The UWB reference nodes 200 can perform bidirectional mutual ranging and self-calibration of newly added nodes, providing a reliable reference for positioning calculations. The UWB mobile terminals 300 are mobile UWB transceiver terminals (such as personnel-worn tags, vehicle-mounted or equipment-mounted positioning terminals) mounted on the personnel, equipment, or assets to be located. They can integrate accelerometers and Bluetooth modules and adjust their signal transmission strategies according to their own activity status. The positioning server 100 is the core processing device of the UWB multi-device spatial perception system 1000, responsible for time slot scheduling, data reception, coordinate calculation, non-line-of-sight error correction, and multi-device linkage control. Based on the above architecture, the multi-target localization and perception method of this application embodiment includes steps S101-S105.

[0025] In step S101, the positioning server performs TDMA dynamic time slot scheduling based on the activity status of each UWB mobile terminal and allocates communication time slots of corresponding frequencies to each UWB mobile terminal.

[0026] In step S101, the activity state reflects the real-time location changes of the UWB mobile terminal 300. The activity state includes a moving state and a stationary state. The moving state represents a continuously changing location of the UWB mobile terminal 300, while the stationary state represents a unchanged location. TDMA dynamic time slot scheduling is based on a time division multiple access communication mechanism. The positioning server 100 divides the overall communication time of the UWB multi-device spatial perception system 1000 into continuous time frames, and then further subdivides each frame into multiple independent communication time slots. Time slot resources are flexibly allocated based on the actual activity state of the UWB mobile terminal 300, instead of using the traditional fixed allocation method. A communication time slot is an independent time unit within a time frame dedicated to a single UWB mobile terminal 300 transmitting UWB ranging signals, used to avoid conflicts caused by multiple UWB mobile terminals 300 transmitting signals simultaneously.

[0027] In this embodiment, the moving state corresponds to a first frequency, and the stationary state corresponds to a second frequency, with the first frequency being higher than the second frequency. For example, the first frequency can be set to 10Hz and the second frequency to 1Hz, balancing the real-time requirements of dynamic positioning with the low power consumption requirements of static positioning. Allocating high-frequency communication time slots to the moving UWB mobile terminal 300 can increase the positioning update frequency and ensure the real-time performance of dynamic target tracking; while allocating low-frequency communication time slots to the stationary UWB mobile terminal 300 can reduce the number of signal transmissions, lower terminal power consumption, and save system communication resources.

[0028] Please refer to Figure 2 The flowchart below shows step S101, a sub-step provided in this embodiment of the application. The positioning server performs TDMA dynamic time slot scheduling based on the activity status of each UWB mobile terminal and allocates communication time slots of corresponding frequencies to each UWB mobile terminal, including steps S1011-S1013.

[0029] Step S1011: The positioning server determines the corresponding activity status based on the location change rate of each UWB mobile terminal.

[0030] In step S1011, the position change rate is the magnitude of the position change of the UWB mobile terminal 300 per unit time. The positioning server 100 collects the position data of each UWB mobile terminal 300 in real time and calculates the position change rate. The position change rate can accurately distinguish between the moving and stationary states of the UWB mobile terminal 300.

[0031] In step S1012, when the position change rate of a UWB mobile terminal is greater than a preset change rate, the positioning server determines that the activity state of the corresponding UWB mobile terminal is a motion state, allocates a first number of communication time slots per frame to the corresponding UWB mobile terminal, and determines a first frequency corresponding to the first number.

[0032] In step S1012, the preset change rate is a pre-set threshold value that distinguishes between movement and stillness of the UWB mobile terminal 300. The first quantity per frame is the total number of communication time slots allocated to the moving UWB mobile terminal 300 within a single time frame. The more time slots, the higher the positioning update frequency. For example, the preset change rate can be set to 0.5 m / s, the first quantity per frame can be set to 8 time slots, and the first frequency can be set to 10 Hz.

[0033] Step S1013: When the position change rate of a UWB mobile terminal is less than or equal to a preset change rate, the activity state of the corresponding UWB mobile terminal is determined to be a stationary state. A second number of communication time slots per frame are allocated to the corresponding UWB mobile terminal, and a second frequency corresponding to the second number is determined, wherein the first number is greater than the second number.

[0034] In step S1013, the second quantity per frame is the total number of communication time slots allocated to the stationary UWB mobile terminal 300 within a single time frame. The stationary UWB mobile terminal 300 requires only a small number of time slots to maintain basic positioning functionality, reducing terminal power consumption while ensuring positioning effectiveness. For example, the second quantity per frame can be set to one time slot. The second frequency can be set to 1 Hz.

[0035] Please refer to Figure 3 This is a second flowchart of the multi-target localization and sensing method for a UWB multi-device spatial perception system provided in this application embodiment. When multiple UWB mobile terminals transmit signals according to allocated time slots, concurrent transmission within the same time slot may still occur. To solve the aforementioned signal interference problem, the multi-target localization and sensing method further includes steps S201-S202.

[0036] Step S201: When the positioning server detects that two or more UWB mobile terminals transmit UWB ranging signals in the same communication time slot and a signal conflict occurs, it sends a random backoff command to each of the UWB mobile terminals that are in conflict.

[0037] In step S201, the random backoff command is used to control the corresponding UWB mobile terminal 300 to temporarily suspend the transmission of UWB ranging signals, thus staggering the transmission periods of the UWB ranging signals. Signal conflict occurs when multiple UWB mobile terminals 300 simultaneously transmit UWB ranging signals in the same communication time slot. The signals superimposed cause the UWB reference node 200 to be unable to properly parse the ranging signals, thus preventing the effective measurement of distance data. The random backoff command is used to control the corresponding UWB mobile terminal 300 to temporarily suspend the transmission of UWB ranging signals. The random backoff command causes the UWB mobile terminal 300 to wait randomly for different durations, thereby staggering the transmission periods of the UWB ranging signals. For example, the random waiting duration can be set between 1ms and 10ms.

[0038] In step S202, the positioning server reallocates unoccupied communication time slots for each UWB mobile terminal after the backoff.

[0039] In step S202, unoccupied communication time slots are idle time slots within the current time frame that are not used by any UWB mobile terminal 300. The positioning server 100 will check and count the idle time slot resources in real time, and allocate the idle time slots one by one to the UWB mobile terminals 300 that have completed the backoff, so that the UWB mobile terminals 300 can transmit UWB ranging signals in independent communication time slots, completely avoiding the recurrence of signal collisions and ensuring the stable execution of the ranging process.

[0040] In step S102, each UWB mobile terminal transmits a UWB ranging signal within its allocated communication time slot.

[0041] In step S102, the UWB mobile terminal 300 performs signal transmission operations according to the time slot allocation result of the positioning server 100. Each UWB mobile terminal 300 transmits UWB ranging signals only within its own communication time slot and does not occupy the same time slot as other UWB mobile terminals 300 to transmit signals. The UWB ranging signal contains a unique identifier for the corresponding UWB mobile terminal 300, which facilitates the subsequent UWB reference node 200 to distinguish the signal source. The standardized time slot transmission method can effectively ensure the transmission stability of the UWB ranging signal.

[0042] Step S103: When the number of UWB reference nodes that receive UWB ranging signals from the same UWB mobile terminal reaches a preset number, each UWB reference node that receives the UWB ranging signal measures its distance data with the corresponding UWB mobile terminal and sends the distance data to the positioning server.

[0043] In step S103, the preset quantity is the minimum number of UWB reference nodes 200 required to complete the positioning calculation of the UWB mobile terminal 300. The preset quantity is set according to the actual positioning dimension requirements. Specifically, two-dimensional planar positioning requires at least three UWB reference nodes 200 to successfully receive signals and participate in ranging, while three-dimensional spatial positioning requires at least four UWB reference nodes 200 to successfully receive signals and participate in ranging. For example, the preset quantity can be set to 3 in a two-dimensional indoor positioning scenario, and to 4 in a three-dimensional spatial positioning scenario. Each UWB reference node 200 that successfully receives the UWB ranging signal will calculate the straight-line distance between itself and the corresponding UWB mobile terminal 300 based on the air transmission time of the UWB ranging signal and generate distance data. All UWB reference nodes 200 that meet the quantity requirements will upload the measured distance data to the positioning server 100 in real time via the wireless communication link, providing complete and reliable basic data for the subsequent spatial coordinate calculation of the UWB mobile terminal 300.

[0044] In step S104, the positioning server uses a preset hybrid positioning algorithm to calculate the spatial coordinates of the corresponding UWB mobile terminal based on the distance data.

[0045] In step S104, the preset hybrid positioning algorithm is a composite positioning algorithm that integrates two-way ranging technology and time difference of arrival (TDOA) technology, balancing positioning accuracy and concurrent processing capabilities to meet the needs of scenarios where multiple UWB mobile terminals 300 are simultaneously positioned. Specifically, two-way ranging technology involves the UWB mobile terminal 300 and the UWB reference node 200 transmitting and receiving round-trip ranging signals, calculating the round-trip transmission time, and converting it into distance, resulting in higher positioning accuracy. TDOA technology involves multiple UWB reference nodes 200 receiving one-way ranging signals from the UWB mobile terminal 300, and calculating the location based on the time difference of signal arrival at different nodes, resulting in greater capacity.

[0046] Spatial coordinates are core parameters used to mark the specific location of the UWB mobile terminal 300 within a preset space, and include both two-dimensional planar coordinates and three-dimensional spatial coordinates. For example, two-dimensional planar positioning outputs X and Y axis coordinates, while three-dimensional spatial positioning outputs X, Y, and Z axis coordinates. Spatial coordinates can intuitively reflect the real-time location information of the UWB mobile terminal 300. After receiving all valid distance data uploaded by the UWB reference nodes 200, the positioning server 100 performs unified calculations on multiple sets of distance data using a preset hybrid positioning algorithm to quickly generate the accurate spatial coordinates of the UWB mobile terminal 300.

[0047] Please refer to Figure 4 This is a flowchart of step S104 provided in the embodiments of this application. The positioning server uses a preset hybrid positioning algorithm to calculate the spatial coordinates of the corresponding UWB mobile terminal based on the distance data, including steps S1041-S1043.

[0048] Step S1041: The positioning server determines the corresponding priority based on the activity status of each UWB mobile terminal.

[0049] In step S1041, the priority is the ranking of positioning algorithms and computing resources allocated by the positioning server 100 to different UWB mobile terminals 300. A higher priority ensures stronger positioning accuracy and real-time performance. The priorities include a first priority and a second priority. The first priority corresponds to UWB mobile terminals 300 in motion, where the position is constantly changing and higher accuracy and update frequency are required; therefore, a higher priority is assigned. The second priority corresponds to UWB mobile terminals 300 in a stationary state, where the position remains fixed and real-time performance requirements are lower; a lower priority is sufficient.

[0050] In step S1042, the positioning server calculates the spatial coordinates of the UWB mobile terminal with the highest priority using two-way ranging technology.

[0051] In step S1042, the calculation method of the two-way ranging technology is as follows: the UWB mobile terminal 300 transmits a UWB ranging request signal to the UWB reference node 200. After receiving the UWB ranging request signal, the UWB reference node 200 immediately sends back a UWB ranging response signal. The positioning server 100 records the total round-trip transmission time of the UWB ranging signal. Based on the total round-trip transmission time and the propagation speed of the UWB ranging signal, the positioning server 100 calculates the distance data between the UWB mobile terminal 300 and the UWB reference node 200. Combining the distance data uploaded by multiple UWB reference nodes 200, the positioning server 100 calculates the high-precision spatial coordinates of the moving UWB mobile terminal 300.

[0052] In step S1043, the positioning server calculates the spatial coordinates of the UWB mobile terminal with the second priority using time difference of arrival technology.

[0053] In step S1043, the calculation method of the time difference of arrival (TDOA) technology is as follows: the UWB mobile terminal 300 transmits a UWB ranging signal once, and multiple UWB reference nodes 200 synchronously receive the UWB ranging signal and record the arrival time of their respective UWB ranging signals. The positioning server 100 calculates the time difference between the arrival of the UWB ranging signal at different UWB reference nodes 200, converts the time difference into a distance difference, and then combines it with the known fixed coordinates of the UWB reference nodes 200 to calculate the spatial coordinates of the stationary UWB mobile terminal 300. By eliminating the need for UWB ranging signal back-and-forth interaction through the TDOA technology, it can support the simultaneous positioning of a large number of stationary UWB mobile terminals 300, thereby improving the overall carrying capacity.

[0054] In step S105, the positioning server identifies non-line-of-sight states by analyzing the channel impulse response characteristics of the UWB ranging signal, and performs weight reduction processing on the distance data identified as non-line-of-sight states to correct the spatial coordinates and obtain corrected spatial coordinates.

[0055] In step S105, the channel impulse response characteristic is the signal response characteristic formed after the UWB ranging signal propagates through reflection, scattering, etc., in the spatial channel. It can intuitively reflect whether the transmission path of the UWB ranging signal is unobstructed. The non-line-of-sight (NLS) state is the signal transmission state where the UWB ranging signal cannot propagate in a straight line due to obstructions from walls, equipment, or obstacles during transmission between the UWB mobile terminal 300 and the UWB reference node 200. Distance data measured in the NLS state will have significant deviations. The purpose of the weighting reduction is to reduce the weight of distance data with large deviations in the NLS state in the coordinate calculation, weakening the interference of abnormal data on the positioning results. The spatial coordinates are corrected so that the positioning server 100 recalculates the position parameters of the UWB mobile terminal 300 based on the valid distance data from normal transmission, eliminating the positioning offset caused by the NLS error. The corrected spatial coordinates are the precise positioning coordinates after error correction. The positioning server 100 will use the corrected spatial coordinates as the final positioning result of the UWB mobile terminal 300 for subsequent core processes such as real-time location display, multi-device linkage determination, and virtual fence triggering.

[0056] Please refer to Figure 5 This is a flowchart of step S105 provided in the embodiments of this application. The positioning server identifies the non-line-of-sight state by analyzing the channel impulse response characteristics of the UWB ranging signal, including steps S1051-S1053.

[0057] Step S1051: The positioning server acquires the channel impulse response data of the UWB ranging signal corresponding to the distance data.

[0058] In step S1051, the positioning server 100 retrieves UWB ranging signal transmission information that matches the distance data from the UWB reference node 200, and obtains channel impulse response data. The channel impulse response data completely records all response parameters of the UWB ranging signal during transmission and is the core basic data for determining the signal transmission status.

[0059] Step S1052: Extract signal path and energy distribution features from the channel impulse response data.

[0060] In step S1052, the signal path is the transmission route taken by the UWB ranging signal from the UWB mobile terminal 300 to the UWB reference node 200, mainly including the direct path, reflection path, and scattering path. The energy distribution characteristics are the signal energy distribution of the UWB ranging signal along different transmission paths, which can intuitively reflect the smoothness of signal transmission. The positioning server 100 analyzes the channel impulse response data to accurately extract the two key parameters: signal path and energy distribution characteristics.

[0061] Step S1053: Based on the signal path and energy distribution characteristics, identify whether the distance data is distance measurement data under non-line-of-sight conditions.

[0062] In step S1053, the positioning server 100 compares the extracted signal path and energy distribution features with preset line-of-sight and non-line-of-sight determination criteria. Specifically, if the signal path has a direct path and the energy is concentrated on the main path, the corresponding distance data can be determined as valid ranging data under line-of-sight conditions. If the signal path has no direct path, only a reflection or scattering path, and the energy distribution is scattered without a clear main path, the corresponding distance data can be determined as biased ranging data under non-line-of-sight conditions.

[0063] Please refer to Figure 6 This is the third flowchart of the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in this application embodiment. The UWB multi-device spatial perception system 1000 also includes an accelerometer 400 and a Bluetooth module 500. The accelerometer 400 is integrated inside the UWB mobile terminal 300 and can detect changes in the terminal's motion acceleration in real time. The Bluetooth module 500 supports short-range low-power communication and can be used as an auxiliary supplementary means for UWB positioning. To further improve the response speed of activity status judgment and the terminal's battery life, the multi-target localization and sensing method also includes steps S301-S303.

[0064] In step S301, the UWB mobile terminal detects the activity status using an accelerometer.

[0065] In step S301, the accelerometer 400 can collect triaxial acceleration data of the UWB mobile terminal 300 in real time. By analyzing the amplitude and frequency of changes in the acceleration data, the activity status of the UWB mobile terminal 300 can be quickly determined. In this application, the detection method of the accelerometer 400 complements the method of the positioning server 100 to determine the activity status through the rate of position change, which can identify the state switch in advance when the terminal position has not changed significantly, thus improving the real-time response.

[0066] Step S302: When the UWB mobile terminal is detected to be stationary, the UWB mobile terminal turns off the UWB signal transmission function and only transmits Bluetooth signals through the Bluetooth module to continuously collect basic distance data to assist in completing the positioning and sensing.

[0067] In step S302, the position of the UWB mobile terminal 300 remains essentially unchanged in a stationary state, eliminating the need for high-frequency, high-precision positioning. Disabling UWB signal transmission significantly reduces the terminal's power consumption and extends battery life. It should be noted that the power consumption of Bluetooth signal transmission is far lower than that of UWB ranging signals. Continuously transmitting low-power signals through the Bluetooth module 500 maintains the connection between the terminal and the system, allowing for the collection of basic distance data and ensuring continuous positioning.

[0068] Step S303: When the UWB mobile terminal is detected to be in motion, the UWB mobile terminal enables the UWB signal transmission function and synchronously transmits Bluetooth signals in conjunction with the Bluetooth module to collaboratively collect ranging data.

[0069] In step S303, the UWB mobile terminal 300, while in motion, has high requirements for positioning accuracy and update frequency. Enabling the UWB signal transmission function can ensure centimeter-level high-precision positioning, while synchronously transmitting Bluetooth signals can achieve multi-signal collaborative ranging. When the UWB ranging signal is attenuated due to obstruction, Bluetooth signals can be used to assist positioning, improving the reliability of positioning in complex environments.

[0070] In some feasible embodiments, to further optimize the intelligent switching logic of multi-mode cooperative positioning and achieve adaptive optimization of positioning results in complex occlusion environments, specifically, the UWB mobile terminal 300 simultaneously transmits UWB ranging signals and Bluetooth signals via the Bluetooth module 500. When the signal-to-noise ratio (SNR) of the UWB ranging signal is greater than a preset SNR threshold, the positioning server 100 uses the UWB positioning result. When the SNR of the UWB ranging signal is less than or equal to the preset SNR threshold, the positioning server 100 uses the Bluetooth positioning result to assist in positioning.

[0071] Please refer to Figure 7 This is the fourth flowchart of the multi-target localization and perception method for the UWB multi-device spatial perception system provided in this application embodiment. To further improve the accuracy of non-line-of-sight error correction and build environmental perception capabilities, the multi-target localization and perception method also includes steps S401-S403.

[0072] Step S401: The positioning server schedules the designated UWB mobile terminal to move within a preset space and continuously collects the raw ranging data of each UWB.

[0073] In step S401, the designated UWB mobile terminal 300 is a pre-calibrated high-precision mobile terminal. The positioning server 100 plans a traversal route within a preset space and schedules the designated UWB mobile terminal 300 to move along the route. During the movement, the designated UWB mobile terminal 300 continuously transmits UWB ranging signals. Each UWB reference node 200 synchronously receives the signals and collects raw ranging data. The raw ranging data contains signal transmission parameters at different positions and angles, fully reflecting the signal propagation characteristics of the preset space.

[0074] In step S402, the positioning server uses a synchronous positioning and mapping algorithm to generate a spatial environment map with annotations of the distribution of occluded objects based on the original ranging data.

[0075] In step S402, the simultaneous positioning and mapping algorithm enables the UWB mobile terminal 300 to simultaneously achieve its own positioning and build an environmental map while moving. The positioning server 100 analyzes and processes the large amount of raw ranging data collected, identifies the location and range of obstructing objects such as walls, shelves, and equipment within the preset space, and generates a spatial environment map containing information on the spatial topology and the distribution of obstructing objects.

[0076] In step S403, the positioning server uses the spatial environment map to predict the range where non-line-of-sight conditions are likely to occur, and performs weight reduction processing on the distance data obtained within the corresponding range.

[0077] In step S403, the area prone to non-line-of-sight (NLS) conditions refers to the region surrounding occluded objects marked on the spatial environment map. When the UWB mobile terminal 300 enters the area prone to NLS conditions, the positioning server 100 can predict in advance that the UWB ranging signal may be blocked. Combining the channel impulse response feature identification results, the distance data acquired within the area prone to NLS conditions undergoes dual weighting processing. This further weakens the impact of NLS errors on the positioning results and improves positioning accuracy in complex environments.

[0078] Please refer to Figure 8 This is the fifth flowchart of the multi-target localization and perception method of the UWB multi-device spatial perception system provided in the embodiments of this application. To realize multi-device collaborative perception and intelligent scene application, the multi-target localization and perception method further includes steps S501-S502.

[0079] Step S501: The location server pre-stores the linkage judgment rules.

[0080] In step S501, the linkage determination rule is set as follows: if the first UWB mobile terminal 300 is determined to be within the preset enclosure area based on spatial coordinates, and the second UWB mobile terminal 300 is determined to have entered the preset enclosure area, then a preset execution action is initiated. The linkage determination rule is the core logic for achieving multi-device collaborative control and is customized by the user according to the actual application scenario. The preset enclosure area is a specific area defined by the user within a preset space, which may include hazardous work areas, equipment operation areas, material storage areas, etc. The preset execution action is an operation automatically executed when the linkage conditions are met, which may include audible and visual alarms, equipment start / stop, access control, data recording, etc.

[0081] In step S502, the positioning server monitors the spatial coordinates of each UWB mobile terminal in real time, and executes the corresponding preset action when it determines that the linkage judgment rule is met.

[0082] In step S502, the positioning server 100 acquires the corrected spatial coordinates of all UWB mobile terminals 300 in real time. It continuously compares the position of each UWB mobile terminal 300 with the boundary of a preset enclosed area. When the terminal position is detected to meet the conditions of the linkage judgment rule, the corresponding preset execution action is immediately triggered. This enables intelligent applications such as personnel safety management, equipment collaborative operation, and warehouse material management in industrial scenarios, enhancing the practical value of the UWB multi-device spatial perception system 1000.

[0083] In some feasible embodiments, to further improve the spatial interaction sensing capability between multiple devices, this application can also realize direct ranging and positioning between UWB mobile terminals 300. Specifically, the first UWB mobile terminal transmits a ranging request signal to the second UWB mobile terminal. After receiving the ranging request signal, the second UWB mobile terminal transmits a response signal to the first UWB mobile terminal. The first UWB mobile terminal calculates its relative distance to the second UWB mobile terminal based on the time difference between the ranging request signal and the response signal, thereby realizing direct ranging between the UWB mobile terminals.

[0084] In other feasible embodiments, to further expand the location security management function, this application also improves the scenario-based intelligent triggering mechanism. Specifically, the positioning server 100 stores user-preset virtual fence area information and associated triggering actions. When the UWB mobile terminal 300 enters or leaves the virtual fence area, the positioning server 100 triggers the corresponding event notification within a preset response time. Event notifications include mobile phone push, buzzer alarm, and relay output.

[0085] Please refer to Figure 9 This is the sixth flowchart of the multi-target localization and sensing method of the UWB multi-device spatial perception system provided in the embodiments of this application. In order to solve the position offset problem that may occur during the long-term operation of the UWB reference node 200 and to ensure the long-term stability of the UWB multi-device spatial perception system 1000, the multi-target localization and sensing method further includes steps S601-S603.

[0086] In step S601, the UWB reference node periodically performs bidirectional ranging with the remaining UWB reference nodes to construct a real-time node spacing matrix.

[0087] In step S601, the UWB reference node 200 sequentially performs bidirectional distance measurement with all other UWB reference nodes 200 according to a preset cycle. Real-time distance data between every two UWB reference nodes 200 is measured. All real-time distance data are arranged according to node number to construct a real-time node spacing matrix. The real-time node spacing matrix fully reflects the relative positional relationships between all UWB reference nodes 200 at the current moment.

[0088] In step S602, the positioning server compares the real-time node spacing matrix with the historical node spacing matrix to determine the anchor node position offset.

[0089] In step S602, the historical node spacing matrix is ​​a reference matrix recorded when deployment is complete and the UWB reference node 200 is accurately positioned. The positioning server 100 compares the real-time node spacing matrix with the historical node spacing matrix element by element, calculating the difference between corresponding elements. When the difference exceeds a preset offset threshold, it is determined that the corresponding UWB reference node 200 has shifted position. Simultaneously, the offset direction and offset amount of the UWB reference node 200 are calculated.

[0090] In step S603, the positioning server determines the location compensation value based on the judgment result, and corrects the spatial coordinates of all UWB mobile terminals based on the location compensation value.

[0091] In step S603, the position compensation value is a correction parameter calculated based on the offset direction and offset amount of the UWB reference node 200. The positioning server 100 applies the position compensation value to the spatial coordinate calculation process of all UWB mobile terminals 300, uniformly correcting the positioning error caused by the offset of the UWB reference node 200. This eliminates the need for manual recalibration of the UWB reference node 200, thus ensuring long-term positioning accuracy.

[0092] In some feasible embodiments, to further improve the deployment and maintenance mechanism of the UWB reference node 200, this application can also realize rapid access and automatic calibration of newly added devices. Specifically, after the newly added UWB reference node 200 is connected to the UWB multi-device spatial perception system 1000, it transmits a self-calibration signal to all deployed UWB reference nodes 200. After receiving the self-calibration signal, each deployed UWB reference node 200 measures its distance data from the newly added UWB reference node 200 and sends the distance data to the positioning server 100. The positioning server 100 calculates the spatial coordinates of the newly added UWB reference node 200 based on the distance data, completing the self-calibration.

[0093] To further illustrate the practical application effect of the multi-target localization and sensing method of the UWB multi-device spatial perception system 1000 of this application, specific embodiments are provided below in different scenarios: Example 1: Multi-device tracking in smart home scenarios The preset space in this embodiment is 100m. 2A smart home environment is created. Four UWB reference nodes 200 are deployed within a pre-defined space, positioned at the four corners of the living room ceiling, to achieve signal coverage and ranging throughout the home. The UWB multi-device spatial sensing system 1000 is equipped with 10 UWB mobile terminals 300, each terminal adapting to different positioning strategies according to its specific usage scenario. 1. Four UWB mobile terminals 300: Family members wear wristbands, which are constantly in motion and are assigned a first frequency (the first frequency is 10Hz) to complete continuous high-precision positioning; 2. A UWB mobile terminal 300: can be a keychain tag, which detects activity status through an accelerometer 400, and assigns a second frequency (1Hz) when stationary, and switches to the first frequency when moving; 3. A UWB mobile terminal 300: can assign a low frequency (0.2Hz) to a TV remote control tag when stationary to maintain basic positioning; 4. Two UWB mobile terminals 300: These can be worn by pets, keeping them in constant motion and tracking them in real time using the highest frequency. 5. A UWB mobile terminal 300: can assign low frequencies to medicine box tags for the elderly when stationary; 6. A UWB mobile terminal 300: can be used to tag children's backpacks and bind them to virtual fence areas when entering and leaving the house, triggering location and alarm functions.

[0094] In this embodiment, under continuous operation for a preset operating period (e.g., 3 months), the UWB multi-device spatial perception system 1000 can achieve an average positioning accuracy of ±8.2cm in the entire home space, including non-line-of-sight areas; based on the virtual fence function, it can realize the item loss alarm, with an average of 12 effective triggers per month and no false alarms; among them, the user satisfaction rate for key finding can reach 98%, and the user satisfaction rate for monitoring the activity status of the elderly can reach 95%.

[0095] Example 2: Surgical Instrument Tracking in a Hospital Setting The preset space in this embodiment is 500m. 2 In the combined operating room and instrument storage area, 12 UWB reference nodes (200) are deployed to achieve full-area signal coverage. Waterproof and high-temperature resistant patch-type UWB mobile terminals (300) are attached to 500 surgical instruments. Based on the method described in this application, full-process instrument management is achieved. 1. Before surgery: 300 designated UWB mobile terminals are dispatched to complete a full-domain traversal, and a spatial environment map is generated based on synchronous positioning and mapping algorithms. Within 30 seconds, 500 instruments are automatically counted and their locations are confirmed. 2. During surgery: The operating room boundary is defined by a virtual fence, and the position of instruments is monitored in real time. An alarm notification is immediately triggered if an instrument crosses the boundary. 3. Post-operative: Automatically check the number of instruments based on corrected spatial coordinates, and determine whether any instruments have been left behind.

[0096] Compared to traditional manual counting and retrieval methods, this embodiment can reduce the time for a single instrument count from 15 minutes to 30 seconds, significantly improving efficiency; the average instrument retrieval time can be reduced from 3 minutes to 8 seconds; and the number of surgical instrument incidents per year can be reduced from an average of 0.8 to 0, significantly improving the safety and management efficiency of operating room operations.

[0097] Please refer to Figure 10 This is a structural block diagram of the UWB multi-device spatial awareness system provided in the embodiments of this application. This application also provides a UWB multi-device spatial awareness system 1000. The UWB multi-device spatial awareness system 1000 includes multiple UWB reference nodes 200, multiple UWB mobile terminals 300, and a positioning server 100. The positioning server 100 is communicatively connected to the multiple UWB reference nodes 200 and the multiple UWB mobile terminals 300.

[0098] Please refer to Figure 11 This is a schematic diagram of the internal structure of the positioning server for the multi-target positioning and sensing method of the UWB multi-device spatial perception system provided in the embodiments of this application.

[0099] like Figure 11 As shown, the positioning server 100 includes a memory 901 and a processor 902. The processor 902 is used to run computer program instructions stored in the memory 901 to implement the multi-target positioning and sensing method of the UWB multi-device spatial perception system.

[0100] The memory 901 includes at least one type of readable storage medium, including flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), magnetic memory, magnetic disk, optical disk, etc. In some embodiments, the memory 901 can be an internal storage unit of a computer device, such as a hard disk. In other embodiments, the memory 901 can be an external storage device of a computer device, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., configured in the computer device. Furthermore, the memory 901 can include both internal and external storage units of a computer device. The memory 901 can be used not only to store application software and various types of data installed on the computer device, such as the code for multi-target localization and perception methods in a UWB multi-device spatial perception system, but also to temporarily store data that has been output or will be output.

[0101] Furthermore, the positioning server 100 also includes a bus 903. The bus 903 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. This bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 11 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0102] Furthermore, the positioning server 100 may also include a display component 904. The display component 904 may be an LED display, a liquid crystal display, a touch-screen liquid crystal display, or an organic light-emitting diode (OLED) touchscreen, etc. The display component 904 may also be appropriately referred to as a display device or display unit, used to display information processed in the positioning server 100 and to display a visual user interface.

[0103] Furthermore, the positioning server 100 may also include a communication component 905. The communication component 905 may optionally include a wired communication component and / or a wireless communication component (such as a Wi-Fi communication component, a Bluetooth communication component, etc.), which is typically used to establish a communication connection between the positioning server 100 and other computer devices.

[0104] Figure 11 Only a positioning server 100 with some components and a multi-target localization and sensing method for implementing a UWB multi-device spatial perception system is shown. Those skilled in the art will understand that... Figure 11 The structure shown does not constitute a limitation on the positioning server 100 and may include fewer or more components than shown, or combine certain components, or have different component arrangements.

[0105] In the above embodiments, the implementation can be achieved, in whole or in part, through software, hardware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, in the form of a computer program product.

[0106] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the flow or function according to embodiments of the present invention is generated. The computer device may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., a solid-state disk (SSD)).

[0107] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0108] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units through some interfaces, and may be electrical, mechanical, or other forms.

[0109] The unit described as a separate component may or may not be physically separate. The component shown as a unit may or may not be a physical unit; that is, it may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0110] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist independently, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0111] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes: USB flash drives, portable hard disks, read-only storage media (ROM), random access storage media (RAM), magnetic disks, optical disks, and other media capable of storing program code.

[0112] In the above embodiments, TDMA dynamic time slot scheduling and adaptive signal conflict handling are realized based on the activity status of UWB mobile terminals, which can reasonably allocate communication resources and take into account both the real-time positioning of dynamic targets and the low power consumption requirements of stationary terminals. A preset hybrid positioning algorithm adapted to the terminal status is adopted to simultaneously ensure positioning accuracy and system concurrency carrying capacity. Dual non-line-of-sight error correction is completed by relying on channel impulse response feature recognition and environmental map prediction, and with automatic drift compensation, the positioning accuracy and long-term operational stability of the system in complex indoor environments are greatly improved, ultimately realizing multi-target, high-precision, low-power, and highly robust UWB multi-device spatial perception.

[0113] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

[0114] It should be understood that although the steps in the flowcharts of the accompanying figures are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the accompanying figures may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0115] The above-listed embodiments are merely preferred embodiments of this application and should not be construed as limiting the scope of this application. Therefore, any equivalent variations made in accordance with the claims of this application shall still fall within the scope of this application.

Claims

1. A multi-target localization and sensing method for a UWB multi-device spatial sensing system, characterized in that, The UWB multi-device spatial perception system includes multiple UWB reference nodes, multiple UWB mobile terminals, and a positioning server; the multi-target localization and perception method includes: The positioning server performs TDMA dynamic time slot scheduling based on the activity status of each UWB mobile terminal and allocates communication time slots of corresponding frequencies to each UWB mobile terminal; the activity status includes a moving state and a stationary state, the moving state corresponds to a first frequency, the stationary state corresponds to a second frequency, and the first frequency is greater than the second frequency; Each UWB mobile terminal transmits a UWB ranging signal within its allocated communication time slot; When the number of UWB reference nodes that receive UWB ranging signals from the same UWB mobile terminal reaches a preset number, each UWB reference node that receives the UWB ranging signal measures its distance data with the corresponding UWB mobile terminal and sends the distance data to the positioning server. The positioning server uses a preset hybrid positioning algorithm to calculate the spatial coordinates of the corresponding UWB mobile terminal based on the distance data. The positioning server identifies non-line-of-sight states by analyzing the channel impulse response characteristics of the UWB ranging signal, and performs weight reduction processing on the distance data identified as non-line-of-sight states to correct the spatial coordinates and obtain corrected spatial coordinates.

2. The multi-target localization and sensing method as described in claim 1, characterized in that, The positioning server performs TDMA dynamic time slot scheduling based on the activity status of each UWB mobile terminal, and allocates communication time slots of corresponding frequencies to each UWB mobile terminal, including: The positioning server determines the corresponding activity status based on the location change rate of each UWB mobile terminal. When the position change rate of a UWB mobile terminal is greater than a preset change rate, the positioning server determines that the activity state of the corresponding UWB mobile terminal is a motion state, allocates a first number of communication time slots per frame to the corresponding UWB mobile terminal, and determines a first frequency corresponding to the first number. When the position change rate of a UWB mobile terminal is less than or equal to a preset change rate, the activity state of the corresponding UWB mobile terminal is determined to be a stationary state. A second number of communication time slots per frame are allocated to the corresponding UWB mobile terminal, and a second frequency corresponding to the second number is determined, wherein the first number is greater than the second number.

3. The multi-target localization and perception method as described in claim 2, characterized in that, The multi-target localization and sensing method also includes: When the positioning server detects that two or more UWB mobile terminals are transmitting UWB ranging signals in the same communication time slot and a signal conflict occurs, it sends a random backoff command to each of the UWB mobile terminals that are conflicting. The random backoff command is used to control the corresponding UWB mobile terminal to temporarily suspend the transmission of UWB ranging signals and stagger the transmission time of the UWB ranging signals. The positioning server reallocates unused communication time slots to each UWB mobile terminal after it has retreated.

4. The multi-target localization and sensing method as described in claim 2, characterized in that, The preset hybrid positioning algorithm is a composite positioning algorithm that integrates two-way ranging technology and time difference of arrival technology; the positioning server uses the preset hybrid positioning algorithm to calculate the spatial coordinates of the corresponding UWB mobile terminal based on the distance data, including: The positioning server determines the corresponding priority based on the activity status of each UWB mobile terminal. The priority includes a first priority and a second priority. The first priority corresponds to UWB mobile terminals in motion, and the second priority corresponds to UWB mobile terminals in a stationary state. The positioning server is a UWB mobile terminal with the highest priority, which uses two-way ranging technology to calculate spatial coordinates. The positioning server is a second-priority UWB mobile terminal that uses time difference of arrival technology to calculate spatial coordinates.

5. The multi-target localization and sensing method as described in claim 1, characterized in that, The positioning server identifies non-line-of-sight states by analyzing the channel impulse response characteristics of the UWB ranging signal, including: The positioning server acquires the channel impulse response data of the UWB ranging signal corresponding to the distance data; Extract signal path and energy distribution features from the channel impulse response data; Based on the signal path and energy distribution characteristics, identify whether the distance data is distance measurement data under non-line-of-sight conditions.

6. The multi-target localization and sensing method as described in claim 1, characterized in that, The UWB multi-device spatial perception system also includes an accelerometer and a Bluetooth module; the multi-target localization and perception method also includes: The UWB mobile terminal detects the activity status via the accelerometer; When the UWB mobile terminal is detected to be stationary, the UWB mobile terminal turns off the UWB signal transmission function and only transmits Bluetooth signals through the Bluetooth module to continuously collect basic distance data to assist in completing positioning and sensing. When the UWB mobile terminal is detected to be in motion, the UWB mobile terminal activates its UWB signal transmission function and synchronously transmits Bluetooth signals in conjunction with the Bluetooth module to collaboratively collect the ranging data.

7. The multi-target localization and sensing method as described in claim 1, characterized in that, The multi-target localization and sensing method also includes: The positioning server schedules the designated UWB mobile terminal to move within a preset space and continuously collects the raw ranging data of each UWB. The positioning server relies on a synchronous positioning and mapping algorithm to generate a spatial environment map with markings of the distribution of occluded objects based on the original ranging data. The positioning server uses the spatial environment map to predict the range where non-line-of-sight conditions are likely to occur, and performs weight reduction processing on the distance data obtained within the corresponding range.

8. The multi-target localization and sensing method as described in claim 1, characterized in that, The multi-target localization and sensing method also includes: The positioning server pre-stores linkage determination rules, which are set as follows: when the first UWB mobile terminal is determined to be within the preset enclosure area based on spatial coordinates, if the second UWB mobile terminal is determined to have entered the preset enclosure area, a preset execution action is initiated. The positioning server monitors the spatial coordinates of each UWB mobile terminal in real time, and executes the corresponding preset action when it determines that the linkage determination rule is met.

9. The multi-target localization and sensing method as described in claim 1, characterized in that, The multi-target localization and sensing method also includes: The UWB reference node periodically performs bidirectional ranging with the remaining UWB reference nodes to construct a real-time node spacing matrix. The positioning server compares the real-time node spacing matrix with the historical node spacing matrix to determine the anchor node position offset. The positioning server determines the location compensation value based on the determination result, and corrects the spatial coordinates of all UWB mobile terminals based on the location compensation value.

10. A UWB multi-device spatial sensing system, characterized in that, The UWB multi-device spatial awareness system includes multiple UWB reference nodes, multiple UWB mobile terminals, and a positioning server. The positioning server is communicatively connected to the multiple UWB reference nodes and the multiple UWB mobile terminals, and includes: Memory, used to store computer programs; and A processor for executing the computer program to implement the multi-target localization and perception method of the UWB multi-device spatial perception system as described in any one of claims 1-9.

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