Three-dimensional spatial positioning method and mobile device

Abstract

The application discloses a three-dimensional space positioning method and a mobile device, and relates to the technical field of device navigation. The method is applied to a mobile device and comprises the following steps: in the case of entering a target area, a communication connection based on a UWB signal is established with a target UWB device; the target area is an area in which the intensity of a GNSS signal is less than a preset intensity threshold; the target UWB device is a UWB device fixedly arranged in the target area; the target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three and each target UWB device has at least one UWB antenna; and the mobile device is subjected to UWB positioning based on the communication connection based on the UWB signal, and a UWB positioning result of the mobile device is obtained. The application can realize stable and accurate three-dimensional position tracking in an area in which GNSS signal coverage is lacking.

Description

Technical Field

[0001] This application relates to the field of device navigation technology, and in particular to three-dimensional spatial positioning methods and mobile devices. Background Technology

[0002] In the field of navigation, accurately acquiring three-dimensional position information is crucial. Currently, the main method for achieving high-precision three-dimensional positioning relies on the fusion technology of IMU (Inertial Measurement Unit) and GNSS (Global Navigation Satellite System). By combining the acceleration and angular velocity data provided by the IMU with the satellite signals acquired by the GNSS receiver, the user's three-dimensional position coordinates can be effectively calculated. However, in practical applications, this solution faces several challenges.

[0003] First, GNSS signals cannot cover all environments. For example, in enclosed spaces such as inside large shopping malls, underground tunnels, or parking lots, GNSS signals are blocked due to physical obstacles, making it impossible to receive the necessary satellite data for positioning. Similarly, in outdoor environments such as urban canyons (between tall buildings) and forested areas, GNSS signals are also severely interfered with or completely blocked, affecting positioning accuracy.

[0004] Secondly, although IMUs can provide relatively accurate position estimates in the short term, their long-term stability is poor. Over time, due to the accumulation of sensor errors, especially the drift phenomenon in low-quality IMU devices, the estimated position will diverge rapidly, making the positioning results unreliable. Therefore, relying solely on IMUs for long-term navigation has significant limitations.

[0005] Given the above, how to achieve stable and accurate three-dimensional position tracking in areas lacking GNSS signal coverage, such as indoor environments, or in scenarios where GNSS signals are interfered with, has become a key issue that urgently needs to be addressed in the current navigation technology field. Summary of the Invention

[0006] The main purpose of this application is to provide a three-dimensional spatial positioning method and mobile device, which aims to solve the technical problem of how to achieve stable and accurate three-dimensional spatial positioning and tracking in areas lacking GNSS signal coverage.

[0007] To achieve the above objectives, this application provides a three-dimensional spatial positioning method applied to a mobile device, wherein the mobile device integrates a UWB (Ultra Wide Band) positioning device, the UWB positioning device having at least three UWB antennas, and the method includes:

[0008] Upon detection of entry into the target area, a communication connection based on UWB signals is established with the target UWB device. The target area is an area where the GNSS signal strength is less than a preset strength threshold. The target UWB device is a UWB device that is fixedly deployed in the target area. The target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three and each target UWB device has at least one UWB antenna.

[0009] Based on the communication connection using UWB signals, UWB positioning is performed on the mobile device to obtain the UWB positioning result of the mobile device.

[0010] In some embodiments, the step of using the UWB signal-based communication connection to perform UWB positioning on the mobile device and obtain the UWB positioning result of the mobile device includes:

[0011] Based on the communication connection using UWB signals, the relative spatial location information between the mobile device and the target UWB device is determined;

[0012] The three-dimensional coordinate information of the target UWB device in the world coordinate system is obtained, and the three-dimensional coordinate information of the mobile device in the world coordinate system is determined based on the relative spatial position information and the three-dimensional coordinate information.

[0013] The three-dimensional coordinates of the mobile device in the world coordinate system are used as the UWB positioning result of the mobile device.

[0014] In some embodiments, the step of determining the relative spatial location information between the mobile device and the target UWB device based on the UWB signal communication connection includes:

[0015] Based on the communication connection using UWB signals, the first three-dimensional spatial position of the mobile device in the UWB coordinate system is calculated using the time-of-flight method.

[0016] The second three-dimensional position of the target UWB device in the UWB coordinate system is obtained, and the relative spatial position information between the mobile device and the target UWB device is determined based on the first three-dimensional position and the second three-dimensional position.

[0017] In some embodiments, the step of determining the relative spatial position information between the mobile device and the target UWB device based on the first three-dimensional spatial position and the second three-dimensional spatial position includes:

[0018] Based on the first three-dimensional spatial position and the second three-dimensional spatial position, the initial relative spatial position between the mobile device and the target UWB device is determined;

[0019] The initial relative spatial position is fused and optimized using a Kalman filter to obtain the relative spatial position information between the mobile device and the target UWB device. The measurement noise parameter of the Kalman filter is dynamically adjusted based on the UWB measurement data detected by the UWB positioning device within a sliding time window.

[0020] In some embodiments, the measurement noise parameters of the Kalman filter are dynamically adjusted based on UWB measurement data detected by the UWB positioning device within a sliding time window, including:

[0021] The UWB measurement data detected by the UWB positioning device within the sliding time window is observed to obtain the degree of fluctuation of the UWB measurement data.

[0022] The measurement noise parameters of the Kalman filter are dynamically adjusted based on the fluctuation of the UWB measurement data.

[0023] The degree of fluctuation is determined based on the statistical characteristics of the observed UWB measurement data, including standard deviation, variance, or range.

[0024] In some embodiments, the relative spatial position information between the mobile device and the target UWB device includes: the azimuth and pitch angles of the mobile device relative to the target UWB device, and the distance between the mobile device and the target UWB device;

[0025] The measured noise parameters include: the azimuth noise coefficient and pitch noise coefficient of the mobile device relative to the target UWB device, and the distance noise coefficient between the mobile device and the target UWB device.

[0026] In some embodiments, the length of the sliding time window is dynamically adjusted according to the movement speed of the mobile device; the faster the movement speed, the shorter the window length.

[0027] In some embodiments, after the step of obtaining the UWB positioning result of the mobile device, the method further includes:

[0028] Motion data is acquired by the inertial sensor in the mobile device, and the motion data is weighted and fused with the UWB positioning result to obtain the target positioning result of the mobile device.

[0029] Output the target localization result.

[0030] In some embodiments, the target UWB device includes at least three UWB antennas, and the three UWB antennas are arranged in an equilateral triangle.

[0031] In addition, to achieve the above objectives, this application also provides a mobile device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the three-dimensional spatial positioning method as described above.

[0032] In addition, to achieve the above objectives, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the three-dimensional spatial positioning method described above.

[0033] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the three-dimensional spatial positioning method described above.

[0034] In some applications, the IMU+GNSS fusion solution fails due to GNSS signal interference, and the IMU alone suffers from divergence issues, leading to decreased positioning accuracy and high hardware costs.

[0035] Based on this, embodiments of this application provide a three-dimensional spatial positioning method and a mobile device. The three-dimensional spatial positioning method is applied to a mobile device that integrates a UWB positioning device. This UWB positioning device has at least three UWB antennas. The technical solution of this application embodiment involves establishing a communication connection based on UWB signals with a target UWB device upon detecting entry into a target area. The target area is an area where the GNSS signal strength is less than a preset strength threshold. The target UWB device is a UWB device fixedly deployed in the target area. The target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three, and each target UWB device has at least... A single UWB antenna is used, and a communication connection based on the UWB signal is established to perform UWB positioning on the mobile device, obtaining the UWB positioning result of the mobile device. This allows the embodiments of this application to achieve high-precision three-dimensional spatial positioning without GNSS / IMU support, avoiding the use of high-cost IMU devices. It is particularly suitable for scenarios with poor GNSS signals, such as underground spaces and indoor navigation. It can achieve low-cost three-dimensional spatial positioning in environments without GNSS, solving the problem of navigation and positioning failure caused by GNSS signal blockage in related technologies. Thus, the embodiments of this application can still effectively achieve stable and accurate three-dimensional position tracking in areas lacking GNSS signal coverage. Attached Figure Description

[0036] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0037] 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.

[0038] Figure 1 This is a flowchart illustrating the first embodiment of the three-dimensional spatial positioning method of this application.

[0039] Figure 2 This is a flowchart illustrating the second embodiment of the three-dimensional spatial positioning method of this application.

[0040] Figure 3 This is a flowchart illustrating the third embodiment of the three-dimensional spatial positioning method of this application.

[0041] Figure 4 This is a schematic diagram of UWB signal transmission provided in a specific embodiment of this application;

[0042] Figure 5 A schematic diagram of the UWB antenna and UWB coordinate system in a target UWB device provided in a specific embodiment of this application;

[0043] Figure 6 A schematic diagram of a communication scenario based on UWB signals provided in a specific embodiment of this application;

[0044] Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the three-dimensional spatial positioning method in the embodiments of this application.

[0045] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0047] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0048] Currently, because GNSS signals cannot cover all environments, they are severely interfered with or completely blocked in enclosed spaces such as inside large shopping malls, underground tunnels or parking lots, as well as in outdoor environments such as urban canyons (between high-rise buildings) and forested areas. In addition, the error of IMU will continue to accumulate over time, making it difficult for GNSS and IMU-based positioning methods to improve stable and accurate three-dimensional spatial positioning and tracking in areas lacking GNSS signal coverage.

[0049] The main solution of this application is a three-dimensional spatial positioning method applied to a mobile device. The mobile device integrates a UWB positioning device with at least three UWB antennas. The method includes: upon detecting entry into a target area, establishing a communication connection based on UWB signals with a target UWB device. The target area is an area where the GNSS signal strength is less than a preset strength threshold. The target UWB device is a UWB device fixedly deployed in the target area. The target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three, and each target UWB device has at least one UWB antenna. Based on the communication connection using UWB signals, UWB positioning is performed on the mobile device to obtain the UWB positioning result of the mobile device.

[0050] The three-dimensional spatial positioning method provided in this application integrates UWB technology to achieve high-precision position tracking in environments with insufficient or no GNSS signal coverage, significantly improving the overall performance and adaptability of the positioning system. The method first defines the target area as a region where the GNSS signal strength is below a preset threshold. Within these areas, a fixedly deployed UWB device establishes a UWB signal-based communication connection with the mobile device. Then, utilizing the high temporal resolution of UWB technology, centimeter-level ranging accuracy is achieved. This provides accurate three-dimensional spatial positioning and tracking in complex environments (such as inside large shopping malls, underground tunnels, parking lots, urban canyons, and forests), thereby solving the positioning failure problem caused by signal obstruction or interference in traditional GNSS+IMU combinations.

[0051] Furthermore, since UWB positioning primarily relies on direct distance measurement rather than data from integrating accelerometers and gyroscopes, it effectively avoids the error accumulation problem that occurs with long-term IMU use, ensuring positioning stability over extended periods. More importantly, this method significantly reduces hardware costs and system complexity; high-performance positioning services can be achieved simply by integrating a basic UWB module into a mobile device and deploying a small number of UWB base stations in a specific area. Therefore, the embodiments of this application are not only applicable to indoor navigation but can also be extended to various application scenarios requiring high-precision location services, providing a more accurate, stable, and cost-effective solution, greatly promoting the development of applications in smart cities, automated warehouses, emergency response services, and many other fields.

[0052] It should be noted that the execution subject of the embodiments of this application is a mobile device, which may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., or any mobile device capable of realizing the above functions. The embodiments of this application do not specifically limit this. The following uses a mobile device as an example to describe the following embodiments of this application.

[0053] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0054] This application proposes a three-dimensional spatial positioning method according to a first embodiment.

[0055] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the three-dimensional spatial positioning method of this application.

[0056] In this embodiment, the three-dimensional spatial positioning method is applied to a mobile device, which integrates a UWB positioning device. The UWB positioning device has at least three UWB antennas, and includes steps S100 to S200:

[0057] Step S100: Upon entering the target area, establish a communication connection with the target UWB device based on the UWB signal. The target area is an area where the GNSS signal strength is less than a preset strength threshold. The target UWB device is a UWB device that is fixedly deployed in the target area. The target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three and each target UWB device has at least one UWB antenna.

[0058] It should be noted that a UWB antenna is an antenna component used to transmit and receive Ultra Wide Band (UWB) signals. The preset strength threshold refers to a pre-set GNSS signal strength value used to determine when to switch to UWB positioning. The target area refers to an area where the GNSS signal strength is lower than the preset strength threshold. For example, the target area may include areas where the GNSS signal strength is lower than the preset strength threshold, such as elevators, basements, mines, underground tunnels, and underground parking lots.

[0059] In one feasible implementation, the target UWB device includes at least three UWB antennas, and the three UWB antennas are arranged in an equilateral triangle.

[0060] In this embodiment, the target UWB device includes at least three UWB antennas, three of which are arranged in an equilateral triangle with equal distances between them. This provides symmetrical spatial coverage for UWB positioning, ensuring consistent processing of UWB signals received from any direction and reducing errors caused by asymmetrical antenna positions. Furthermore, the equilateral triangle layout helps to better identify and eliminate multipath effects, thereby improving ranging accuracy and positioning precision, and enhancing positioning capabilities in three-dimensional space.

[0061] Understandably, in the target area, GNSS signals are severely interfered with or completely blocked due to the presence of buildings, terrain or other obstacles. In addition, the target area usually has complex structures and multipath effects, making it difficult for traditional GNSS and IMU-based positioning methods to provide accurate location information.

[0062] Step S200: Based on the communication connection of UWB signals, perform UWB positioning on the mobile device to obtain the UWB positioning result of the mobile device.

[0063] It should be noted that UWB positioning refers to the precise location measurement and three-dimensional spatial positioning using Ultra Wide Band (UWB) technology. The UWB positioning result refers to the specific coordinates of the mobile device in three-dimensional space, ultimately calculated through UWB positioning.

[0064] To achieve high-precision three-dimensional spatial positioning and tracking within the target area, this embodiment pre-deploys target UWB devices at key path nodes in the target area and ensures that the signal of the target UWB devices covers the target area. Thus, when the current GNSS signal strength of the mobile device is detected to be less than a preset strength threshold, it determines that it has entered the target area and activates the UWB positioning device integrated in the mobile device. It establishes a communication connection based on UWB signals with the target USB device in the target area, thereby switching the positioning system of the mobile device to UWB positioning. This ensures that stable location information can be continuously provided even in environments where GNSS signals are unavailable, avoiding positioning interruptions caused by the loss of GNSS signals.

[0065] Compared to traditional positioning methods based on GNSS and IMU, this embodiment directly measures distance within the target area using UWB signals. It eliminates the need for complex fusion algorithms and achieves high-precision positioning with just a simple UWB module, reducing the need for expensive high-precision IMUs or other precision sensing equipment, thus lowering hardware costs and system complexity.

[0066] In addition, UWB technology has high temporal resolution and strong resistance to multipath effects, enabling it to achieve centimeter-level ranging accuracy in complex structures and environments with multiple obstacles, providing users with more accurate, stable and cost-effective positioning services.

[0067] Furthermore, in one feasible implementation, steps S300 to S400 may be included after step S200:

[0068] Step S300: Motion data is acquired through the inertial sensor in the mobile device, and the motion data is weighted and fused with the UWB positioning result to obtain the target positioning result of the mobile device.

[0069] Step S400: Output the target location result.

[0070] It should be noted that inertial sensors refer to sensors such as accelerometers and gyroscopes used to measure acceleration and angular velocity. Commonly used inertial sensors include inertial measurement units (IMUs). Motion data refers to data collected by inertial sensors, including information such as acceleration and angular velocity, used to describe the dynamic behavior of mobile devices. Target localization results refer to the more accurate and stable localization results obtained by weighted fusion of UWB localization results using motion data.

[0071] It should also be noted that weighted fusion refers to combining data from different sources according to certain weights. Common fusion algorithms include Kalman filtering, extended Kalman filtering, and particle filtering.

[0072] In this embodiment, although UWB positioning provides high-precision distance measurement, it may be affected by signal noise in the short term. Meanwhile, while inertial sensors are prone to drift, they can provide high-frequency motion data in a short period. This embodiment, by weighted fusion of UWB positioning results and inertial sensor data, can supplement the shortcomings of UWB positioning with the high-frequency data from the inertial sensor in a short time, improving the overall positioning accuracy. It is particularly suitable for applications requiring high-frequency updates of location information, such as rapid movement or frequent changes of direction.

[0073] Furthermore, due to integration errors, inertial sensors can lead to significant positioning deviations over extended periods. UWB positioning, on the other hand, relies on fixed reference points, providing stable absolute position information over the long term. This implementation uses weighted fusion, combining the long-term stability of UWB positioning with the short-term high-frequency data from inertial sensors to mutually correct errors, reducing the drift effects of inertial sensors. This maintains high short-term accuracy while avoiding the error accumulation problems associated with long-term inertial sensor use, ensuring positioning accuracy over extended periods.

[0074] Based on the first embodiment described above, a three-dimensional spatial positioning method according to the second embodiment of this application is proposed.

[0075] In the second embodiment of this application, the same or similar content as in the above embodiments can be referred to the above description, and will not be repeated hereafter.

[0076] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the second embodiment of the three-dimensional spatial positioning method of this application.

[0077] In this embodiment, step S200 may include steps S210 to S230:

[0078] Step S210: Based on the communication connection of the UWB signal, determine the relative spatial location information between the mobile device and the target UWB device;

[0079] It should be noted that, in this embodiment, relative spatial location information refers to information used to describe the relative positional relationship between the mobile device and the target UWB device in three-dimensional space.

[0080] For example, in one feasible implementation, the relative spatial position information between the mobile device and the target UWB device includes: the azimuth and pitch angles of the mobile device relative to the target UWB device, and the distance between the mobile device and the target UWB device;

[0081] In this embodiment, the relative spatial position information includes angle information and distance information. The angle information includes the azimuth and pitch angles of the mobile device relative to the target UWB device, and the distance information refers to the distance between the mobile device and the target UWB device. Using the angle and distance information, the relative positional relationship between the mobile device and the target UWB device can be accurately described.

[0082] In this embodiment, a UWB signal communication connection is established between the mobile device and the target UWB device. The mobile device and the target UWB device can communicate with each other through the UWB signal. Therefore, the distance between the mobile device and the target UWB device can be accurately measured based on the flight time of the UWB signal during the communication process. Furthermore, based on the incident angle of the UWB signal on the UWB antenna, the azimuth and elevation angles between the mobile device and the target UWB device can be calculated, thereby determining the relative spatial position information between the mobile device and the target UWB device.

[0083] In one feasible implementation, step S210 may include steps S211 to S212:

[0084] Step S211: Based on the communication connection of UWB signal, the first three-dimensional spatial position of the mobile device in the UWB coordinate system is calculated by using the time-of-flight method;

[0085] Those skilled in the art will recognize that the time-of-flight method is a technique for calculating distance by measuring the time it takes for a signal to travel from a transmitting point to a receiving point. In UWB positioning, the precise distance between the two is calculated by measuring the time difference between the UWB signal being transmitted from the mobile device to the target UWB device and returning.

[0086] It should be noted that, in this embodiment, the UWB coordinate system is a preset local reference coordinate system, defined by the target UWB device itself, and is usually determined based on the physical structure or installation location of the target UWB device. The first spatial three-dimensional position refers to the position of the mobile device in the UWB coordinate system.

[0087] This implementation method uses a communication connection based on UWB signals to quickly and efficiently measure the distance between the mobile device and the target UWB device using the time-of-flight method, and calculates the initial position of the mobile device in the UWB coordinate system, i.e., the first three-dimensional coordinates, based on this distance information.

[0088] For example, after the distance between the mobile device and the target UWB device is calculated by the time-of-flight method, the distance difference between each UWB antenna can be calculated by observing the phase difference between each UWB antenna on the UWB positioning device. Then, based on the distance between the mobile device and the target UWB device, the distance difference between each UWB antenna, and the predetermined positional relationship between each UWB antenna, the first three-dimensional position of the mobile device in the UWB coordinate system can be calculated.

[0089] In addition, the distance measurement results between multiple fixed-deployment target UWB devices and the mobile device can be used to calculate the first three-dimensional spatial coordinates of the mobile device in the UWB coordinate system using triangulation.

[0090] Step S212: Obtain the second three-dimensional position of the target UWB device in the UWB coordinate system, and determine the relative spatial position information between the mobile device and the target UWB device based on the first three-dimensional position and the second three-dimensional position.

[0091] It should be noted that the second spatial three-dimensional position refers to the position of the target UWB device in the UWB coordinate system. It is easy to understand that this second spatial three-dimensional position is predetermined and can be transmitted by the target UWB device to the mobile device via a communication connection based on UWB signals.

[0092] This implementation first obtains the known position of the target UWB device in the UWB coordinate system, that is, the second three-dimensional position. Then, using the first three-dimensional position of the mobile device and the second three-dimensional position of the target UWB device, the relative spatial position information between the mobile device and the target UWB device in the UWB coordinate system is accurately calculated.

[0093] It is worth mentioning that this implementation method can deploy multiple target UWB devices in a fixed location within the target area, thereby enabling more accurate location determination based on the relative spatial position information between the mobile device and each target UWB device, and improving the overall positioning accuracy.

[0094] Understandably, when the number of target UWB devices fixedly deployed within the target area is one, the UWB coordinate system can use that target UWB device as its origin. However, when the number of target UWB devices is greater than one, a dedicated UWB coordinate system can be defined for each target UWB device, or a unified UWB coordinate system can be defined for all target UWB devices.

[0095] This implementation provides centimeter-level ranging accuracy using the time-of-flight method, ensuring the accuracy of the initial position of the mobile device. By combining the known position of the target UWB device, the relative spatial position information between the mobile device and the target UWB device can be accurately calculated. Then, by using the pre-calibrated position and attitude of the target UWB device in the world coordinate system, the transformation matrix between the UWB coordinate system and the world coordinate system, and the position of the target UWB device in the world coordinate system, the position of the mobile device in the world coordinate system can be calculated, ultimately achieving three-dimensional spatial position tracking within the target area.

[0096] Step S220: Obtain the three-dimensional coordinate information of the target UWB device in the world coordinate system, and determine the three-dimensional coordinate information of the mobile device in the world coordinate system based on the relative spatial position information and the three-dimensional coordinate information.

[0097] It should be noted that the world coordinate system is a pre-defined global reference coordinate system used to describe the spatial position of all devices, objects, or environmental features. For example, this world coordinate system can be the coordinate system used for GNSS positioning. Three-dimensional coordinate information refers to information used to describe the position of an object within the world coordinate system.

[0098] This embodiment first obtains the known three-dimensional coordinate information of the target UWB device in the world coordinate system. Then, it combines the relative spatial position information obtained in step S210 with the pre-calibrated transformation matrix between the UWB coordinate system and the world coordinate system to obtain the three-dimensional coordinate information of the mobile device in the world coordinate system. This converts the local relative spatial position information into the global three-dimensional coordinates in the world coordinate system, ensuring the universality and consistency of the positioning results.

[0099] Step S230: Use the three-dimensional coordinate information of the mobile device in the world coordinate system as the UWB positioning result of the mobile device.

[0100] This embodiment utilizes UWB positioning to achieve centimeter-level ranging accuracy, precisely measuring the relative spatial position information between the mobile device and the target UWB device in the local UWB coordinate system, thus improving the accuracy and reliability of positioning. Then, by combining the target UWB device's three-dimensional coordinate information in the global world coordinate system, the three-dimensional coordinate information of the mobile device in the world coordinate system is determined, ensuring the universality and consistency of the positioning results.

[0101] Based on the above embodiments, a three-dimensional spatial positioning method according to the third embodiment of this application is proposed.

[0102] In the third embodiment of this application, the same or similar content as the above embodiments can be referred to the above description, and will not be repeated hereafter.

[0103] Please refer to Figure 3 , Figure 3 This is a flowchart illustrating the third embodiment of the three-dimensional spatial positioning method of this application.

[0104] In this embodiment, step S211 may further include steps S500 to S600:

[0105] Step S500: Determine the initial relative spatial position between the mobile device and the target UWB device based on the first three-dimensional spatial position and the second three-dimensional spatial position;

[0106] It should be noted that the initial relative spatial position refers to the information used to describe the relative positional relationship between the mobile device and the target UWB device, which is directly calculated based on the first three-dimensional spatial position of the mobile device and the second three-dimensional spatial position of the target UWB device.

[0107] In step S600, the initial relative spatial position is fused and optimized using a Kalman filter to obtain the relative spatial position information between the mobile device and the target UWB device. The measurement noise parameters of the Kalman filter are dynamically adjusted based on the UWB measurement data detected by the UWB positioning device within the sliding time window.

[0108] As those skilled in the art will recognize, the Kalman filter is a recursive algorithm used to estimate system states, particularly suitable for processing noisy data. The Kalman filter optimizes the estimation results through two steps: prediction and updating, combining the system's dynamic model and measurement data. Measurement noise parameters are a crucial parameter in the Kalman filter, describing the uncertainty or error present in the measurement data. The measurement noise parameter reflects the degree of deviation between the measured value and the true value. A sliding time window is a method for processing time series data, collecting and analyzing data within a fixed-length time window and continuously updating the window content as new data arrives.

[0109] For example, in one feasible implementation, the measured noise parameters include the azimuth noise figure and pitch noise figure of the mobile device relative to the target UWB device, as well as the distance noise figure between the mobile device and the target UWB device.

[0110] In this embodiment, the measured noise parameters include the azimuth noise figure and pitch noise figure of the mobile device relative to the target UWB device, as well as the distance noise figure between the mobile device and the target UWB device. The azimuth noise figure, in the UWB coordinate system, describes the angle measurement error of the mobile device relative to the target UWB device on the horizontal plane, reflecting the degree of deviation between the measured azimuth angle and the true value. The pitch noise figure, in the UWB coordinate system, describes the angle measurement error of the mobile device relative to the target UWB device on the vertical plane, reflecting the degree of deviation between the measured pitch angle and the true value. The distance noise figure, in the UWB coordinate system, describes the spatial distance error between the mobile device and the target UWB device, reflecting the degree of deviation between the measured distance between them and the true value.

[0111] This embodiment combines the time-of-flight method and the Kalman filter. The Kalman filter is used to fuse and optimize the initial relative spatial position, and the measurement noise parameters are dynamically adjusted to reduce errors, making the final result more accurate and reliable.

[0112] Furthermore, this embodiment dynamically adjusts the measurement noise parameters based on the latest data within the sliding time window, which can also ensure that the Kalman filter can adapt to environmental changes, thereby maintaining high real-time performance and obtaining more accurate results.

[0113] It is worth mentioning that, in this embodiment, the measurement noise parameters of the Kalman filter are dynamically adjusted based on the UWB measurement data detected by the UWB positioning device within the sliding time window, which may include steps A10 to A20:

[0114] Step A10: Observe the UWB measurement data detected by the UWB positioning device within the sliding time window, and observe the fluctuation degree of the UWB measurement data.

[0115] Step A20: Dynamically adjust the measurement noise parameters of the Kalman filter based on the fluctuation of the UWB measurement data;

[0116] The degree of fluctuation is determined based on the statistical characteristics of the observed UWB measurement data, including standard deviation, variance, or range.

[0117] It should be noted that UWB measurement data refers to various information acquired during communication between a mobile device and a target UWB device using Ultra Wide Band (UWB) technology. This primarily includes distance, angle, and phase information. The degree of fluctuation refers to the range of change in UWB measurement data within a sliding time window, used to describe the stability and consistency of the data, reflecting changes in noise and error during the measurement process.

[0118] This embodiment monitors UWB measurement data in real time within a sliding time window to capture the statistical characteristics of UWB measurement data under the current environment, thereby determining the degree of fluctuation in UWB measurement data. Based on the degree of fluctuation, the measurement noise parameters of the Kalman filter are dynamically adjusted, enabling the Kalman filter to better adapt to the measurement noise characteristics under different environments, thereby reducing errors and improving positioning accuracy.

[0119] Furthermore, in one feasible implementation, the window length of the sliding time window is dynamically adjusted according to the movement speed of the mobile device; the faster the movement speed, the shorter the window length.

[0120] It should be noted that the sliding time window length refers to the length of the time period during which UWB measurement data is collected and processed. Within this time period, the system calculates the statistical characteristics of the measurement data (such as standard deviation, variance, or range) and dynamically adjusts the measurement noise parameters of the Kalman filter based on these statistical characteristics.

[0121] In this embodiment, to better adapt to the movement of the mobile device, the window length can be dynamically adjusted according to the movement speed of the mobile device. Specifically, when the mobile device moves faster, the window length is shorter; when the mobile device moves slower, the window length is longer.

[0122] This implementation dynamically adjusts the sliding time window length according to the movement speed of the mobile device. In high-speed movement, a shorter window length is used to respond to environmental changes more quickly, improve the system's real-time performance and reaction speed, reduce the accumulation of errors over long periods, and improve positioning accuracy. In low-speed movement, a longer window length is used to more stably capture the changing trend of UWB measurement data, average the UWB measurement data, reduce the impact of noise on positioning results, and improve positioning accuracy and reliability.

[0123] To facilitate understanding of the technical concept or principle of the above embodiments of this application, a specific embodiment is provided.

[0124] like Figure 4 As shown, in this specific implementation, the distance between the mobile device and the target UWB device can be calculated using the time-of-flight method, with the specific formula as follows:

[0125]

[0126] r = c * Δt;

[0127] Where Δt is the time required for one-way transmission of the UWB signal between the mobile device and the target UWB device, t1 is the time from when the target UWB device first sends a UWB signal to the mobile device to when the target UWB device receives the signal returned by the mobile device based on the UWB signal, t2 is the time from when the target UWB device receives the signal returned by the mobile device based on the UWB signal to when the target UWB device sends a UWB signal to the mobile device for the second time, t3 is the time from when the mobile device receives the first UWB signal sent by the target UWB device to when the mobile device first returns a signal to the target UWB device based on the UWB signal, t4 is the time from when the mobile device first returns a signal to the target UWB device to when the mobile device receives the second UWB signal sent by the target UWB device, r is the distance between the mobile device and the target UWB device, and c is the speed of light.

[0128] like Figure 5 As shown, in this specific embodiment, the target UWB device includes three UWB antennas A, B, and C, which are arranged in an equilateral triangle. That is, the target UWB device contains at least three UWB antennas, arranged in an equilateral triangle with a distance d between them. In this specific embodiment, a UWB coordinate system is established with the midpoint of the line DE as the origin. The positive x-axis points from A to B, the positive y-axis points from the origin to C, and the z-axis is perpendicular to the plane defined by points A, B, and C.

[0129] like Figure 6As shown in this specific embodiment, the mobile device also includes three UWB antennas D, E, and F, arranged in an equilateral triangle. In UWB positioning, the mobile device and the target UWB device establish a communication connection based on UWB signals through the UWB antennas, thereby performing UWB positioning using UWB measurement data acquired during the communication process. This UWB measurement data includes phase difference, azimuth angle, elevation angle, and distance.

[0130] In this specific embodiment, the value φ can be observed through the phase difference between A and B. AB The observed phase difference φ between A and C AC The corresponding distance difference d between A and B is calculated. AB and the distance difference d between A and C AC The formula is as follows:

[0131]

[0132] Where λ = 2*d.

[0133] For example, in the UWB coordinate system, the three-dimensional position of the mobile device (i.e., the first spatial three-dimensional position) can be set as (x, y, z), the angle between the UWB antenna of the mobile device and the oxy plane in the UWB coordinate system is θ, and the angle between the projection vector of the UWB antenna of the mobile device onto the oxy plane in the UWB coordinate system and the x-direction is θ. The three-dimensional position equation of the mobile device is as follows:

[0134]

[0135] From the above, the observation equation can be seen as follows:

[0136]

[0137] Substituting x, y, and z into the expression, we can derive:

[0138]

[0139] The simplified equation is as follows:

[0140]

[0141] Simplifying the molecular formula yields:

[0142]

[0143] Solving the equation yields:

[0144]

[0145] As r approaches infinity, the equation further simplifies as follows:

[0146]

[0147] We can obtain:

[0148]

[0149] The solution was obtained through the above steps. θ, and then based on the three-dimensional position equation of the mobile device, the three-dimensional position of the mobile device in the UWB coordinate system can be solved.

[0150] That is, based on the communication connection of UWB signals, the first three-dimensional spatial position of the mobile device in the UWB coordinate system is calculated by using the time-of-flight method.

[0151] In this specific embodiment, it is assumed that a world coordinate system OXYZ is established at a certain point O, which is the W system, and the attitude of the target UWB device in the W system is known. and location The three-dimensional position of the mobile device in the UWB coordinate system was also obtained. The three-dimensional position of the mobile device in the world coordinate system It can be determined by the following formula:

[0152]

[0153] That is, obtain the three-dimensional coordinate information of the target UWB device in the world coordinate system, and determine the three-dimensional coordinate information of the mobile device in the world coordinate system based on the relative spatial position information and the three-dimensional coordinate information.

[0154] In this specific embodiment, after calculating the three-dimensional position of the mobile device in the world coordinate system, it can be directly used as the UWB positioning result of the mobile device.

[0155] Furthermore, fusion techniques can be employed to make the solved three-dimensional position of the mobile device in the world coordinate system more accurate, thereby obtaining UWB positioning results with stronger robustness and anti-interference capabilities (that is, based on the first and second spatial three-dimensional positions, the initial relative spatial position between the mobile device and the target UWB device is determined; through a Kalman filter, the initial relative spatial position is fused and optimized to obtain the relative spatial position information between the mobile device and the target UWB device, wherein the measurement noise parameter of the Kalman filter is dynamically adjusted based on the UWB measurement data detected by the UWB positioning device within the sliding time window). The specific fusion techniques are as follows:

[0156] This specific embodiment utilizes the Kalman filtering method for fusion.

[0157] Step 1: The state value of the 3D position can be assumed that the 3D position of the current frame is equal to the 3D position of the next frame. The state prediction calculation formula is as follows:

[0158] p(k+1)=p(k)

[0159] Step 2: Using the 3D position obtained in Step 1 as the measurement value, a measurement equation is constructed. A new technique is used to optimize the measurement noise parameters of the measurement equation in the real-time update fusion technique. The specific formula is as follows:

[0160] r θ =θcoef*rcoef*θerrorCoef;

[0161]

[0162] r R =Rcoef*rcoef;

[0163] θcoef=pdoa01Coef*pdoa20Coef*thetaCoef;

[0164]

[0165] Rcoef=pdoa01Coef*pdoa20Coef*disCoef;

[0166] Where, r θ The azimuth noise figure of the mobile device relative to the target UWB device. r is the pitch noise figure of the mobile device relative to the target UWB device. R The distance noise figure between the mobile device and the target UWB device (i.e., the measured noise parameters include: the azimuth noise figure and pitch noise figure of the mobile device relative to the target UWB device, and the distance noise figure between the mobile device and the target UWB device), with pdoa01Coef as the first weighting parameter, pdoa20Coef as the second weighting parameter, thetaCoef as the third weighting parameter, phiCoef as the fourth weighting parameter, disCoef as the fifth weighting parameter, rcoef as the sixth weighting parameter, and θerrorCoef as the seventh weighting parameter. This is the eighth weight parameter.

[0167] Among them, pdoa01Coef, pdoa20Coef, thetaCoef, phiCoef, and disCoef can be obtained by constructing a queue of length 10 to store UWB measurement data, and then solving for the degree of fluctuation of the UWB measurement data in the queue after the queue is full. The specific solution method is as follows:

[0168] pdoa01Coef=0.6*stdCoefPdoa+0.3*maxminCoefPdoa+0.1*secmaxminCoefPdoa;

[0169] pdoa20Coef=0.6*stdCoefPdoa+0.3*maxminCoefPdoa+0.1*secmaxminCoefPdoa;

[0170] thetaCoef=0.6*stdCoefTheta+0.3*maxminCoefTheta+0.1*secmaxminCoefTheta;

[0171] phiCoef=0.6*stdCoefPhi+0.3*maxminCoefPhi+0.1*secmaxminCoefPhi;

[0172] disCoef=0.6*stdCoefDis+0.3*maxminCoefDis+0.1*secmaxminCoefDis;

[0173] Where stdCoefPdoa is the standard deviation of the phase difference among the UWB measurement data stored in the queue, maxminCoefPdoa is the range of the phase difference among the UWB measurement data stored in the queue (i.e., the difference between the maximum and minimum values), secmaxminCoefPdoa is the second largest range of the phase difference among the UWB measurement data stored in the queue (i.e., the difference between the second largest and second smallest values), stdCoefTheta is the standard deviation of the azimuth angle among the UWB measurement data stored in the queue, maxminCoefTheta is the range of the azimuth angle among the UWB measurement data stored in the queue, and secmaxminCoefTheta is the standard deviation of the azimuth angle among the UWB measurement data stored in the queue. `stdCoefPhi` represents the second-most range of the azimuth angle in the UWB measurement data stored in the queue; `maxminCoefPhi` represents the standard deviation of the pitch angle in the UWB measurement data stored in the queue; `secmaxminCoefPhi` represents the second-most range of the pitch angle in the UWB measurement data stored in the queue; `stdCoefDis` represents the standard deviation of the distance in the UWB measurement data stored in the queue; `maxminCoefDis` represents the range of the distance in the UWB measurement data stored in the queue; and `secmaxminCoefDis` represents the second-most range of the distance in the UWB measurement data stored in the queue.

[0174] rcoef can be achieved by setting a fixed value during debugging, θerrorCoef and It can be obtained in the following way:

[0175] Based on the solution obtained in the aforementioned steps From the formula for θ, we can see that... and θ and d AB , and d AC Since they are related, the partial derivatives with respect to both are given by the following formula:

[0176]

[0177] LAMDA = λ;

[0178]

[0179] Where pdoa20 is φ AB pdoa01 is φ AC .

[0180] The partial derivative with respect to pdoa20 is The formula is as follows:

[0181]

[0182]

[0183] about The partial derivative with respect to pdoa01 is The formula is as follows:

[0184]

[0185] The partial derivative θ′ of θ with respect to pdoa20 pdoa20 The formula is as follows:

[0186]

[0187] in,

[0188] The partial derivative θ′ of θ with respect to pdoa01 pd0a01 The formula is as follows:

[0189]

[0190]

[0191] Taking the partial derivative of θ above, the following constraints apply:

[0192] d AB 2-d AB *d AC +d A2 2 >0;

[0193] d AB 2 -d AB *d AC +d A2 2 ≤3*c 2 ;

[0194] Therefore, we can conclude that:

[0195]

[0196] In summary, the measurement noise parameter r of the Kalman filter can be obtained. θ , and r R .

[0197] That is, the UWB measurement data detected by the UWB positioning device within the sliding time window is observed to obtain the degree of fluctuation of the UWB measurement data; the measurement noise parameters of the Kalman filter are dynamically adjusted according to the degree of fluctuation of the UWB measurement data; wherein, the degree of fluctuation is determined based on the statistical characteristics of the observed UWB measurement data, including standard deviation, variance or range.

[0198] It should be noted that the above examples are only for the purpose of assisting in understanding this application and do not constitute a limitation on the three-dimensional spatial positioning method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0199] In addition, please refer to Figure 7 , Figure 7 This is a schematic diagram of the device structure of the hardware operating environment involved in the three-dimensional spatial positioning method in the embodiments of this application.

[0200] This application also provides a mobile device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the steps of the three-dimensional spatial positioning method in the above embodiments.

[0201] The following is for reference. Figure 7This document illustrates a structural diagram of a mobile device suitable for implementing the embodiments of this application. The mobile devices in the embodiments of this application may include, but are not limited to, mobile terminals such as wearable devices, mobile phones (i.e., cell phones), laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), etc., or any mobile device capable of implementing the above functions. The wearable devices described include, but are not limited to, smart bracelets, Mixed Reality (MR) devices (e.g., MR glasses or MR helmets), Augmented Reality (AR) devices (e.g., AR glasses or AR helmets), Virtual Reality (VR) devices (e.g., VR glasses or VR helmets), Extended Reality (XR) devices, or some combination thereof. Figure 7 The mobile device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0202] like Figure 7 As shown, the mobile device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in read-only memory 1002 or a program loaded from storage device 1003 into random access memory 1004. Random access memory 1004 also stores various programs and data required for the operation of the mobile device. The processing unit 1001, read-only memory 1002, and random access memory 1004 are interconnected via bus 1005. Input / output interface 1006 is also connected to the bus. Typically, the following systems can be connected to input / output interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the mobile device to communicate wirelessly or wiredly with other devices to exchange data. Although the diagram shows mobile devices with various systems, it should be understood that it is not required to implement or have all of the systems shown. Alternatively, more or fewer systems may be implemented.

[0203] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0204] The mobile device provided in this application, employing the three-dimensional spatial positioning method described in the above embodiments, can solve the technical problem of how to achieve stable and accurate three-dimensional spatial positioning and tracking in areas lacking GNSS signal coverage. Compared with the prior art, the beneficial effects of the mobile device provided in this application are the same as those of the three-dimensional spatial positioning method provided in the above embodiments, and other technical features of this mobile device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0205] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0206] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of protection of the above claims.

[0207] In addition, this application also provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to perform the steps of the three-dimensional spatial positioning method in the above embodiments.

[0208] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory, read-only memory, erasable programmable read-only memory, optical fiber, portable compact disk read-only memory, optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0209] The aforementioned computer-readable storage medium may be included in a mobile device or may exist independently without being assembled into a mobile device.

[0210] The aforementioned computer-readable storage medium carries one or more programs. When the aforementioned one or more programs are executed by a mobile device, the mobile device: upon entering a target area, establishes a communication connection based on UWB signals with a target UWB device, wherein the target area is an area where the GNSS signal strength is less than a preset strength threshold, and the target UWB device is a UWB device fixedly deployed in the target area, wherein the target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three and each target UWB device has at least one UWB antenna; and performs UWB positioning on the mobile device based on the communication connection based on UWB signals, thereby obtaining the UWB positioning result of the mobile device.

[0211] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0212] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0213] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0214] The computer-readable storage medium provided in this application stores computer-readable program instructions (i.e., a computer program) for performing the steps of the above-described three-dimensional spatial positioning method, which can solve the technical problem of how to achieve stable and accurate three-dimensional spatial positioning and tracking in areas lacking GNSS signal coverage. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the three-dimensional spatial positioning method provided in the above embodiments, and will not be repeated here.

[0215] Furthermore, embodiments of this application also provide a computer program product, including a computer program that, when executed by a processor, implements the steps of the three-dimensional spatial positioning method as described in the above embodiments.

[0216] The computer program product provided in this application solves the technical problem of achieving stable and accurate three-dimensional spatial positioning and tracking in areas lacking GNSS signal coverage. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the three-dimensional spatial positioning method provided in the above embodiments, and will not be repeated here.

[0217] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A three-dimensional spatial positioning method, characterized in that, Applied to a mobile device that integrates a UWB positioning device having at least three UWB antennas, the method includes: Upon entering the target area, a communication connection based on UWB signals is established with the target UWB device. The target area is an area where the GNSS signal strength is less than a preset strength threshold. The target UWB device is a UWB device that is fixedly deployed in the target area. The target UWB device has at least three UWB antennas, or the number of target UWB devices is at least three and each target UWB device has at least one UWB antenna. Based on the communication connection using UWB signals, UWB positioning is performed on the mobile device to obtain the UWB positioning result of the mobile device.

2. The three-dimensional spatial positioning method as described in claim 1, characterized in that, The steps of using the UWB signal-based communication connection to perform UWB positioning on the mobile device and obtain the UWB positioning result of the mobile device include: Based on the communication connection using UWB signals, the relative spatial location information between the mobile device and the target UWB device is determined; The three-dimensional coordinate information of the target UWB device in the world coordinate system is obtained, and the three-dimensional coordinate information of the mobile device in the world coordinate system is determined based on the relative spatial position information and the three-dimensional coordinate information. The three-dimensional coordinates of the mobile device in the world coordinate system are used as the UWB positioning result of the mobile device.

3. The three-dimensional spatial positioning method as described in claim 2, characterized in that, The step of determining the relative spatial location information between the mobile device and the target UWB device based on the UWB signal communication connection includes: Based on the communication connection using UWB signals, the first three-dimensional spatial position of the mobile device in the UWB coordinate system is calculated using the time-of-flight method. The second three-dimensional position of the target UWB device in the UWB coordinate system is obtained, and the relative spatial position information between the mobile device and the target UWB device is determined based on the first three-dimensional position and the second three-dimensional position.

4. The three-dimensional spatial positioning method as described in claim 3, characterized in that, The step of determining the relative spatial position information between the mobile device and the target UWB device based on the first three-dimensional spatial position and the second three-dimensional spatial position includes: Based on the first three-dimensional spatial position and the second three-dimensional spatial position, the initial relative spatial position between the mobile device and the target UWB device is determined; The initial relative spatial position is fused and optimized using a Kalman filter to obtain the relative spatial position information between the mobile device and the target UWB device. The measurement noise parameter of the Kalman filter is dynamically adjusted based on the UWB measurement data detected by the UWB positioning device within a sliding time window.

5. The three-dimensional spatial positioning method as described in claim 4, characterized in that, The measurement noise parameters of the Kalman filter are dynamically adjusted based on the UWB measurement data detected by the UWB positioning device within a sliding time window, including: The UWB measurement data detected by the UWB positioning device within the sliding time window is observed to obtain the degree of fluctuation of the UWB measurement data. The measurement noise parameters of the Kalman filter are dynamically adjusted based on the fluctuation of the UWB measurement data. The degree of fluctuation is determined based on the statistical characteristics of the observed UWB measurement data, including standard deviation, variance, or range.

6. The three-dimensional spatial positioning method as described in claim 5, characterized in that, The relative spatial position information between the mobile device and the target UWB device includes: the azimuth and pitch angles of the mobile device relative to the target UWB device, and the distance between the mobile device and the target UWB device; The measured noise parameters include: the azimuth noise coefficient and pitch noise coefficient of the mobile device relative to the target UWB device, and the distance noise coefficient between the mobile device and the target UWB device.

7. The three-dimensional spatial positioning method as described in claim 5, characterized in that, The length of the sliding time window is dynamically adjusted according to the movement speed of the mobile device; the faster the movement speed, the shorter the window length.

8. The three-dimensional spatial positioning method according to any one of claims 1 to 7, characterized in that, After the step of obtaining the UWB positioning result of the mobile device, the method further includes: Motion data is acquired by the inertial sensor in the mobile device, and the motion data is weighted and fused with the UWB positioning result to obtain the target positioning result of the mobile device. Output the target localization result.

9. The three-dimensional spatial positioning method according to any one of claims 1 to 7, characterized in that, The target UWB device includes at least three UWB antennas, and the three UWB antennas are arranged in an equilateral triangle.

10. A mobile device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the three-dimensional spatial positioning method as described in any one of claims 1 to 9.

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