A multi-UWB single base station data fusion positioning method and related device

Abstract

The application discloses a multi-UWB single base station data fusion positioning method and related devices, and relates to the technical field of base station positioning. The method comprises the following steps: acquiring real position coordinates of a fixed identification card for each UWB single base station; the fixed identification card is located in an overlapping area between the multiple UWB single base stations; acquiring measured position coordinates of the fixed identification card measured by each UWB single base station; calculating a position measurement deviation of each UWB single base station according to the measured position coordinates and the real position coordinates of the fixed identification card corresponding to each UWB single base station; determining a credibility weight of each UWB single base station according to the position measurement deviation; and performing data fusion on the measured position coordinates of a to-be-positioned identification card corresponding to each UWB single base station and the credibility weight to determine real position coordinates of the to-be-positioned identification card. The application improves the positioning accuracy of the identification card and ensures the stability of the measurement process.

Description

Technical Field

[0001] This application relates to the field of base station positioning technology, and in particular to a method and related apparatus for data fusion positioning of multiple UWB single base stations. Background Technology

[0002] In underground engineering projects such as coal mines and tunnels, ultra-wideband (UWB) single-base station positioning technology is of great significance for ensuring personnel safety and improving operational efficiency. This technology uses Time-of-Flight (TOF) to acquire signal source distance information and a PDOA algorithm to acquire signal source angle information, enabling real-time calculation of the two-dimensional position of identification cards worn on personnel or equipment within the UWB single-base station's own coordinate system. However, in complex real-world environments, positioning devices based on UWB single-base station positioning technology still face interference such as multipath effects and clock synchronization residuals, causing measured distance and angle values ​​to deviate significantly from the true values. This leads to problems such as fluctuating positioning results, decreased accuracy, and insufficient reliability.

[0003] Especially in UWB single-base station positioning scenarios using large tunneling equipment such as roadheaders, the UWB single base station is installed on the large tunneling equipment. However, due to the large size of the tunneling equipment, it is very easy to block the UWB signal. The effect of UWB signal blockage varies depending on the location of the UWB signal around the large tunneling equipment. Specifically: when the UWB single base station is installed on one side of the equipment, the signal is not blocked by the large tunneling equipment, and the UWB single base station positioning system can obtain the location information of the tag relatively accurately. However, for the tag whose signal is blocked by the large tunneling equipment, the propagation path of the UWB signal is severely blocked, the UWB signal strength received by the UWB single base station is weakened, and it is accompanied by severe multipath interference, which causes the measured distance and angle values ​​to deviate significantly from the true values, forming a "one-sided detection blind zone". Summary of the Invention

[0004] The purpose of this application is to provide a method and related device for data fusion positioning of multiple UWB single base stations, which can improve the positioning accuracy of identification cards and ensure the stability of the measurement process.

[0005] To achieve the above objectives, this application provides the following solution: Firstly, this application provides a method for positioning based on data fusion from multiple UWB single base stations, including: Obtain the actual location coordinates of the fixed identification card for each UWB single base station; the fixed identification card is located in the overlapping area between multiple UWB single base stations.

[0006] Obtain the measurement location coordinates of the fixed identification card measured by each UWB single base station.

[0007] The position measurement deviation of each UWB base station is calculated based on the measured position coordinates and the actual position coordinates of the fixed identification card corresponding to each UWB base station.

[0008] The credibility weight of each UWB base station is determined based on the location measurement deviation.

[0009] Obtain the measurement location coordinates of the identification card to be located by each UWB single base station.

[0010] The measured location coordinates of the identification card to be located corresponding to each UWB single base station and the confidence weight are fused to determine the true location coordinates of the identification card to be located.

[0011] Secondly, this application provides a multi-UWB single-base station data fusion positioning device, comprising: Multiple UWB single base stations.

[0012] Fixed identification cards are located in the overlapping area between multiple UWB single base stations.

[0013] The first processor is used to execute the multi-UWB single base station data fusion positioning method described above.

[0014] Thirdly, this application provides a computer device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the multi-UWB single base station data fusion positioning method described above.

[0015] Fourthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the multi-UWB single-base station data fusion positioning method described above.

[0016] Fifthly, this application provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the multi-UWB single-base station data fusion positioning method described above.

[0017] According to the specific embodiments provided in this application, this application has the following technical effects: This application provides a method and related apparatus for data fusion positioning of multiple UWB single base stations. Based on the measured position coordinates and actual position coordinates of the fixed identifier card corresponding to each UWB single base station, the position measurement deviation of each UWB single base station is calculated. Using the fixed identifier card as a "benchmark," the real-time position measurement deviation of each UWB single base station in the actual overlapping area environment is directly quantified. Based on the position measurement deviation, the reliability weight of each UWB single base station is determined. This step ensures that when a UWB single base station experiences a large deviation in the measurement of the identifier to be positioned due to instantaneous interference, the position measurement deviation of the fixed identifier card corresponding to that UWB single base station will usually also increase, thereby automatically reducing its reliability weight and avoiding the destructive impact of this erroneous measurement on the final result, thus ensuring stability in complex environments. The measured position coordinates and confidence weights of the identification card to be located corresponding to each UWB single base station are fused to determine the true position coordinates of the identification card to be located. The obtained deviation information is used as weights for data fusion, which effectively suppresses the impact of UWB single base station data with large measurement errors on the final result and amplifies the role of accurate UWB single base station data, thereby significantly improving the positioning accuracy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments 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 these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram illustrating the application of a single UWB base station installed on a large tunneling machine in the prior art. Figure 2 This is an application environment diagram of a multi-UWB single base station data fusion positioning method according to an embodiment of this application; Figure 3 A flowchart illustrating a method for data fusion positioning of multiple UWB single base stations provided in an embodiment of this application; Figure 4 A flowchart illustrating a method for data fusion positioning of multiple UWB single base stations provided in another embodiment of this application; Figure 5 A functional module diagram of a multi-UWB single base station data fusion positioning device provided in an embodiment of this application; Figure 6 A schematic diagram of the functional module of a UWB single base station in a multi-UWB single base station data fusion positioning device provided in an embodiment of this application; Figure 7 for Figure 5A detailed functional module diagram of the UWB single base station embedded processor in the UWB single base station functional module; Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.

[0020] Attached image labels: 102 terminal, 104 server. Detailed Implementation

[0021] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, the application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] As described in the background section, a single UWB base station is installed on a large tunneling machine, such as... Figure 1 As shown, the large size of the tunneling equipment obstructs the UWB signal of the yellow identification card but not the blue identification card. Therefore, the UWB single-base station positioning system can accurately obtain the location information of the blue identification card, but cannot accurately obtain the location of the yellow identification card. The multi-UWB single-base station data fusion positioning method provided in this application improves the positioning accuracy of the system by fusing data from multiple UWB single base stations to ensure the accuracy of the obtained identification card location information.

[0024] The multi-UWB single-base station data fusion positioning method provided in this application embodiment can be applied to, for example... Figure 2In the application environment shown, terminal 102 communicates with server 104 via a network. A data storage system can store the data that server 104 needs to process. The data storage system can be set up independently, integrated into server 104, or placed in the cloud or on another server. Terminal 102 can send the actual location coordinates of the fixed identification card relative to each UWB single base station, the measured location coordinates of the fixed identification card measured by each UWB single base station, and the measured location coordinates of the identification card to be located measured by each UWB single base station to server 104. After receiving the actual location coordinates of the fixed identification card relative to each UWB single base station, the measured location coordinates of the fixed identification card measured by each UWB single base station, and the measured location coordinates of the identification card to be located measured by each UWB single base station, server 104 calculates the location measurement deviation of each UWB single base station based on the measured location coordinates and actual location coordinates of the fixed identification card corresponding to each UWB single base station; determines the reliability weight of each UWB single base station based on the location measurement deviation; and fuses the measured location coordinates of the identification card to be located corresponding to each UWB single base station and the reliability weight to determine the actual location coordinates of the identification card to be located. Server 104 can then feed back the obtained actual location coordinates of the identification card to be located to terminal 102. Furthermore, in some embodiments, the multi-UWB single base station data fusion positioning method can also be implemented separately by the server 104 or the terminal 102. For example, the terminal 102 can directly process the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station, as well as the measured position coordinates of the identification card to be positioned measured by each UWB single base station. Alternatively, the server 104 can obtain the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station, as well as the measured position coordinates of the identification card to be positioned measured by each UWB single base station, from the data storage system, and process the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station.

[0025] The terminal 102 can be, but is not limited to, various desktop computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices can include smart speakers, smart TVs, smart air conditioners, and smart in-vehicle devices. Portable wearable devices can include smartwatches, smart bracelets, and head-mounted devices. The server 104 can be implemented using a standalone server or a server cluster composed of multiple servers, or it can be a cloud server.

[0026] In one exemplary embodiment, such as Figure 3As shown, a method for data fusion positioning of multiple UWB single base stations is provided. This method is executed by a computer device, specifically by a terminal or server alone, or by both a terminal and a server. In this embodiment, the method is applied to... Figure 2 Taking server 104 as an example, the explanation includes steps 100 to 600. Wherein: Step 100: Obtain the actual location coordinates of the fixed identification card for each UWB single base station; the fixed identification card is located in the overlapping area between multiple UWB single base stations.

[0027] Step 200: Obtain the measurement location coordinates of the fixed identification card measured by each UWB single base station.

[0028] Step 300: Calculate the position measurement deviation of each UWB single base station based on the measured position coordinates and the actual position coordinates of the fixed identification card corresponding to each UWB single base station.

[0029] Step 400: Determine the credibility weight of each UWB single base station based on the location measurement deviation.

[0030] Step 500: Obtain the measurement location coordinates of the identification card to be located by each UWB single base station.

[0031] Step 600: The measured location coordinates of the identification card to be located corresponding to each UWB single base station and the confidence weight are fused to determine the true location coordinates of the identification card to be located.

[0032] By implementing steps 100 to 600 above, the position measurement deviation of each UWB single base station is calculated based on the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station. The fixed identification card is used as a "ruler" to directly quantify the real-time position measurement deviation of each UWB single base station in the actual overlapping area environment. Based on the position measurement deviation, the reliability weight of each UWB single base station is determined. This step ensures that when a UWB single base station experiences a large deviation in the measurement of the identification card to be located due to instantaneous interference, the position measurement deviation of the fixed identification card corresponding to that UWB single base station will usually also increase, thereby automatically reducing its reliability weight, avoiding the destructive impact of this erroneous measurement on the final result, and ensuring the stability of the system in complex environments. The measured position coordinates and confidence weights of the identification card to be located corresponding to each UWB single base station are fused to determine the true position coordinates of the identification card to be located. The obtained deviation information is used as weights for data fusion, which effectively suppresses the impact of UWB single base station data with large measurement errors on the final result and amplifies the role of accurate UWB single base station data, thereby significantly improving the positioning accuracy.

[0033] In implementing steps 200 to 600 above, the measured position coordinates of the fixed identification card corresponding to the UWB single base station and the measured position coordinates of the identification card to be located corresponding to each UWB single base station are measured by multiple UWB single base stations for the same identification card at the same timestamp, and completed within the same time window (time synchronization is required between each UWB single base station).

[0034] In another exemplary embodiment of this application, step 300, calculating the position measurement deviation of each UWB single base station based on the measured position coordinates and the actual position coordinates of the fixed identification card corresponding to each UWB single base station, specifically includes: When there is only one fixed identification card, the position measurement deviation of each UWB single base station is calculated using the first calculation formula based on the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station; the first calculation formula is: ; Where i represents the UWB single base station number, x Ai The x-coordinate, y-coordinate, of the measured location coordinates of a fixed identification card for a single UWB base station i. Ai The ordinate (X) of the measured location coordinates of the fixed identification card for a single UWB base station i. a To fix the x-coordinate of the identifier card relative to the actual location coordinates of a single UWB base station i, Y a To fix the ordinate of the identifier card relative to the actual location coordinates of a single UWB base station i, E ai The location measurement deviation of a single UWB base station i.

[0035] When there are multiple fixed identification cards, the position measurement deviation of each UWB single base station is calculated using a second calculation formula based on the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station; the second calculation formula is: ; Where K is the number of fixed identification cards, k is the kth fixed identification card, and 1≤k≤K. The x-coordinate of the measured location coordinates of the fixed identification card k, measured by a single UWB base station i. The ordinate of the measured location coordinates of the fixed identification card k, measured by a single UWB base station i. To determine the x-coordinate of the fixed identifier k relative to the actual location coordinates of a single UWB base station i, E represents the ordinate of the fixed identifier k relative to the actual location coordinates of a single UWB base station i. ai The location measurement deviation of a single UWB base station i.

[0036] In another exemplary embodiment of this application, step 400, determining the credibility weight of each UWB single base station based on the location measurement deviation, specifically includes: The reliability weight of each UWB base station is determined based on the following formula and the location measurement deviation; the formula is: ; Where i represents the number of a single UWB base station, W i E represents the credibility weight of a single UWB base station i; ai The position measurement deviation of a single UWB base station i is ε, which is a positive number and can take a value of 1e-6 to prevent E ai When the denominator is zero, the fraction is zero.

[0037] In this embodiment, the confidence weight W of the base station's preliminary location measurement results for the fixed identification card is evaluated. i The basic principle is: position measurement deviation E ai The smaller the value, the more accurate the base station's measurement in the current overlapping area, and the higher the reliability of its position measurement results for the target identification card. The reliability weight W is... i The larger the value, the greater the position measurement deviation E; conversely, the smaller the value, the greater the position measurement deviation E. ai The larger the value, the lower the credibility; credibility weight W i The smaller.

[0038] In another exemplary embodiment of this application, step 600, which involves fusing the measured location coordinates of the identification card to be located corresponding to each UWB single base station with the confidence weight to determine the true location coordinates of the identification card to be located, specifically includes: Step 610: Determine the position coordinates of each UWB single base station in the first base station coordinate system; the first base station coordinate system is a coordinate system constructed with the first base station as the origin; the first base station is any one of the multiple UWB single base stations.

[0039] Step 620: Based on the position coordinates of each UWB single base station in the first base station coordinate system and the measured position coordinates of the identification card to be located corresponding to each UWB single base station, determine the measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system.

[0040] Step 630: The measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system and the confidence weight are fused to determine the true position coordinates of the identification card to be located.

[0041] In another embodiment, the position coordinates of each UWB single base station in the first base station coordinate system are determined by surveying methods, and the position of the second UWB single base station in the first base station coordinate system is (X... 21Y 21 The position of the third UWB single base station in the coordinate system of the first base station is (X). 31 Y 31 The position of the Nth UWB single base station in the first base station coordinate system is (X). n1 Y n1 ).

[0042] Using coordinate transformation formulas, in the first base station coordinate system, based on the position coordinates (X, Y, Z) of each UWB single base station... n1 ,Y n1 ) and the measured location coordinates (X) of the identification card to be located corresponding to each UWB single base station. n Y n ), n≥2, determine the measurement position coordinates (X') of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system. n’ Y' n ).

[0043] The coordinate transformation formula is: .

[0044] For example, suppose the coordinates of the first UWB single base station are (0,0), the coordinates of the second UWB single base station in the first base station coordinate system are (10,0), and the measurement position coordinates of a certain identification card to be located measured by the second UWB single base station are (-1.2, 5.3). The measurement position coordinates are in the second base station coordinate system (with the second UWB single base station coordinates as the origin). The measurement position coordinates are transformed to the first base station coordinate system using the coordinate transformation formula, which gives (-1.2+10, 5.3+0) = (8.8, 5.3). Through this translation transformation, the measurement data of all UWB single base stations are unified into the coordinate system with the first base station as the origin. Steps 610 and 620 can be placed before step 300 to make each UWB single base station have a unified benchmark in error calculation and data fusion.

[0045] In an exemplary embodiment, each UWB base station is placed in a coordinate system with the first base station as the origin, such as... Figure 4 As shown, each UWB single base station measures the position coordinates of the fixed identification card. The measurement data of each UWB single base station are unified into a coordinate system with the first base station as the origin to obtain the true position information between the fixed identification card and each UWB single base station. The weight of each UWB single base station is measured, and the error between each UWB single base station and the fixed identification card is determined to obtain the evaluation confidence weight of each UWB single base station. The position information of the identification card to be located obtained by each UWB single base station and the evaluation confidence weight are fused to obtain the true position of the identification card to be located.

[0046] In another exemplary embodiment of this application, step 630 involves fusing the measured location coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system with the confidence weight to determine the true location coordinates of the identification card to be located. Specifically, this includes: Using a fusion formula, the measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system are fused with the confidence weight to determine the true position coordinates of the identification card to be located.

[0047] The fusion formula is as follows: ; ; Where i represents the ID of a single UWB base station, N is the number of single UWB base stations, and W i x is the credibility weight of a single UWB base station i. Bi Let y be the abscissa of the measured position coordinates of the identification card to be located corresponding to the UWB single base station i in the first base station coordinate system. Bi Let X be the ordinate of the measured position coordinates of the identification card to be located corresponding to a single UWB base station i in the first base station coordinate system. b Y is the abscissa of the actual location coordinates of the identification card to be located in the first base station coordinate system. b The x-coordinate is the actual location coordinate of the identification card to be located in the first base station coordinate system.

[0048] This application also provides an application scenario in which the above-mentioned multi-UWB single-base station data fusion positioning method is applied. Specifically, the multi-UWB single-base station data fusion positioning method provided in this embodiment can be applied in the production operation of a group of mobile equipment at a tunneling face. During the production operation of the group of mobile equipment at the tunneling face, it is necessary to control the safety of personnel. Workers wear positioning identification cards to locate the workers, thereby obtaining the relative positional relationship between the mobile equipment and the personnel. Based on the preset control logic, control information is output to control the mobile equipment to perform avoidance actions (such as stopping, stopping cutting, etc.) to prevent personnel from being injured.

[0049] This application also provides another application scenario, which applies the aforementioned multi-UWB single-base station data fusion positioning method. Specifically, the multi-UWB single-base station data fusion positioning method provided in this embodiment can also be applied to application scenarios where tunneling equipment positions itself against each other, enabling collaborative operation between the equipment.

[0050] Based on the same inventive concept, this application also provides a multi-UWB single-base station data fusion positioning device for implementing the multi-UWB single-base station data fusion positioning method described above. The solution provided by this device is similar to the implementation described in the above method. Therefore, the specific limitations in the one or more multi-UWB single-base station data fusion positioning device embodiments provided below can be found in the limitations of the multi-UWB single-base station data fusion positioning method described above, and will not be repeated here.

[0051] In one exemplary embodiment, such as Figure 5 As shown, a multi-UWB single-base station data fusion positioning device is provided, comprising: Multiple UWB single base stations (as an example, corresponding to UWB single base station 1, UWB single base station 2 and UWB single base station 3 in the attached figure).

[0052] Fixed Identifier Card A is located in the overlapping area between multiple UWB base stations. Fixed Identifier Card A can be a UWB tag, which is physically fixed in the overlapping area covered by multiple base stations. The coordinates of the installation location can be obtained through surveying.

[0053] The first processor is used to execute the multi-UWB single-base station data fusion positioning method described in any one of the above-mentioned methods.

[0054] In this embodiment, the first processor can be installed in the first base station. The position and angle information between the fixed identification card A and the UWB single base station are determined by surveying. Identification cards B and C to be located are the target objects for calculating the real position coordinates. The UWB single base station measures the position coordinates of the fixed identification card A in real time, and the obtained position measurement deviation E of the UWB single base station i is... ai This reflects the current measurement status of the base station in the overlapping area, and the weight allocation can dynamically adapt to environmental changes (such as multipath changes caused by personnel movement). Each UWB single base station operates continuously. When a UWB single base station experiences a significant deviation in the measurement of the target identification card B and the target identification card C due to transient interference (such as multipath), the measurement deviation E of its corresponding fixed identification card A will be adjusted accordingly. ai This usually increases the weight, thereby automatically reducing its weight, avoiding the destructive impact of this erroneous measurement on the final result, and improving the stability of the system in complex environments.

[0055] Deploying only a small number of fixed identification cards in key overlapping areas can improve the positioning accuracy of identification cards, which is easy to upgrade in the data processing unit of the existing system and the cost is far lower than that of base stations.

[0056] Meanwhile, compared to traditional methods based on signal strength or simple averaging, which are prone to location result jumps at the edge of overlapping areas due to the switching of the dominant base station, this invention provides a smoother transition through continuous reliability assessment and weighted fusion.

[0057] In one exemplary embodiment, a UWB single base station includes: The UWB radio frequency module is used to send and receive UWB signals to fixed identification cards or identification cards to be located.

[0058] The UWB antenna array system includes multiple UWB radio frequency modules.

[0059] UWB antenna array systems are used for: The distance between a single UWB base station and a fixed identification card, or the distance between a single UWB base station and an identification card to be located, is determined based on the time difference between the arrival of the UWB signal at different UWB radio frequency module units in the antenna array.

[0060] The azimuth angle between a single UWB base station and a fixed identification card, or the azimuth angle between a single UWB base station and an identification card to be located, is determined based on the phase difference of the UWB signal arriving at different UWB RF modules in the antenna array.

[0061] In this embodiment, the location coordinates of a single UWB base station are determined by acquiring the distance and azimuth angle from the UWB antenna array system. The UWB antenna array system consists of multiple UWB radio frequency modules arranged in a specific spatial configuration via a feeding method. For example, six UWB radio frequency modules form a circular array, evenly spaced on the antenna array. Due to the different positions of the UWB radio frequency modules, electromagnetic waves from the same signal source have different propagation path lengths to reach each UWB radio frequency module, resulting in a time difference. Electromagnetic waves are periodic, and the path difference also represents a different number of wave propagation periods, thus generating a phase difference. Based on acquiring the time difference between the arrival times of the UWB signal at different UWB radio frequency module units in the antenna array, the distance d can be obtained through bilateral bidirectional ranging. The azimuth angle θ is then obtained based on the phase difference. Polar coordinates are calculated from (d, θ) and converted to two-dimensional rectangular coordinates (x, y). .

[0062] As an optional implementation method, such as Figure 6 As shown, a UWB single base station also includes: The power supply module is used to supply power to the UWB radio frequency module, antenna array system, and embedded processor of the UWB single base station.

[0063] The UWB single-base station embedded processor is used to acquire data from the antenna array system in the UWB single base station to measure the coordinates of the fixed or targeted identification card, calculate the position measurement deviation, and the confidence weight. When the UWB single base station is the first base station, the UWB single-base station embedded processor is the first processor. It can also be used to acquire the coordinates, position measurement deviation, and confidence weight of the fixed or targeted identification card from all other base stations, fuse the coordinates of the targeted identification card and the confidence weight corresponding to each UWB single base station, and determine the true position coordinates of the targeted identification card.

[0064] As an optional implementation, if the UWB single base station is the first base station, such as Figure 7 As shown, the UWB single-base station embedded processor includes: The data collection module is used to acquire distance and azimuth data of the UWB antenna array system of the first base station itself; and to acquire coordinate information of the coordinate transformation modules in all base stations other than the first base station.

[0065] The coordinate transformation module is used to convert the distance and azimuth data of the first base station's own UWB antenna array system into coordinate information, and to convert the coordinate information of all base stations other than the first base station into the same coordinate system.

[0066] The error calculation module calculates the location measurement deviation of all UWB single base stations.

[0067] The weight evaluation module is used to obtain the location measurement deviation of the error calculation module to calculate the credibility weight of all UWB single base stations.

[0068] The fusion calculation module is used to obtain the credibility weights of all UWB single base stations in the weight evaluation module, obtain the measured position coordinates of the identification cards to be located corresponding to all UWB single base stations in the first base station coordinate system in the coordinate transformation module, and perform data fusion based on the credibility weights of each UWB single base station and the measured position coordinates of the identification cards to be located to determine the true position coordinates of the identification cards to be located.

[0069] As an optional implementation, if the UWB single base station is not the first base station, the UWB single base station embedded processor includes: The data collection module is used to acquire distance and azimuth data of the UWB antenna array system.

[0070] The coordinate transformation module is used to convert the distance and azimuth data of the UWB antenna array system into coordinate information.

[0071] In one exemplary embodiment, a computer device is provided, which may be a server or a terminal, and its internal structure diagram may be as follows. Figure 8 As shown, the computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores the actual location coordinates of fixed identification cards for each UWB single base station, the measured location coordinates of fixed identification cards measured by each UWB single base station, and the measured location coordinates of identification cards to be located measured by each UWB single base station. The I / O interfaces are used for information exchange between the processor and external devices. The communication interface is used for communication with external terminals via a network connection. When the computer program is executed by the processor, it implements a multi-UWB single base station data fusion positioning method.

[0072] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0073] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps in the above-described method embodiments.

[0074] In one exemplary embodiment, a computer-readable storage medium is provided storing a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0075] In one exemplary embodiment, a computer program product is provided, including a computer program that, when executed by a processor, implements the steps in the above-described method embodiments.

[0076] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data must comply with relevant regulations.

[0077] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM).

[0078] The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0079] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0080] This document uses specific examples to illustrate the principles and implementation methods of this application. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of this application. Furthermore, those skilled in the art will recognize that, based on the ideas of this application, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for positioning based on data fusion from multiple UWB single base stations, characterized in that, The multi-UWB single base station data fusion positioning method includes: Obtain the actual location coordinates of the fixed identification card for each UWB single base station; the fixed identification card is located in the overlapping area between multiple UWB single base stations; Obtain the measurement location coordinates of the fixed identification card measured by each UWB single base station; The position measurement deviation of each UWB base station is calculated based on the measured position coordinates and the actual position coordinates of the fixed identification card corresponding to each UWB base station. Based on the location measurement deviation, the credibility weight of each UWB single base station is determined; Obtain the measurement location coordinates of the identification card to be located measured by each UWB single base station; The measured location coordinates of the identification card to be located corresponding to each UWB single base station and the confidence weight are fused to determine the true location coordinates of the identification card to be located.

2. The multi-UWB single-base station data fusion positioning method according to claim 1, characterized in that, Based on the measured location coordinates and actual location coordinates of the fixed identification card corresponding to each UWB base station, the location measurement deviation of each UWB base station is calculated, specifically including: When there is only one fixed identification card, the position measurement deviation of each UWB single base station is calculated using the first calculation formula based on the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station; the first calculation formula is: ； Where i represents the UWB single base station number, x Ai The x-coordinate, y-coordinate, of the fixed location coordinates of a UWB single base station i. Ai The ordinate (X) of the measured location coordinates of the fixed identification card for a single UWB base station i. a To fix the x-coordinate of the identifier card relative to the actual location coordinates of a single UWB base station i, Y a To fix the ordinate of the identifier card relative to the actual location coordinates of a single UWB base station i, E ai For the position measurement deviation of a single UWB base station i; When there are multiple fixed identification cards, the position measurement deviation of each UWB single base station is calculated using a second calculation formula based on the measured position coordinates and actual position coordinates of the fixed identification card corresponding to each UWB single base station; the second calculation formula is: ； Where K is the number of fixed identification cards, k is the kth fixed identification card, and 1≤k≤K. The x-coordinate of the measured location coordinates of the fixed identification card k, measured by a single UWB base station i. The ordinate of the measured location coordinates of the fixed identification card k, measured by a single UWB base station i. To determine the x-coordinate of the fixed identifier k relative to the actual location coordinates of a single UWB base station i, E represents the ordinate of the fixed identifier k relative to the actual location coordinates of a single UWB base station i. ai The location measurement deviation of a single UWB base station i.

3. The multi-UWB single-base station data fusion positioning method according to claim 1, characterized in that, Based on the location measurement deviation, the reliability weight of each UWB base station is determined, specifically including: The reliability weight of each UWB base station is determined based on the following formula and the location measurement deviation; the formula is: ； Where i represents the number of a single UWB base station, W i E represents the credibility weight of a single UWB base station i. ai ε represents the location measurement deviation of a single UWB base station i, where ε is a positive number.

4. The multi-UWB single-base station data fusion positioning method according to claim 1, characterized in that, The measured location coordinates of the identification card to be located corresponding to each UWB single base station and the confidence weight are fused to determine the true location coordinates of the identification card to be located, specifically including: Determine the position coordinates of each UWB single base station in the first base station coordinate system; the first base station coordinate system is a coordinate system constructed with the first base station as the origin; the first base station is any one of the multiple UWB single base stations; Based on the position coordinates of each UWB single base station in the first base station coordinate system and the measured position coordinates of the identification card to be located corresponding to each UWB single base station, the measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system are determined. The measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system and the confidence weight are fused to determine the true position coordinates of the identification card to be located.

5. The multi-UWB single-base station data fusion positioning method according to claim 4, characterized in that, The measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system are fused with the confidence weight to determine the true position coordinates of the identification card to be located, specifically including: Using the fusion formula, the measured position coordinates of the identification card to be located corresponding to each UWB single base station in the first base station coordinate system and the confidence weight are fused to determine the true position coordinates of the identification card to be located. The fusion formula is as follows: ； ； Where i represents the ID of a single UWB base station, N is the number of single UWB base stations, and W i x is the credibility weight of a single UWB base station i. Bi Let y be the abscissa of the measured position coordinates of the identification card to be located corresponding to the UWB single base station i in the first base station coordinate system. Bi Let X be the ordinate of the measured position coordinates of the identification card to be located corresponding to a single UWB base station i in the first base station coordinate system. b Y is the abscissa of the actual location coordinates of the identification card to be located in the first base station coordinate system. b The x-coordinate is the actual location coordinate of the identification card to be located in the first base station coordinate system.

6. A multi-UWB single-base station data fusion positioning device, characterized in that, include: Multiple UWB single base stations; Fixed identification cards are located in the overlapping area between multiple UWB single base stations; The first processor is configured to execute the multi-UWB single-base station data fusion positioning method according to any one of claims 1-5.

7. The multi-UWB single-base station data fusion positioning device according to claim 6, characterized in that, The UWB single base station includes: UWB radio frequency module, used to send and receive UWB signals to fixed identification cards or identification cards to be located; UWB antenna array system, including multiple UWB radio frequency modules; UWB antenna array systems are used for: The distance between a single UWB base station and a fixed identification card or the distance between a single UWB base station and an identification card to be located is determined based on the time difference between the arrival of the UWB signal at different UWB radio frequency modules in the antenna array. The azimuth angle between a single UWB base station and a fixed identification card, or the azimuth angle between a single UWB base station and an identification card to be located, is determined based on the phase difference of the UWB signal arriving at different UWB RF modules in the antenna array.

8. A computer device, comprising: A memory, a processor, and a computer program stored in the memory and capable of running on the processor, characterized in that the processor executes the computer program to implement the multi-UWB single-base station data fusion positioning method according to any one of claims 1-5.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the multi-UWB single base station data fusion positioning method according to any one of claims 1-5.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the multi-UWB single base station data fusion positioning method according to any one of claims 1-5.

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