UWB anchor, calibration system, method and storage medium

Abstract

The present invention discloses a UWB anchor, a calibration system, a method and a storage medium, which belong to the technical field of UWB. The UWB anchor calibration method includes: a step (S101) of acquiring a level state of a pin of a UWB anchor, where the level state of the pin of the UWB anchor is low when the pin of the UWB anchor is grounded, and the level state of the pin of the UWB anchor is high when the pin of the UWB anchor is open; and a step (S102) of determining and outputting a position of the UWB anchor based on the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor.

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to a Chinese patent application filed on December 9, 2021, bearing application number 202111499234.1 and titled "UWB anchor, calibration system, method and storage medium", the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of UWB (Ultra Wide Band), and in particular to a UWB anchor, a calibration system, a method and a storage medium. [Background technology]

[0003] UWB positioning is currently a new application installed in passenger cars. By using UWB positioning technology in vehicles, vehicle positioning can be realized more accurately. In addition to sensing the vehicle's location, it can also sense the location of other devices in the vicinity. In the process of installing a UWB anchor in a vehicle, in order to realize the UWB anchor's self-identification of its location, it is necessary to output a signal from the main control module or other modules to allow the UWB anchor to make a judgment, which makes the circuit of the UWB anchor too complicated and increases the cost of the vehicle harness. Summary of the Invention [Problem to be solved by the invention]

[0004] The present application provides a UWB anchor, a calibration system, a method and a storage medium to solve the problems in the prior art that the circuitry caused by outputting signals from other modules to the UWB anchor is too complicated and the cost caused by the harness in the vehicle is high. [Means for solving the problem]

[0005] In a first aspect, a UWB anchor calibration method according to the present application includes a step of acquiring a level state of a pin of a UWB anchor, where when the UWB anchor pin is grounded, the level state of the UWB anchor pin is low level, and when the UWB anchor pin is open, the level state of the UWB anchor pin is high level, and a step of determining and outputting a position of the UWB anchor based on the level state of the UWB anchor pin and a predetermined correspondence between the level state of the UWB anchor pin and the position of the UWB anchor.

[0006] The UWB anchor calibration method according to the embodiment of the present application includes the steps of first acquiring the level state of the pin of the UWB anchor, where when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level, and determining and outputting the position of the UWB anchor based on the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor. This allows the UWB anchor to realize the self-identification of the position according to the pin state. In addition, by utilizing the pin state of the UWB anchor itself, there is no need to develop multiple anchors, saving material management costs, and no need to recalibrate the vehicle offline. In addition, compared with the prior art, the harness of the vehicle is simplified, the wire required for the anchor is saved, and there is no need to introduce and judge signals from the main control module or other modules, simplifying the circuit structure of the UWB anchor and reducing the cost of the vehicle.

[0007] In a second aspect, the UWB anchor calibration method of the present application includes the steps of receiving a level state of a pin of a UWB anchor, where when the UWB anchor pin is grounded, the level state of the UWB anchor pin is low level, and when the UWB anchor pin is open, the level state of the UWB anchor pin is high level, and determining a position of the UWB anchor based on the level state of the UWB anchor pin and a predetermined correspondence between the level state of the UWB anchor pin and the position of the UWB anchor.

[0008] The UWB anchor calibration method according to the embodiment of the present application includes the steps of first receiving the level state of the pin of the UWB anchor, where when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level, and determining the position of the UWB anchor based on the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor. This allows the UWB anchor to realize the self-identification of the position according to the pin state. In addition, by utilizing the pin state of the UWB anchor itself, there is no need to develop multiple anchors, saving material management costs, and there is no need to recalibrate the vehicle offline. In addition, compared with the prior art, the harness of the vehicle is simplified, the wire required for the anchor is saved, and there is no need to introduce and judge signals from the main control module or other modules, simplifying the circuit structure of the UWB anchor and reducing the cost of the vehicle.

[0009] In a third aspect, the UWB anchor of the present application includes a control module and a pin, the control module is connected to the pin, acquires a level state of the pin, and acquires and outputs the position of the UWB anchor relative to the vehicle body based on the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor, and when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level.

[0010] The UWB anchor according to the embodiment of the present application includes a control module and a pin, the control module is connected to the pin and obtains the level state of the pin, and obtains and outputs the position of the UWB anchor relative to the vehicle body according to the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor, when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level. This solves the problems in the prior art that the circuit is too complicated due to outputting a signal from another module to the UWB anchor and the cost of the harness of the vehicle is high.

[0011] In a fourth aspect, a UWB anchor calibration system according to the present application includes at least one of the above UWB anchors and a master control module, each UWB anchor being connected to the master control module via a CAN bus.

[0012] In the UWB anchor calibration system according to the embodiment of the present application, the UWB anchor and the main control module solve the problems in the prior art that the circuitry caused by outputting signals from other modules to the UWB anchor is too complicated and the cost caused by the vehicle harness is high.

[0013] In a fifth aspect, the UWB anchor calibration system of the present application includes at least one UWB anchor and a main control module, wherein the UWB anchor acquires a level state of the pin and transmits the level state of the pin to the main control module, wherein when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level, and the main control module acquires the position of the UWB anchor relative to the vehicle body based on the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor.

[0014] The UWB anchor calibration system according to the embodiment of the present application includes at least one UWB anchor and a main control module, the UWB anchor obtains the level state of the pin and sends the level state of the pin to the main control module, when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level, and the main control module obtains the position of the UWB anchor relative to the vehicle body according to the level state of the pin and the predetermined correspondence between the level state of the pin and the position of the UWB anchor. This solves the problems in the prior art that the circuit is too complicated due to outputting signals from other modules to the UWB anchor and the harness of the vehicle is expensive.

[0015] In a sixth aspect, a computer readable storage medium according to the present application stores a computer program which, when executed by a processor, performs the steps of the UWB anchor calibration method described above.

[0016] In the computer-readable storage medium according to the embodiment of the present application, when the computer program is executed by a processor, the computer executes the steps of the above UWB anchor calibration method, thereby solving the problems in the prior art that the circuitry caused by outputting signals from other modules to the UWB anchor is too complicated and the cost of the vehicle harness is high.

[0017] Additional aspects and advantages of the present application will be set forth in part in the description that follows, and in part will be obvious from the description, or may be learned by practice of the present application.

[0018] In order to more clearly describe the technical means in the embodiments of the present application, the drawings necessary for the description of the embodiments of the present application are briefly described below. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain other drawings based on these drawings without any creative efforts. [Brief description of the drawings]

[0019] [Figure 1] 2 is a flowchart of a UWB anchor calibration method according to a first embodiment of the present application; [Diagram 2] 1 is a schematic configuration diagram of a vehicle according to a first embodiment of the present invention. [Diagram 3] 11 is a flowchart of a UWB anchor calibration method according to a second embodiment of the present application; [Figure 4] FIG. 11 is a schematic configuration diagram of a UWB anchor according to a third embodiment of the present invention. [Diagram 5] FIG. 11 is a schematic configuration diagram of a UWB anchor calibration system according to a fourth embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] Hereinafter, the technical means in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments of the present application, all other embodiments that a person skilled in the art can obtain without creative labor are all within the scope of protection of the present application.

[0021] As shown in FIG. 1, the UWB anchor calibration method according to the embodiment of the present application includes the following steps S101 and S102.

[0022] In step S101, the level state of the UWB anchor pin is obtained. If the UWB anchor pin is grounded, the level state of the UWB anchor pin is low level, and if the UWB anchor pin is open, the level state of the UWB anchor pin is high level.

[0023] As shown in Fig. 2, as an application mode, a UWB anchor 101 and a main control module 120 are installed in a vehicle 10. The execution body of this step is the control module 110 in the UWB anchor 101. The control module 110 is connected to the main control module 120 and connected to a pin L, and different connection modes can be used for the pin. For example, the pin can be connected to a low level, a high level or ground. That is, the level state of the pin can be a low level or a high level, the address data corresponding to the low level state is 0, and the address data corresponding to the high level is 1.

[0024] Step S101 is When the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is set to a low level; If the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is set to high level.

[0025] To make a pin have a different level, the pin can be connected to a resistor; when the pin is grounded, the level state of the pin is a low level state, and when the pin is open, the voltage drop across the resistor can make the level state of the pin a high level state.

[0026] Each UWB anchor includes a first pin and a second pin; The steps of acquiring the level state of the pin of the UWB anchor include: The method includes the steps of acquiring the level states of the first pin and the second pin, respectively, and arranging the level states of the first pin and the second pin of the UWB anchor according to a predetermined order to obtain the level states of the pins.

[0027] The number of pins may be two or more. The predetermined order refers to the order of the pins arranged in advance. For example, the pins include a first pin and a second pin, and the predetermined order is to arrange the level state of the first pin and the level state of the second pin in order. This results in address information, and if the level state of the first pin is 0 and the level state of the second pin is 1, the address information is 01.

[0028] In step S102, the position of the UWB anchor is determined and output based on the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor.

[0029] There is a correspondence between the address information formed by the level state of the pin of the UWB anchor and the position relative to the vehicle body. Based on this correspondence, the position of the UWB anchor relative to the vehicle body can be easily obtained. The control module of the UWB anchor obtains the position relative to the vehicle body and then outputs it to the vehicle control module.

[0030] A correspondence table between the address information and the position relative to the vehicle body is set in advance. For example, when the pin includes a first pin and a second pin, the correspondence between the address information and the position relative to the vehicle body is as shown in Table 1. [Table 1]

[0031] After acquiring address information from the above Table 1, the position relative to the vehicle body is searched and acquired in Table 1. For example, if the address information of the first UWB anchor is acquired as 00, the position of the first UWB anchor relative to the vehicle body is acquired as the left front of the vehicle.

[0032] The UWB anchor calibration method according to the first embodiment of the present application includes the steps of obtaining the level state of the pin of the UWB anchor, and determining and outputting the position of the UWB anchor based on the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor. This technical means can realize the self-identification of the position by the UWB anchor according to the pin state. In addition, by utilizing the pin state of the UWB anchor itself, there is no need to develop multiple anchors, saving material management costs, and no need to recalibrate the vehicle offline. In addition, compared with the prior art, the harness of the vehicle is simplified, the wire required for the anchor is saved, and there is no need to introduce and judge signals from the main control module or other modules, simplifying the circuit structure of the UWB anchor and reducing the cost of the vehicle.

[0033] As shown in FIG. 3, the UWB anchor calibration method according to the second embodiment of the present application includes the following steps S201 and S202.

[0034] In step S201, the level state of the UWB anchor pin is received. If the UWB anchor pin is grounded, the level state of the UWB anchor pin is low level; if the UWB anchor pin is open, the level state of the UWB anchor pin is high level.

[0035] As shown in Fig. 2, as an application mode, a UWB anchor 101 and a main control module 120 are installed in a vehicle 10. The main control module 120 in the UWB anchor 101 is the entity that performs this step. The control module 110 is connected to the main control module 120 and is connected to a pin L, and different connection modes can be used for the pin. For example, the pin can be connected to a low level, a high level or ground. That is, the level state of the pin can be a low level or a high level, and the address data corresponding to the low level state is 0, and the address data corresponding to the high level is 1.

[0036] Each UWB anchor includes a first pin and a second pin; The level state of the pin of the UWB anchor is the level state of the pin obtained by arranging the level states of the first pin and the second pin of the UWB anchor in a predetermined order.

[0037] The number of pins may be two or more. The predetermined order refers to the order of the pins arranged in advance. For example, the pins include a first pin and a second pin, and the predetermined order is to arrange the level state of the first pin and the level state of the second pin in order. This results in address information, and if the level state of the first pin is 0 and the level state of the second pin is 1, the address information is 01.

[0038] In step S202, the position of the UWB anchor is determined based on the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor.

[0039] This step is the same as step S102, and the description thereof will be omitted here.

[0040] The UWB anchor calibration method according to the second embodiment of the present application includes the steps of receiving the level state of the pin of the UWB anchor, and determining and outputting the position of the UWB anchor according to the level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor. This technical means can realize the self-identification of the position by the UWB anchor according to the pin state. In addition, by utilizing the pin state of the UWB anchor itself, there is no need to develop multiple anchors, saving material management costs, and no need to recalibrate the vehicle offline. In addition, compared with the prior art, the harness of the vehicle is simplified, the wire required for the anchor is saved, and there is no need to introduce and judge signals from the main control module or other modules, simplifying the circuit structure of the UWB anchor and reducing the cost of the vehicle.

[0041] The UWB anchor according to the third embodiment of the present application includes a control module and a pin, the control module is connected to the pin, The level state of the pin is acquired, and the position of the UWB anchor relative to the vehicle body is acquired and output based on the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor, and when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level.

[0042] As shown in Fig. 4, the UWB anchor 101 includes a control module 110. The control module 110 is connected to pin A, pin B and a CAN bus. The control module 110 acquires and learns the level states of pin A and pin B, converts the level states into address data, arranges them in a predetermined order to acquire address information, acquires the position of the UWB anchor relative to the vehicle body based on the address information, and outputs it to the main control module via the CAN bus.

[0043] Regarding the level state of the pin, the control module further When the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level; When the UWB anchor pin is open, the level state of the UWB anchor pin is high.

[0044] 4, the UWB anchor 101 includes a power module 111, a first resistor R1 and a second resistor R2. The pins include a first pin and a second pin, where the first pin is pin A and the second pin is pin B. The power input terminal of the control module 110 is connected to the output terminal of the power module 111, the first terminal of the first resistor R1, and the first terminal of the second resistor R2. The first level signal input terminal of the control module 110 is connected to the second terminal of the first resistor R1 and the first pin. The second level signal input terminal of the control module 110 is connected to the second terminal of the second resistor R2 and the second pin.

[0045] When pin A is grounded, the control module 110 receives the level state of pin A as a low level and obtains its address data as 0. When pin B is open, there is a voltage drop across the second resistor R2, so the control module 110 receives the level state of pin A as a high level and obtains its address data as 1.

[0046] A correspondence table between address information and a position relative to the vehicle body is set in advance. The correspondence between address information and a position relative to the vehicle body is as shown in Table 1. After acquiring address information from Table 1, the position relative to the vehicle body is searched and acquired in Table 1. For example, when the address information of the first UWB anchor is acquired as 01, the position of the first UWB anchor relative to the vehicle body is acquired as the right front of the vehicle.

[0047] The control module in the UWB anchor according to the third embodiment of the present application obtains the level state of the pin, and obtains and outputs the position of the UWB anchor relative to the vehicle body based on the level state of the pin and the predetermined correspondence between the level state of the pin and the position of the UWB anchor. In this technical means, a power supply module is installed, a first resistor is connected to the first pin, and a second resistor is connected to the second pin, so that the UWB anchor can realize the self-identification of the position according to the pin state. In addition, by utilizing the pin state of the UWB anchor itself, there is no need to develop multiple anchors, saving material management costs, and no need to recalibrate the vehicle offline. In addition, compared with the prior art, the harness of the vehicle is simplified, the wires required for the anchor are saved, and there is no need to introduce and judge signals from the main control module or other modules, simplifying the circuit structure of the UWB anchor and reducing the cost of the vehicle.

[0048] A UWB anchor calibration system according to a fourth embodiment of the present application includes at least one UWB anchor according to the third embodiment and a main control module; Each UWB anchor is connected to the main control module via a CAN bus.

[0049] Each UWB anchor includes a control module, which is connected to the main control module via a CAN bus and transmits the detected position relative to the vehicle body to the main control module via the CAN bus.

[0050] Each UWB anchor includes a first pin and a second pin; Each UWB anchor acquires the level states of its first pin and second pin, arranges the level states of the first pin and the second pin in order from left to right to acquire address information, acquires its position relative to the vehicle body based on the address information, and outputs it to the main control module.

[0051] A UWB anchor calibration system according to a fifth embodiment of the present application includes at least one UWB anchor and a main control module; The UWB anchor obtains the level state of the pin, and sends the level state of the pin to the main control module, where if the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is low level, if the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is high level; The main control module obtains the position of the UWB anchor relative to the vehicle body based on the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor.

[0052] The technical means of the present application will be described below using specific examples.

[0053] As shown in Fig. 5, the vehicle 10 includes a first UWB anchor 201, a second UWB anchor 202, a third UWB anchor 203, a fourth UWB anchor 204 and a main control module 120. The 3.3V power supply for the control module of each UWB anchor is used as the signal input of the circuit. The control module checks the input signal of pin 1 and pin 2 internally, which is set as a pull-up circuit internally. If pin A or B is grounded externally, the signal detected at the pin is low level; otherwise, the pin is opened externally, and the signal detected at pin 1 or 2 is high level due to the pull-up of the 3.3V circuit internally. In addition, the pull-up resistance is at least greater than 100K, which ensures that the static power consumption of the module is less than 1mA. The control module of the first UWB anchor 201 obtains that pin 1 is at a low level (0V), converts the level state of pin 1 to address data 0, obtains that pin 2 is at a low level (0V), converts the level state of pin 2 to address data 0, arranges the address data in the order of pin 1, pin 2, obtains the address information as 00, and obtains that the position of the first UWB anchor 201 relative to the vehicle body is the front left of the vehicle based on the correspondence table (Table 1) between the address information and the position relative to the vehicle body. The control module transmits the vehicle body information to the main control module 120. The control module of the second UWB anchor 202 obtains that pin 1 is at a low level (0V), converts the level state of pin 1 to address data 0, obtains that pin 2 is at a high level (3.3V), converts the level state of pin 2 to address data 1, arranges the address data in the order of pin 1, pin 2, obtains the address information as 01, and obtains that the position of the second UWB anchor 202 relative to the vehicle body is the right front of the vehicle based on the correspondence table (Table 1) between the address information and the position relative to the vehicle body. The control module transmits the vehicle body information to the main control module 120.The control module of the third UWB anchor 203 obtains that pin 1 is at a high level (3.3V), converts the level state of pin 1 to address data 1, obtains that pin 2 is at a low level (0V), converts the level state of pin 2 to address data 0, arranges the address data in the order of pin 1, pin 2, obtains the address information as 10, and obtains that the position of the third UWB anchor 203 relative to the vehicle body is the front left of the vehicle based on the correspondence table (Table 1) between the above address information and the position relative to the vehicle body. The control module transmits the vehicle body information to the main control module 120. The control module of the fourth UWB anchor 204 obtains that pin 1 is at a high level (3.3V), converts the level state of pin 1 to address data 1, obtains that pin 2 is at a high level (3.3V), converts the level state of pin 2 to address data 1, arranges the address data in the order of pin 1, pin 2, obtains address information as 11, and obtains that the position of the fourth UWB anchor 204 relative to the vehicle body is the right rear of the vehicle based on the correspondence table (Table 1) between the address information and the position relative to the vehicle body. The control module transmits the vehicle body information to the main control module 120.

[0054] A computer-readable storage medium according to another embodiment stores a computer program that, when executed by a processor, executes the UWB anchor calibration method according to the above embodiment.

[0055] As can be understood by those skilled in the art, the implementation of all or part of the flow in the method of the above embodiment can be completed by instructing related hardware by a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it may include the flow of each of the above method embodiments. Any reference to memory, storage, database, or other medium used in each embodiment of the present application may include non-volatile and / or volatile memory. The non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. The volatile memory may include random access memory (RAM) or external cache memory. By way of example, and not limitation, RAM can be implemented in a variety of forms, such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), Direct Rambus Dynamic RAM (DRDRAM), and Rambus Dynamic RAM (RDRAM).

[0056] For the sake of clarity and simplicity, the above functional units and modules are described as examples for ease of explanation, but in actual applications, the above functions can be allocated and realized by different functional units and modules as needed, i.e., the internal structure of the device can be divided into different functional units or modules to realize all or part of the above-described functions.

[0057] The above examples are merely for illustrating the technical means of the present application, and are not intended to be limiting. Although the present application has been described in detail with reference to the above examples, those skilled in the art may still modify the technical means described in each of the above examples, or equivalently replace some of the technical features. Through these modifications or replacements, the essence of the corresponding technical means does not deviate from the spirit and scope of the technical means of each of the embodiments of the present application, and all of them should be included in the protection scope of the present application.

Claims

1. acquiring a level state of a pin of a UWB anchor, where when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is a low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is a high level; determining and outputting a position of the UWB anchor based on a level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor.

2. Each UWB anchor includes a first pin and a second pin; The step of acquiring the level state of the pin of the UWB anchor includes:

2. The UWB anchor calibration method according to claim 1, comprising the steps of respectively acquiring the level states of the first pin and the second pin, and arranging the level states of the first pin and the second pin of the UWB anchor according to a predetermined order to obtain the level state of the pin.

3. receiving a level state of a pin of a UWB anchor, where if the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is a low level, and if the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is a high level; determining a position of the UWB anchor based on a level state of the pin of the UWB anchor and a predetermined correspondence between the level state of the pin of the UWB anchor and the position of the UWB anchor.

4. Each UWB anchor includes a first pin and a second pin; 4. The method of claim 3, wherein the level state of the pin of the UWB anchor is a level state of the pin obtained by arranging the level states of the first pin and the second pin of the UWB anchor according to a predetermined order.

5. a UWB anchor, comprising a control module and a pin, the control module being connected to the pin; A UWB anchor that acquires a level state of the pin, acquires and outputs a position of the UWB anchor relative to a vehicle body based on the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor, and when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is at a low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is at a high level.

6. a power supply module including a first resistor and a second resistor, the pins including a first pin and a second pin; 6. The UWB anchor of claim 5, wherein a power input terminal of the control module is connected to an output terminal of the power module, a first end of a first resistor and a first end of a second resistor, a first level signal input terminal of the control module is connected to a second end of the first resistor and the first pin, and a second level signal input terminal of the control module is connected to a second end of the second resistor and the second pin.

7. 7. A system comprising at least one UWB anchor and a main control module according to claim 5 or 6, A UWB anchor calibration system, wherein each UWB anchor is connected to the master control module via a CAN bus.

8. Each UWB anchor includes a first pin and a second pin; 8. The UWB anchor calibration system of claim 7, wherein each UWB anchor obtains a level state of its first pin and second pin, and outputs the level state of the first pin and the level state of the second pin to the main control module.

9. at least one UWB anchor and a master control module; The UWB anchor obtains a level state of a pin and sends the level state of the pin to the main control module, and when the pin of the UWB anchor is grounded, the level state of the pin of the UWB anchor is a low level, and when the pin of the UWB anchor is open, the level state of the pin of the UWB anchor is a high level; A UWB anchor calibration system, wherein the main control module obtains the position of the UWB anchor relative to the vehicle body based on the level state of the pin and a predetermined correspondence between the level state of the pin and the position of the UWB anchor.

10. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method according to any one of claims 1 to 4.

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