Positioning method and apparatus based on UWB, storage medium, and computer device

Abstract

Disclosed in embodiments of the present application are a positioning method and apparatus based on UWB, a storage medium, and a computer device. The method comprises: controlling a tag to perform data frame interaction with each TOF base station, so as to determine the distance between each TOF base station and the tag; determining a phase-shifting antenna in each PDOA dual-function base station as a reply phase-shifting antenna; controlling the tag to perform data frame interaction with each reply phase-shifting antenna, so as to determine the distance between each PDOA dual-function base station and the tag; and according to a preset sequence, controlling each phase-shifting antenna in each PDOA dual-function base station to sequentially receive data frames sent by the tag, so as to determine an angle of the tag relative to each PDOA dual-function base station, and further determining the position of the tag. Thus, the tag is positioned by using the TOF base stations in combination with the PDOA dual-function base stations such that the positioning accuracy can be improved, and the number of the base stations can be reduced, thereby reducing the costs, reducing the complexity of the base station layout, reducing the workload of workers, and improving the working efficiency.

Description

A UWB-based positioning method, device, storage medium and computer equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 5, 2023, with application number 202311135105.3 and application name “A UWB-based positioning method, device, storage medium and computer equipment”, the entire contents of which are incorporated by reference into the application. Technical Field

[0002] The present application relates to the field of information security technology, and more specifically to a UWB-based positioning method, apparatus, storage medium, and computer equipment. Background Art

[0003] UltraWide Band (UWB) technology is a wireless carrier communication technology that uses non-sinusoidal narrow pulses in the nanosecond to microsecond range to transmit data, which occupies a very wide spectrum range and is therefore often used in the field of high-precision positioning.

[0004] In the existing technology, TOF antennas or PDOA antennas are usually used for positioning. In order to improve the accuracy of positioning, a large number of TOF antennas or PDOA antennas need to be deployed, which not only increases the cost, but also increases the complexity of base station deployment and the workload of staff, thereby reducing work efficiency.

[0005] Application Contents

[0006] In view of this, the embodiments of the present application provide a UWB-based positioning method, device, storage medium and computer equipment to solve the problem that in order to improve the accuracy of positioning, a large number of TOF antennas or PDOA antennas need to be deployed, which not only increases the cost, but also increases the complexity of base station deployment and the workload of staff, thereby reducing work efficiency.

[0007] In a first aspect, an embodiment of the present application provides a UWB-based positioning method, which is applied to a UWB positioning system. The UWB positioning system includes a tag, at least one TOF base station, and at least one PDOA dual-function base station. Each of the PDOA dual-function base stations includes a reference antenna and multiple commutation antennas. The method includes:

[0008] Controlling the tag to interact with each of the TOF base stations to perform data frame interaction to determine the distance between each of the TOF base stations and the tag;

[0009] Determining a phase-switch antenna in each of the PDOA dual-function base stations as a return phase-switch antenna;

[0010] Controlling the tag to interact with each of the commutation antennas to perform data frame interaction to determine the distance between each of the PDOA dual-function base stations and the tag;

[0011] Controlling each phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive data frames sent by the tag in a preset order to determine the angle of the tag relative to each of the PDOA dual-function base stations;

[0012] The position of the tag is determined according to the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

[0013] Optionally, controlling the tag to interact with each of the TOF base stations to perform data frame interaction to determine the distance between each of the TOF base stations and the tag includes:

[0014] Controlling the tag to send a first data frame and recording a sending time of each first data frame, where the number of the first data frames is the same as the number of the TOF base stations;

[0015] Control each of the TOF base stations to receive one of the first data frames, and record a reception time at which each of the TOF base stations receives the first data frame;

[0016] Control each of the TOF base stations to send a first reply data frame to the tag, and record the sending time of each of the first reply data frames;

[0017] controlling the tag to receive all the first reply data frames and recording a reception time of each of the first reply data frames;

[0018] The distance between each TOF base station and the tag is determined according to the sending time of each first data frame, the receiving time of each first data frame, the sending time of each first reply data frame, and the receiving time of each first reply data frame.

[0019] Optionally, controlling the tag to perform data frame interaction with each of the return commutation antennas to determine the distance between each of the PDOA dual-function base stations and the tag includes:

[0020] Control the tag to send a second data frame and record the sending time of each second data frame, the number of the second data frames is the same as the number of the PDOA dual-function base stations;

[0021] Controlling the return phase-changing antenna of each of the PDOA dual-function base stations to receive a second data frame, and recording the reception time of each of the return phase-changing antennas receiving the second data frame;

[0022] Controlling the reply commutation antenna of each of the PDOA dual-function base stations to send a second reply data frame to the tag, and recording the sending time of each of the second reply data frames;

[0023] controlling the tag to receive all the second reply data frames, and recording the reception time of each second reply data frame;

[0024] The distance between each of the PDOA dual-function base stations and the tag is determined based on the sending time of each of the second data frames, the receiving time of each of the second data frames, the sending time of each of the second reply data frames, and the receiving time of each of the second reply data frames.

[0025] Optionally, controlling each commutation antenna of each PDOA dual-function base station to sequentially receive data frames sent by the tag in a preset order to determine the angle of the tag relative to each PDOA dual-function base station includes:

[0026] controlling the tag to send a third data frame, where the number of the third data frames is the same as the total number of the commutation antennas;

[0027] Controlling each phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive one of the third data frames in a preset order to determine a phase difference between each phase-changing antenna of each of the PDOA dual-function base stations and a corresponding reference antenna;

[0028] Based on the phase difference between each phase-changing antenna and the corresponding reference antenna of each PDOA dual-function base station, the angle of the tag relative to each PDOA dual-function base station is determined.

[0029] Optionally, controlling each commutation antenna of each PDOA dual-function base station to sequentially receive data frames sent by the tag in a preset order to determine the angle of the tag relative to each PDOA dual-function base station includes:

[0030] Controlling each phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive one of the first data frame or the second data frame in a preset order, so as to determine a phase difference between the phase-changing antenna that receives the first data frame or the second data frame and the corresponding standard antenna;

[0031] Determine whether there are any remaining commutation antennas in each PDOA dual-function base station, and if so, determine the number of remaining commutation antennas in one of the PDOA dual-function base stations, where the remaining commutation antennas refer to commutation antennas that have not received the first data frame or the second data frame;

[0032] Controlling the tag to send a fourth data frame, where the number of the fourth data frames is the same as the number of the remaining commutation antennas in one of the PDOA dual-function base stations;

[0033] Controlling each remaining phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive one of the fourth data frames in a preset order to determine a phase difference between each remaining phase-changing antenna and a corresponding standard antenna;

[0034] Based on the phase difference between each phase-changing antenna and the corresponding reference antenna of each PDOA dual-function base station, the angle of the tag relative to each PDOA dual-function base station is determined.

[0035] Optionally, determining the position of the tag according to the distance between each of the TOF base stations and the tag, the angle of the tag relative to each of the PDOA dual-function base stations, and the distance between each of the PDOA dual-function base stations and the tag includes:

[0036] Comparing the distance between each of the TOF base stations and the tag, and the distance between each of the PDOA dual-function base stations and the tag, and determining the antenna with the smallest distance as the target base station;

[0037] According to the type of the target base station, a corresponding algorithm is determined to obtain the location of the tag.

[0038] Optionally, determining a corresponding algorithm according to the type of the target base station to obtain the location of the tag includes:

[0039] If the target base station is a TOF base station, a circle is drawn with each TOF base station as the center and the distance between the TOF base station and the tag as the radius, and the intersection of each circle is determined as the position of the tag;

[0040] If the target base station is a PDOA dual-function base station, the position of the tag is calculated based on the distance between the PDOA dual-function base station and the tag, and the angle of the tag relative to the PDOA dual-function base station.

[0041] Optionally, determining the position of the tag according to the distance between each of the TOF base stations and the tag, the angle of the tag relative to each of the PDOA dual-function base stations, and the distance between each of the PDOA dual-function base stations and the tag includes:

[0042] The position of the tag is obtained using the Kalman filter fusion algorithm based on the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

[0043] In a second aspect, an embodiment of the present application provides a UWB-based positioning device, which is applied to a UWB positioning system. The UWB positioning system includes a tag, at least one TOF base station and at least one PDOA dual-function base station. Each of the PDOA dual-function base stations includes a reference antenna and multiple commutation antennas. The positioning device includes:

[0044] A first ranging module is used to control the data frame interaction between the tag and each of the TOF base stations to determine the distance between each of the TOF base stations and the tag;

[0045] A return phase-changing antenna determination module is used to determine a phase-changing antenna in each of the PDOA dual-function base stations as a return phase-changing antenna;

[0046] A second ranging module is used to control the tag to interact with each of the return commutation antennas to perform data frame interaction, so as to determine the distance between each of the PDOA dual-function base stations and the tag;

[0047] An angle determination module, used to control each commutation antenna of each of the PDOA dual-function base stations to sequentially receive the data frames sent by the tag in a preset order to determine the angle of the tag relative to each of the PDOA dual-function base stations;

[0048] A positioning module is used to determine the position of the tag according to the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

[0049] In a third aspect, an embodiment of the present application provides a storage medium, wherein the storage medium stores at least one executable instruction, and the executable instruction enables a processor to perform operations corresponding to the above-mentioned UWB-based positioning method.

[0050] In a fourth aspect, an embodiment of the present application provides a computer device, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0051] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the above-mentioned UWB-based positioning method.

[0052] According to the UWB-based positioning method, device, storage medium and computer equipment provided in the embodiments of the present application, the method uses a combination of TOF base station and PDOA dual-function base station to locate the tag, thereby improving the accuracy of positioning and reducing the number of base stations, thereby reducing costs, reducing the complexity of base station deployment and the workload of staff, and improving work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] The following drawings of the present application are used as part of the embodiments of the present application for understanding the present application. The drawings show the embodiments of the present application and their descriptions, and are used to explain the principles of the present application.

[0054] In the attached figure:

[0055] FIG1 is an application scenario of a UWB positioning system according to an optional embodiment of the present application;

[0056] FIG2 is an application scenario of a UWB positioning system according to another optional embodiment of the present application;

[0057] FIG3 is an application scenario of a UWB positioning system according to another optional embodiment of the present application;

[0058] FIG4 is an application scenario of a UWB positioning system according to yet another optional embodiment of the present application;

[0059] FIG5 is a structural diagram of a PDOA dual-function base station according to an optional embodiment of the present application;

[0060] FIG6 is a flowchart of a UWB-based positioning method according to an optional embodiment of the present application;

[0061] FIG7 is a flow chart of step S101 according to an optional embodiment of the present application;

[0062] FIG8 is a flow chart of step S103 according to an optional embodiment of the present application;

[0063] FIG9 is a flow chart of step S104 according to an optional embodiment of the present application;

[0064] FIG10 is a flow chart of step S104 according to another optional embodiment of the present application;

[0065] FIG11 is a flow chart of step S105 according to an optional embodiment of the present application;

[0066] FIG12 is a schematic diagram of the positioning principle of a TOF base station according to an optional embodiment of the present application;

[0067] FIG13 is a schematic diagram of the positioning principle of a PDOA dual-function base station according to an optional embodiment of the present application;

[0068] FIG14 is a flowchart of a UWB-based positioning device according to an optional embodiment of the present application. DETAILED DESCRIPTION

[0069] In the following description, a large number of specific details are provided to provide a more thorough understanding of the present application. However, it will be apparent to those skilled in the art that the present application can be implemented without one or more of these details. In other examples, some technical features well known in the art are not described in order to avoid confusion with the present application.

[0070] It should be noted that the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should also be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0071] Now, exemplary embodiments according to the present application will be described in more detail with reference to the accompanying drawings. However, these exemplary embodiments may be implemented in a variety of different forms and should not be construed as being limited to the embodiments set forth herein. It should be understood that these embodiments are provided to make the disclosure of this application thorough and complete and to fully convey the concepts of these exemplary embodiments to those of ordinary skill in the art.

[0072] In the first aspect, an embodiment of the present application provides a UWB-based positioning method, which is applied to a UWB positioning system. The UWB positioning system includes a tag, at least one TOF base station and at least one PDOA dual-function base station. Each PDOA dual-function base station includes a reference antenna and multiple phase-changing antennas.

[0073] The PDOA dual-function base station includes not only a reference antenna (antenna 0 as shown in Figure 5) and multiple phase-changing antennas (antennas 1, 2, and 3 as shown in Figure 5), but also a phase detector and an RF switch. The reference antenna is directly connected to the phase detector, and the multiple phase-changing antennas are connected to the phase detector via the RF switch. By switching the RF switch, each phase-changing antenna can be connected to the phase detector individually. The number of phase-changing antennas can be set by the staff.

[0074] In specific applications, the number and layout of TOF base stations and PDOA dual-function base stations can be set by staff according to actual positioning needs; the tag is set on the object to be positioned, which can be an object or a person. This embodiment does not strictly limit the object to be positioned.

[0075] In one implementation, the positioning system is applied to indoor positioning. Multiple TOF base stations can be set up in a larger area, while one PDOA dual-function base station can be set up in a smaller area.

[0076] For example, as shown in Figure 1, a venue consists of a hall and six rooms. The hall and the six rooms are independent of each other, and the area of ​​the hall is larger, and the area of ​​the six rooms is smaller. Therefore, a TOF base station is set at each of the four corners of the hall, that is, four TOF base stations are arranged in the hall (i.e., circles in the figure); a PDOA dual-function base station is arranged in each room (i.e., the hexagon in the figure), that is, a total of six PDOA dual-function base stations are arranged. In the prior art, it is necessary to arrange a TOF base station at each corner of the hall and the six rooms, that is, 28 TOF base stations are set. In this way, the present application greatly reduces the total number of base stations compared with the prior art.

[0077] In another implementation, the system is applied to a vehicle. In one example, as shown in FIG2 , a PDOA dual-function base station is set in the middle of the vehicle, a TOF base station is set on each side of the front of the vehicle, and a TOF base station is set on each side of the rear of the vehicle. In another example, as shown in FIG3 , a PDOA dual-function base station is set at the front and rear ends of the vehicle body, and a TOF base station is set on the left and right sides of the vehicle body. In yet another embodiment, as shown in FIG4 , a PDOA dual-function base station is set at the front end of the vehicle body, and a TOF base station is set at the rear end of the vehicle body.

[0078] Based on the above-mentioned UWB positioning system, as shown in FIG6 , this embodiment provides a UWB-based positioning method, including:

[0079] Step S101: Control the tag to exchange data frames with each TOF base station to determine the distance between each TOF base station and the tag.

[0080] Step S102: Determine one phase-switch antenna in each PDOA dual-function base station as the return phase-switch antenna.

[0081] Exemplarily, as shown in the figure, the return phase-changing antenna can be any one of antenna No. 1, antenna No. 2, and antenna No. 3, and the specific selection can be made by the staff.

[0082] Step S103: Control the tag to exchange data frames with each reply commutation antenna to determine the distance between each PDOA dual-function base station and the tag.

[0083] Step S104: Control each phase-changing antenna of each PDOA dual-function base station to sequentially receive data frames sent by the tag in a preset order to determine the angle of the tag relative to each PDOA dual-function base station.

[0084] Specifically, by switching the RF switch, each phase-changing antenna is connected to the phase detector in a preset order. When each phase-changing antenna is connected to the phase detector, it receives data frames to achieve the purpose of controlling each phase-changing antenna of each PDOA dual-function base station to receive data frames in sequence according to a preset order, and the phase detector calculates the phase difference between the connected phase-changing antenna and the reference antenna, and then calculates the angle of the tag relative to each PDOA dual-function base station based on the phase difference between all the phase-changing antennas and the reference antenna.

[0085] Exemplarily, as shown in Figure 5, taking a PDOA dual-function base station as an example, the RF switch is switched to connect to antenna No. 1 in the initial state, that is, antenna No. 1 is connected to the phase detector, and then antenna No. 1 receives a data frame, and then the phase detector calculates the phase difference between antenna No. 1 and antenna No. 0; then the RF switch is switched to antenna No. 2, that is, antenna No. 2 is connected to the phase detector, and then antenna No. 2 receives a data frame, and then the phase detector calculates the phase difference between antenna No. 2 and antenna No. 0; then the RF switch is switched to antenna No. 3, that is, antenna No. 3 is connected to the phase detector, and then antenna No. 3 receives a data frame, and then the phase detector calculates the phase difference between antenna No. 3 and antenna No. 0; then the RF switch is switched to antenna No. 3, that is, antenna No. 3 is connected to the phase detector, and then antenna No. 3 receives a data frame, and then the phase detector calculates the phase difference between antenna No. 3 and antenna No. 0, thereby obtaining the phase differences between antenna No. 1, antenna No. 2, antenna No. 3 and antenna No. 0, respectively, and then the angle between the tag and the PDOA dual-function base station can be calculated. By analogy, other PDOA dual-function base stations also use the above method to calculate the angle between the tag and the PDOA dual-function base station, which will not be repeated here.

[0086] Step S105: Determine the location of the tag based on the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

[0087] According to the UWB-based positioning method provided in the embodiment of the present application, the method uses a combination of a TOF base station and a PDOA dual-function base station to locate the tag, thereby improving the accuracy of positioning and reducing the number of base stations, thereby reducing costs, reducing the complexity of base station deployment and the workload of staff, and improving work efficiency.

[0088] Specifically, in the above embodiment, as shown in FIG7 , step S101 specifically includes:

[0089] Step S201: Control the tag to send first data frames and record the sending time of each first data frame. The number of first data frames is the same as the number of TOF base stations.

[0090] Exemplarily, as shown in FIG1 , the number of TOF base stations is four, and the number of first data frames sent by the control tag is also four, that is, one first data frame is sent to each TOF base station.

[0091] Step S202: Control each TOF base station to receive a first data frame, and record the time when each TOF base station receives the first data frame.

[0092] Step S203: Control each TOF base station to send a first reply data frame to the tag, and record the sending time of each first reply data frame.

[0093] Step S204: the control tag receives all first reply data frames and records the reception time of each first reply data frame.

[0094] Step S205: Determine the distance between each TOF base station and the tag according to the sending time of each first data frame, the receiving time of each first data frame, the sending time of each first reply data frame, and the receiving time of each first reply data frame.

[0095] For example, a TOF base station is used for explanation. Based on the sending time of the first data frame sent by the tag to the TOF base station, the receiving time when the TOF base station receives the first data frame, the sending time when the TOF base station sends the first reply data frame to the tag, and the receiving time when the tag receives the first reply data frame, the distance between the TOF base station and the tag is calculated according to the following formula.

[0096] Among them, t1 is the sending time of the first data frame sent by the tag to the TOF base station, t2 is the receiving time of the first data frame received by the TOF base station, t3 is the sending time of the first reply data frame sent by the TOF base station to the tag, t4 is the receiving time of the first reply data frame received by the tag from the TOF, c is the propagation speed of the data frame, and d1 is the distance between the TOF base station and the tag.

[0097] Similarly, other TOF base stations calculate the distance between themselves and the tags in the above manner, which will not be repeated here.

[0098] Specifically, in the above embodiment, as shown in FIG8 , step S103 specifically includes:

[0099] Step S301: Control the tag to send a second data frame and record the sending time of each second data frame. The number of the second data frames is the same as the number of PDOA dual-function base stations.

[0100] Exemplarily, as shown in FIG1 , the number of PDOA dual-function base stations is six, and the number of second data frames sent by the control tag is also six, that is, one second data frame is sent to each PDOA dual-function base station.

[0101] Step S302: Control the commutation antenna of each PDOA dual-function base station to receive a second data frame, and record the receiving time of each commutation antenna receiving the second data frame.

[0102] Step S303: Control the reply phase-changing antenna of each PDOA dual-function base station to send a second reply data frame to the tag, and record the sending time of each second reply data frame.

[0103] Step S304: Control the tag to receive all second reply data frames and record the reception time of each second reply data frame.

[0104] Step S305: Determine the distance between each PDOA dual-function base station and the tag based on the sending time of each second data frame, the receiving time of each second data frame, the sending time of each second reply data frame, and the receiving time of each second reply data frame.

[0105] For example, the reply commutation antenna of a PDOA dual-function base station is used to illustrate the sending time of the second data frame sent by the tag to the reply commutation antenna, the receiving time when the reply commutation antenna receives the data frame, the sending time of the second reply data frame sent by the reply commutation antenna to the tag, and the receiving time when the tag receives the second reply data frame. Then, the distance between the reply commutation antenna and the tag is calculated according to the following formula, which is the distance between the PDOA base station and the tag.

[0106] Among them, t5 is the sending time of the second data frame sent by the tag to the reply commutation antenna, t6 is the receiving time when the reply commutation antenna receives the second data frame, t7 is the sending time of the second reply data frame sent by the reply commutation antenna to the tag, t8 is the receiving time when the tag receives the second reply data frame, c is the propagation speed of the data frame, and d2 is the distance between the PDOA base station and the tag.

[0107] Similarly, other PDOA dual-function base stations calculate the distance between themselves and the tag in the above manner, which will not be repeated here.

[0108] Specifically, in one implementation, as shown in FIG9 , step S104 in the above embodiment specifically includes:

[0109] Step S401: controlling the tag to send a third data frame, where the number of the third data frames is the same as the total number of the commutation antennas.

[0110] For example, there are a total of 6 PDOA duplex base stations. If each PDOA duplex base station has 8 phase-changing antennas, then the 6 PDOA duplex base stations have a total of 48 phase-changing antennas, and the control tag sends 48 third data frames.

[0111] Step S402: Control each commutation antenna of each PDOA dual-function base station to sequentially receive a third data frame in a preset order to determine the phase difference between each commutation antenna of each PDOA dual-function base station and the corresponding reference antenna.

[0112] The detailed process of this step can be found in the description of step S102 and will not be repeated here.

[0113] Step S403: Determine the angle of the tag relative to each PDOA dual-function base station based on the phase difference between each commutation antenna and the corresponding reference antenna of each PDOA dual-function base station.

[0114] Based on the phase difference between each phase-changing antenna of each PDOA dual-function base station and the corresponding reference antenna, the angle of the tag relative to each PDOA dual-function base station is determined according to the direction-finding algorithm of the antenna array antenna.

[0115] In order to further reduce the number of data frames, in another implementation, as shown in FIG10 , step S104 specifically includes:

[0116] Step S501: Control each switching antenna of each PDOA dual-function base station to receive a first data frame or a second data frame in sequence according to a preset order to determine the phase difference between the switching antenna receiving the first data frame or the second data frame and the corresponding standard antenna.

[0117] In the step, the data frames sent by the tag can be multiplexed, that is, a first data frame can be received by not only the corresponding TOF base station, but also a phase-changing antenna of each PDOA dual-function base station that is not selected as a reply antenna. Similarly, a second data frame can be received by not only the reply antenna of the corresponding PDOA dual-function base station, but also a phase-changing antenna of other PDOA dual-function base stations that is not selected as a reply antenna, thereby reducing the number of data frames sent by the tag.

[0118] For example, taking two TOF base stations (i.e., the first TOF base station and the second TOF base station) and two PDOA dual-function base stations (i.e., the first PDOA dual-function base station and the second PDOA dual-function base station), each PDOA dual-function base station has 4 phase-changing antennas (i.e., the first phase-changing antenna, the second phase-changing antenna, the third phase-changing antenna and the fourth phase-changing antenna), where the fourth phase-changing antenna is a reply antenna, as an example, the tag transmits two first data frames (i.e., the first data frame A1 and the first data frame B1) and two second data frames (i.e., the second data frame A2 and the second data frame B2), where the first data frame A1 can be simultaneously received by the first TOF base station, the first phase-changing antenna of the first PDOA dual-function base station, and the second PDOA dual-function base station. The first phase-changing antenna of the DOA dual-function base station receives the first data frame B1; the first data frame B1 can be simultaneously received by the second TOF base station, the second phase-changing antenna of the first PDOA dual-function base station, and the second phase-changing antenna of the second PDOA dual-function base station; the second data frame A2 can be simultaneously received by the fourth phase-changing antenna (i.e., the reply antenna) of the first PDOA dual-function base station and the third phase-changing antenna of the second PDOA dual-function base station; the second data frame B2 can be simultaneously received by the third phase-changing antenna of the first PDOA dual-function base station and the fourth phase-changing antenna (i.e., the reply antenna) of the second PDOA dual-function base station, thereby realizing the multiplexing of the two first data frames and the second data frame, and also realizing the multiplexing of the data frames sent by the tag. The detailed process of calculating the phase difference can be found in the description in step S104, which will not be repeated here.

[0119] Step S502: Determine whether there are any remaining commutation antennas in each PDOA dual-function base station. If so, execute steps S503 to S505.

[0120] The remaining commutation antennas refer to commutation antennas that have not received the first data frame or the second data frame, that is, commutation antennas that have not received any data frame.

[0121] In the tag positioning scenario, there are n TOF base stations and m PDOA dual-function base stations. Among the M PDOA dual-function base stations, the total number of antennas of each PDOA dual-function base station is K, that is, (K-1) switching antennas and one reference antenna. The number of frames sent by the tag is S, that is, the sum of the first data frame and the second data frame is S. If the number S is greater than or equal to (K-1), it is determined that there are no remaining switching antennas. If the number S is less than (K-1), it is determined that there are (K-1-S) remaining switching antennas. Therefore, the tag needs to send (K-1-S) data frames so that each remaining switching antenna can receive a data frame.

[0122] For example, as shown in Figure 1, the number of TOF base stations is four, then the number of first data frames is also four, the number of PDOA dual-function base stations is six, then the number of second data frames is also six, so the tag sends a total of 10 data frames. If a PDOA dual-function base station has a total of 9 antennas, including 8 phase-changing antennas, the total number of data frames sent by the tag 10 is greater than the number of phase-changing antennas 8, then each phase-changing antenna can receive a data frame, so there are no remaining phase-changing antennas.

[0123] In another example, as shown in Figure 2, the number of TOF base stations is four, so the number of first data frames is also four, the number of PDOA dual-function base stations is one, so the number of second data frames is also one, so the tag sends a total of 5 data frames. If a PDOA dual-function base station has a total of 9 antennas, including 8 phase-changing antennas, and the total number of data frames sent by the tag is 5, which is less than the number of phase-changing antennas 8, then there are phase-changing antennas that have not received data frames, that is, there are remaining phase-changing antennas.

[0124] Step S503: Determine the number of remaining commutation antennas in a PDOA dual-function base station, where the remaining commutation antennas refer to commutation antennas that have not received the first data frame or the second data frame.

[0125] Continuing with Figure 1 as an example, if a PDOA dual-function base station has a total of 8 phase-changing antennas, and the total number of data frames sent by the tag is 5, namely four first data frames and one second data frame, then there are 3 phase-changing antennas that do not receive the data frames, that is, there are 3 remaining phase-changing antennas in a PDOA dual-function base station.

[0126] Step S504: the tag is controlled to send a fourth data frame, where the number of the fourth data frames is the same as the number of remaining commutation antennas in a PDOA dual-function base station.

[0127] Continuing with Figure 1 as an example, if there are three remaining phase-changing antennas in a PDOA dual-function base station, the tag only needs to send three fourth data frames. This will enable each remaining phase-changing antenna of the PDOA dual-function base station to receive a data frame, thereby ensuring that each phase-changing antenna of the PDOA dual-function base station can receive a data frame.

[0128] Step S505: Control each remaining phase-switch antenna of each PDOA dual-function base station to sequentially receive a fourth data frame according to a preset order to determine a phase difference between each remaining phase-switch antenna and the corresponding standard antenna.

[0129] The detailed process can be found in the description of step S102 and will not be repeated here.

[0130] Step S506: Determine the angle of the tag relative to each PDOA dual-function base station based on the phase difference between each phase-changing antenna and the corresponding reference antenna of each PDOA dual-function base station.

[0131] Based on the phase difference between each phase-changing antenna of each PDOA dual-function base station and the corresponding reference antenna, the angle of the tag relative to each PDOA dual-function base station is determined according to the direction-finding algorithm of the antenna array antenna.

[0132] In this embodiment, the first data frame sent by the tag can be simultaneously received by the corresponding TOF base station and the phase-changing antenna of each PDOA dual-function base station that is not selected as the reply antenna; the second data frame sent by the tag can be simultaneously received by the reply antenna of the corresponding PDOA dual-function base station and the phase-changing antenna of other PDOA dual-function base stations that are not selected as the reply antenna. Therefore, the total number of data frames generated between each base station and the tag is much smaller than the total number of data frames in the previous embodiment, thereby improving the positioning efficiency.

[0133] In the previous embodiment, for example, as shown in Figure 1, there are a total of 4 TOF base stations and 6 PDOA dual-function base stations. If each PDOA dual-function base station has 8 phase-changing antennas, then 8 data frames are generated between the 4 TOF base stations and the tags, and 12 data frames are generated between the reply phase-changing antennas of the six PDOA dual-function base stations and the base stations. The tag also needs to send a data frame to each phase-changing antenna, which requires 48 data frames, thus generating a total of 68 data frames.

[0134] In this embodiment, taking Figure 1 as an example, the tag sends 4 first data frames to 4 TOF base stations and 6 second data frames to 6 reply phase-changing antennas. The tag sends a total of 10 data frames, and these 10 data frames can also be received by each phase-changing antenna of each PDOA dual-function base station, and ensure that each phase-changing data frame can receive a data frame. In this way, the tag only needs to send a total of 10 data frames, and each phase-changing antenna of the 4 TOF base stations and 6 PDOA dual-function base stations each replies with a data frame to the tag, for a total of 10 data frames. In this way, a total of 20 data frames are generated between the base station and the tag, which is much less than 68 data frames.

[0135] Furthermore, for different application scenarios, different algorithms are used for tag positioning. In the scenario shown in FIG1 , step S105 includes:

[0136] Step S601: Compare the distance between each TOF base station and the tag, and the distance between each PDOA dual-function base station and the tag, and determine the antenna with the smallest distance as the target base station.

[0137] Step S602: Determine a corresponding algorithm according to the type of the target base station to obtain the location of the tag.

[0138] The base station closest to the tag is determined as the target base station, thereby reducing the interference of obstacles (such as walls, etc.) and improving the accuracy of positioning.

[0139] Specifically, this step includes:

[0140] Step S6021: If the target base station is a TOF base station, a circle is drawn with each TOF base station as the center and the distance between the TOF base station and the tag as the radius, and the intersection of each circle is determined as the location of the tag.

[0141] Exemplarily, as shown in FIG12 , if the target base station is one of the four TOF base stations, a circle is drawn with each TOF base station as the center and the distance between the TOF base station and the tag as the radius, and the intersection of the circles is determined as the location of the tag.

[0142] Step S6022: If the target base station is a PDOA dual-function base station, the position of the tag is calculated based on the distance between the PDOA dual-function base station and the tag, and the angle of the tag relative to the PDOA dual-function base station.

[0143] For example, as shown in FIG13 , if the target base station is a PDOA dual-function base station in room 1, the position of the tag is calculated by the distance between the PDOA dual-function base station and the tag, and the angle of the tag relative to the PDOA dual-function base station. The specific formula is as follows:

[0144] Wherein, x is the horizontal coordinate of the tag, y is the vertical coordinate of the tag, d3 is the distance between the PDOA dual-function base station and the tag, and θ is the angle of the tag relative to the PDOA dual-function base station.

[0145] In the scenarios shown in FIG. 2 to FIG. 4 , step S105 includes:

[0146] The position of the tag is obtained using the Kalman filter fusion algorithm based on the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

[0147] Kalman filtering is essentially a data fusion algorithm that combines data from different base stations with the same positioning purpose to obtain a more accurate positioning position, thereby improving positioning accuracy.

[0148] In the second aspect, as shown in FIG14 , an embodiment of the present application provides a UWB-based positioning device, which is applied to a UWB positioning system. The UWB positioning system includes a tag, at least one TOF base station, and at least one PDOA dual-function base station. Each PDOA dual-function base station includes a reference antenna and multiple commutation antennas. The positioning device includes:

[0149] The first ranging module 701 is used to control the data frame interaction between the tag and each TOF base station to determine the distance between each TOF base station and the tag;

[0150] The return phase-changing antenna determination module 702 is configured to determine one phase-changing antenna in each PDOA dual-function base station as the return phase-changing antenna;

[0151] The second ranging module 703 is used to control the tag to interact with each reply commutation antenna to perform data frame interaction to determine the distance between each PDOA dual-function base station and the tag;

[0152] Angle determination module 704, used to control each commutation antenna of each PDOA dual-function base station to sequentially receive data frames sent by the tag in a preset order to determine the angle of the tag relative to each PDOA dual-function base station;

[0153] The positioning module 705 is used to determine the location of the tag based on the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

[0154] According to the UWB-based positioning device provided in the embodiment of the present application, a TOF base station and a PDOA dual-function base station are combined to locate the tag, thereby improving the accuracy of positioning and reducing the number of base stations, thereby reducing costs, reducing the complexity of base station deployment and the workload of staff, and improving work efficiency.

[0155] In a third aspect, an embodiment of the present application provides a storage medium, in which at least one executable instruction is stored. The executable instruction enables a processor to perform operations corresponding to the above-mentioned UWB-based positioning method.

[0156] In a fourth aspect, an embodiment of the present application provides a computer device, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus;

[0157] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute operations corresponding to the above-mentioned UWB-based positioning method.

[0158] The present application has been described through the above-described embodiments, but it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present application to the described embodiments. In addition, it will be understood by those skilled in the art that the present application is not limited to the above-described embodiments, and that various variations and modifications may be made based on the teachings of the present application, all of which fall within the scope of protection claimed in the present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A positioning method based on UWB, applied to a UWB positioning system, wherein the UWB positioning system comprises a tag, at least one TOF base station and at least one PDOA dual-function base station, each of the PDOA dual-function base stations comprises a reference antenna and multiple phase-changing antennas, wherein: The method comprises: Controlling the data frame interaction between the tag and each of the TOF base stations to determine the distance between each of the TOF base stations and the tag; Determine a phase-changing antenna in each of the PDOA dual-function base stations as a return phase-changing antenna; Control the tag to interact with each of the reply commutation antennas to perform data frame interaction to determine the distance between each of the PDOA dual-function base stations and the tag; Controlling each phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive the data frames sent by the tag in a preset order to determine the angle of the tag relative to each of the PDOA dual-function base stations; The position of the tag is determined according to the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

2. The method according to claim 1, wherein: The controlling the tag to interact with each of the TOF base stations to determine the distance between each of the TOF base stations and the tag comprises: Control the tag to send a first data frame, and record the sending time of each first data frame, the number of the first data frames is the same as the number of the TOF base stations; Control each of the TOF base stations to receive one of the first data frames, and record a receiving time when each of the TOF base stations receives the first data frame; Control each of the TOF base stations to send a first reply data frame to the tag, and record the sending time of each of the first reply data frames; Controlling the tag to receive all the first reply data frames, and recording the receiving time of each of the first reply data frames; The distance between each of the TOF base stations and the tag is determined according to the sending time of each of the first data frames, the receiving time of each of the first data frames, the sending time of each of the first reply data frames, and the receiving time of each of the first reply data frames.

3. The method according to claim 2, wherein: Controlling the tag to interact with each of the reply switching antennas to perform data frame interaction to determine the distance between each of the PDOA dual-function base stations and the tag includes: Control the tag to send a second data frame, and record the sending time of each second data frame, the number of the second data frames is the same as the number of the PDOA dual-function base stations; Controlling the return phase switching antenna of each of the PDOA dual-function base stations to receive a second data frame, and recording the receiving time when each of the return phase switching antennas receives the second data frame; Controlling the reply phase-changing antenna of each of the PDOA dual-function base stations to send a second reply data frame to the tag, and recording the sending time of each of the second reply data frames; Controlling the tag to receive all the second reply data frames, and recording the receiving time of each of the second reply data frames; The distance between each of the PDOA dual-function base stations and the tag is determined based on the sending time of each of the second data frames, the receiving time of each of the second data frames, the sending time of each of the second reply data frames, and the receiving time of each of the second reply data frames.

4. The method according to claim 3, wherein: The controlling each phase-changing antenna of each PDOA dual-function base station to sequentially receive the data frames sent by the tag in a preset order to determine the angle of the tag relative to each PDOA dual-function base station includes: Controlling the tag to send a third data frame, the number of the third data frames being the same as the total number of the commutation antennas; Controlling each phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive one of the third data frames in a preset order to determine a phase difference between each phase-changing antenna of each of the PDOA dual-function base stations and a corresponding reference antenna; Based on the phase difference between each phase-changing antenna of each PDOA dual-function base station and the corresponding reference antenna, the angle of the tag relative to each PDOA dual-function base station is determined.

5. The method according to claim 3, wherein: The controlling each phase-changing antenna of each PDOA dual-function base station to sequentially receive the data frames sent by the tag in a preset order to determine the angle of the tag relative to each PDOA dual-function base station includes: Control each phase-changing antenna of each of the PDOA dual-function base stations to receive one of the first data frames or the second data frames in sequence according to a preset order, so as to determine a phase difference between the phase-changing antenna receiving the first data frame or the second data frame and the corresponding standard antenna; Determine whether there are any remaining phase-changing antennas in each PDOA dual-function base station, and if so, determine the number of remaining phase-changing antennas in one of the PDOA dual-function base stations, wherein the remaining phase-changing antennas refer to phase-changing antennas that have not received the first data frame or the second data frame; Controlling the tag to send a fourth data frame, the number of the fourth data frames being the same as the number of the remaining phase-changing antennas in one of the PDOA dual-function base stations; Controlling each remaining phase-changing antenna of each PDOA dual-function base station to sequentially receive one of the fourth data frames in a preset order to determine a phase difference between each remaining phase-changing antenna and a corresponding standard antenna; Based on the phase difference between each phase-changing antenna of each PDOA dual-function base station and the corresponding reference antenna, the angle of the tag relative to each PDOA dual-function base station is determined.

6. The method according to claim 1, wherein: Determining the position of the tag according to the distance between each of the TOF base stations and the tag, the angle of the tag relative to each of the PDOA dual-function base stations, and the distance between each of the PDOA dual-function base stations and the tag comprises: Compare the distance between each of the TOF base stations and the tag, and the distance between each of the PDOA dual-function base stations and the tag, and determine the antenna with the shortest distance as the target base station; According to the type of the target base station, a corresponding algorithm is determined to obtain the position of the tag.

7. The method according to claim 6, wherein: The determining, according to the type of the target base station, a corresponding algorithm to obtain the location of the tag includes: If the target base station is a TOF base station, a circle is drawn with each TOF base station as the center and the distance between the TOF base station and the tag as the radius, and the intersection of each circle is determined as the position of the tag; If the target base station is a PDOA dual-function base station, The distance between the tags and the angle of the tag relative to the PDOA dual-function base station are used to calculate the position of the tag.

8. The method according to claim 1, wherein: Determining the position of the tag according to the distance between each of the TOF base stations and the tag, the angle of the tag relative to each of the PDOA dual-function base stations, and the distance between each of the PDOA dual-function base stations and the tag comprises: The position of the tag is obtained using a Kalman filter fusion algorithm based on the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

9. A UWB-based positioning device, applied to a UWB positioning system, wherein the UWB positioning system comprises a tag, at least one TOF base station and at least one PDOA dual-function base station, each of the PDOA dual-function base stations comprises a reference antenna and multiple phase-changing antennas, wherein: include: A first distance measurement module, used for controlling the data frame interaction between the tag and each of the TOF base stations to determine the distance between each of the TOF base stations and the tag; A return phase-switching antenna determination module is used to determine a phase-switching antenna in each of the PDOA dual-function base stations as a return phase-switching antenna; A second distance measurement module, used for controlling the tag to interact with each of the return phase-changing antennas to perform data frame interaction, so as to determine the distance between each of the PDOA dual-function base stations and the tag; An angle determination module, used to control each phase-changing antenna of each of the PDOA dual-function base stations to sequentially receive the data frames sent by the tag in a preset order to determine the angle of the tag relative to each of the PDOA dual-function base stations; A positioning module is used to determine the position of the tag according to the distance between each TOF base station and the tag, the angle of the tag relative to each PDOA dual-function base station, and the distance between each PDOA dual-function base station and the tag.

10. A storage medium storing at least one executable instruction, wherein the executable instruction enables a processor to perform operations corresponding to the UWB-based positioning method according to any one of claims 1 to 8.

11. A computer device comprising: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform operations corresponding to the UWB-based positioning method as described in any one of claims 1-8.

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