Adaptive positioning method and apparatus based on ultra-wideband technology

Abstract

Disclosed in the present application are an adaptive positioning method and apparatus based on ultra-wideband technology. The method comprises: after a tag sends a broadcast message, recording a sequence of received signal strengths obtained when various base stations receive the broadcast message; filtering the base stations to obtain initial target base stations; determining a sequence of tag reception timestamps obtained when the tag receives a feedback message sequence, and also determining a radio-frequency signal clock offset frequency between the tag and each initial target base station; on the basis of a transmission timestamp of the broadcast message, the sequence of tag reception timestamps, a sequence of base station reception timestamps, a sequence of transmission timestamps of a feedback message, and the radio-frequency signal clock offset frequencies, determining a fuzzy distance sequence; and selecting target base stations, and on the basis of communication data between the target base stations and the tag, locating the tag. The present application solves the technical problem of low accuracy in locating caused by a series of NLOS interference being produced due to a UWB wireless radio-frequency signal being easily affected by the environment when a tag is located in actual applications.

Description

Adaptive positioning method and device based on ultra-wideband technology

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on September 18, 2023, with application number: 202311203748.7 and application name: “Adaptive positioning method and device based on ultra-wideband technology”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of high-precision positioning, and more specifically, to an adaptive positioning method and device based on ultra-wideband technology. Background Art

[0003] Currently, there are many methods for achieving positioning. Whether using TDOA or TOF positioning, communication with at least three base station devices is required to achieve positioning. UWB has a limited communication range, generally within 80 meters. Even with a power amplifier on the RF end, the transmission range can only be 500 meters. In practical applications, it is often necessary to deploy more base stations to meet the positioning distance requirements. In actual application environments, UWB wireless RF signals are easily affected by environmental interference. For example, objects blocking direct radiation, metal shielding or reflection, ground reflection, etc., will produce a series of NLOS effects, causing the actual waveform to arrive at the device with delay, resulting in greater actual positioning error.

[0004] There are existing methods for improving positioning accuracy by suppressing interference, but these processes are complex and can reduce positioning efficiency. For example, a UWB positioning method combines support vector machines (SVMs) with barycentric coordinates under NLOS conditions. The SVM algorithm identifies whether measurements were collected under NLOS or LOS propagation conditions and mitigates measurement errors caused by NLOS. A distance square matrix is ​​constructed using both LOS and NLOS-mitigated measurements, and the MDS algorithm is used to determine the relative positions of each UWB node. Based on the relative positions obtained by the MDS algorithm, the generalized barycentric coordinates of the unknown nodes are calculated. This solution uses LOS data as a reference for NLOS, trains an SVM based on features from both conditions, and then compares the output with the LOS. The MDS algorithm then calculates the relative position, mitigating the effects of NLOS interference. However, this method requires extensive computation, which reduces positioning efficiency. Another example is a NLOS-resistant indoor positioning system based on UWB and an IMU. This combination of UWB and IMU optimizes positioning. While it can suppress large errors, smaller errors are often indistinguishable.

[0005] Regarding the problem that UWB wireless radio frequency signals are easily affected by the environment when positioning tags in actual applications in the above-mentioned related technologies, a series of NLOS interferences will be generated, resulting in low positioning accuracy. No effective solution has been proposed so far.

[0006] Summary of the Invention

[0007] The embodiments of the present application provide an adaptive positioning method and device based on ultra-wideband technology to at least solve the technical problem that UWB wireless radio frequency signals are easily affected by the environment when positioning tags in practical applications, which may cause a series of NLOS interferences and lead to low positioning accuracy.

[0008] According to one aspect of an embodiment of the present application, an adaptive positioning method based on ultra-wideband technology is provided, comprising: after sending a broadcast message through a tag, recording a received signal strength sequence of each base station when the broadcast message is received; filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold, wherein the comprehensive signal strength is a signal strength determined based on the received signal strength and the first path signal strength of each base station; determining a tag reception timestamp sequence of a feedback message sequence received by the tag, and simultaneously determining a radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes a base station reception timestamp sequence of the broadcast message received as feedback from each initial target base station to the tag; determining a fuzzy distance sequence based on the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the transmission timestamp sequence of the feedback message, and the radio frequency signal clock offset frequency; selecting a target base station from the initial target base stations based on the determined fuzzy distance sequence, and locating the tag based on communication data between each target base station and the tag.

[0009] Optionally, before sending the broadcast message through the tag, it also includes: assigning a base station identifier to each base station, wherein the base station identifier is used to uniquely identify the base station; grouping each base station according to a predetermined grouping form based on the base station identifier to obtain a base station group, wherein the predetermined grouping form is at least: a matrix form.

[0010] Optionally, before sending the broadcast message through the tag, it also includes: selecting a base station from each of the base station groups as a reference base station to obtain a reference base station sequence; selecting a base station from the reference base station sequence as a target reference base station; starting from the target reference base station, using the target reference base station as the clock synchronization standard to perform preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station.

[0011] Optionally, starting from the target reference base station, preliminary clock synchronization is performed on other reference base stations in the reference base station sequence except the target reference base station using the target reference base station as the clock synchronization standard, including: using the target reference base station to send a wireless clock synchronization message signal to the next-level reference base station adjacent to the target reference base station among the other reference base stations, so as to perform clock synchronization on the next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1; using the next-level reference base station to send a synchronization message to the next-next-level reference base station adjacent to the next-next-level reference base station among the other reference base stations, so as to perform clock synchronization on the next-next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1, and repeat the clock synchronization operation until the clock synchronization message is transmitted to the last one of the other reference base stations, and determine that each of the base stations has completed the initial synchronization operation.

[0012] Optionally, after determining that each of the base stations completes the initial synchronization operation, the method further includes: using a reference base station in each of the base station groups to perform clock synchronization on other base stations in each of the base station groups except the reference base station.

[0013] Optionally, after determining that each of the base stations has completed the initial synchronization operation, it also includes: selecting some base station groups in each of the base station groups as reference base station groups; selecting at least one base station from each of the reference base station groups as a reference base station; dividing the reference base stations into levels to obtain reference base station groups; sending clock synchronization messages to the reference base stations in each reference base station group in turn, so as to use the clock synchronization messages to synchronize the clocks of the reference base stations in each of the reference base station groups; after the reference base stations in each of the reference base station groups have completed clock synchronization, using the reference base stations in each of the reference base stations to synchronize the clocks of other base stations in each of the reference base station groups.

[0014] Optionally, sending a broadcast message through a tag includes: monitoring a wireless clock synchronization signal through the tag; using the tag to determine a clock beat cycle initiated by the tag positioning based on the wireless clock synchronization signal and the base station identifier of the tag; when the tag runs to the clock beat cycle, initiating the broadcast message and recording the transmission timestamp.

[0015] Optionally, filtering each of the base stations according to the received signal strength sequence and the first path signal strength sequence of each of the base stations to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold comprises at least one of the following: determining the comprehensive signal strength sequence by a first formula, wherein the first formula is: k n =RSS n +10*(RSS n -ASSn -6), k n Indicates the integrated signal strength, RSS n represents the received signal strength in the received signal strength sequence, ASS n represents the first path signal strength in the first path signal strength sequence, and n represents the signal strength when the nth base station receives the broadcast information; each of the comprehensive signal strength sequences is compared with the signal strength threshold to filter each of the base stations to obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold.

[0016] Optionally, filtering each of the base stations according to the received signal strength sequence and the first path signal strength sequence of each of the base stations also includes at least one of the following: determining a signal strength difference sequence according to the received signal strength sequence and the first path signal strength sequence of each of the base stations, comparing each of the signal strength difference sequences with a first predetermined signal strength, filtering out base stations among the base stations whose signal strength difference is greater than the first predetermined signal strength; filtering out base stations among the base stations whose received signal strength is less than a second predetermined signal threshold.

[0017] Optionally, determining the fuzzy distance sequence according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the radio frequency signal clock offset frequency includes: determining the fuzzy distance according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the radio frequency signal clock offset frequency using a second formula, wherein the second formula is: d i represents the i-th fuzzy distance, at i Indicates the timestamp of the i-th tag receiving, t tag1 Indicates the emission timestamp, tt i Indicates the i-th sending timestamp, t i Indicates the receiving timestamp of the i-th base station, f tag represents the RF signal clock offset frequency, c represents the speed of light, and i represents the i-th initial target base station; and determines that the multiple fuzzy distances calculated by the second formula are the fuzzy distance sequence.

[0018] Optionally, determining the fuzzy distance sequence to select a target base station from the initial target base stations includes: determining the target base station according to the fuzzy distance sequence using a third formula, wherein the third formula is: C i =d i *(RSS i -ASS i), C i Indicates the impact value of the i-th signal strength, d i represents the i-th fuzzy distance, RSS i Indicates the strength of the i-th received signal, ASS i represents the i-th first path signal strength, i represents the i-th initial target base station; a base station whose signal strength impact value is greater than the signal strength impact threshold among the initial target base stations is selected as the target base station.

[0019] Optionally, the tag is positioned according to the communication data between each target base station and the tag, including: determining the tag broadcast message according to the base station identifier, fuzzy distance and message transmission timestamp of the target base station; setting the sending attribute of the tag broadcast message to delayed automatic sending; under the delayed automatic sending, if the message transmission timestamp arrives, broadcast the tag broadcast message through the tag; and positioning the tag according to the communication data including the tag broadcasting the tag broadcast message.

[0020] According to another aspect of the embodiment of the present application, an adaptive positioning device based on ultra-wideband technology is also provided, including: a recording unit for recording the received signal strength sequence of each base station when the broadcast message is received by the tag after the broadcast message is sent through the tag; an acquisition unit for filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain an initial target base station whose comprehensive signal strength is greater than the signal strength threshold, wherein the comprehensive signal strength is a signal strength determined based on the received signal strength and the first path signal strength of each base station; a first determination unit for determining the tag reception timestamp sequence when the tag receives the feedback message column column, and simultaneously determine the radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes a base station reception timestamp sequence of the broadcast message fed back by each of the initial target base stations to the tag; a second determination unit is used to determine a fuzzy distance sequence according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the transmission timestamp sequence of the feedback message, and the radio frequency signal clock offset frequency; a third determination unit is used to determine the fuzzy distance sequence to select a target base station from the initial target base stations, and locate the tag according to the communication data between each of the target base stations and the tag.

[0021] Optionally, the recording unit further includes: an allocation module for allocating a base station identifier to each of the base stations before sending a broadcast message through a label, wherein the base station identifier is used to uniquely identify the base station; a grouping module for grouping each of the base stations according to a predetermined grouping form based on the base station identifier to obtain a base station group, wherein the predetermined grouping form is at least: a matrix form.

[0022] Optionally, the recording unit also includes: a first acquisition module, used to select a base station as a reference base station from each of the base station groups after sending the broadcast message through the tag to obtain a reference base station sequence; a first selection module, used to select a base station as a target reference base station from the reference base station sequence; a synchronization module, used to start from the target reference base station and use the target reference base station as the clock synchronization standard to perform preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station.

[0023] Optionally, the synchronization module includes: a sending submodule, used to use the next-level reference base station adjacent to the target reference base station among the other reference base stations of the target reference base station to send a wireless clock synchronization message signal, so as to perform clock synchronization on the next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1; a determining submodule, used to use the next-level reference base station to send a synchronization message to the next-next-level reference base station adjacent to the next-next-level reference base station among the other reference base stations, so as to perform clock synchronization on the next-next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1, and repeat the clock synchronization operation until the clock synchronization message is transmitted to the last one of the other reference base stations, and determine that each of the base stations has completed the initial synchronization operation.

[0024] Optionally, the determination submodule further includes: a first synchronization submodule, configured to perform clock synchronization on other base stations in each base station group except the reference base station using the reference base station in each base station group after determining that each base station completes the initial synchronization operation.

[0025] Optionally, the determination submodule also includes: a first selection submodule, used to select some base station groups in each of the base station groups as reference base station groups after determining that each of the base stations has completed the initial synchronization operation; a second selection submodule, used to select at least one base station from each of the reference base station groups as a reference base station; an acquisition submodule, used to classify each of the reference base stations to obtain a reference base station group; a second synchronization submodule, used to send clock synchronization messages to the reference base stations in each of the reference base station groups in turn, so as to use the clock synchronization messages to perform clock synchronization on the reference base stations in each of the reference base station groups; a third synchronization submodule, used to use the reference base stations in each of the reference base station groups to perform clock synchronization on other base stations in each of the reference base station groups after the reference base stations in each of the reference base station groups have completed clock synchronization.

[0026] Optionally, the recording unit includes: a monitoring module for monitoring the wireless clock synchronization signal through the tag; a first determination module for using the tag to determine the clock beat cycle initiated by the tag positioning according to the wireless clock synchronization signal and the base station identifier of the tag; a recording module for initiating the broadcast message and recording the transmission timestamp when the tag runs to the clock beat cycle.

[0027] Optionally, the acquisition unit includes at least one of the following: a second determination module, configured to determine the integrated signal strength sequence using a first formula, wherein the first formula is: k n =RSS n +10*(RSS n -ASS n -6), k n Indicates the integrated signal strength, RSS n represents the received signal strength in the received signal strength sequence, ASS n represents the first path signal strength in the first path signal strength sequence, and n represents the signal strength when the nth base station receives the broadcast information; the second acquisition module is used to compare each of the comprehensive signal strength sequences with the signal strength threshold to filter each of the base stations to obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold.

[0028] Optionally, the acquisition unit also includes at least one of the following: a first filtering module, used to determine a signal strength difference sequence based on the received signal strength sequence and the first path signal strength sequence of each base station, compare each of the signal strength difference sequences with the first predetermined signal strength, and filter out base stations among the base stations whose signal strength difference is greater than the first predetermined signal strength; a second filtering module, used to filter out base stations among the base stations whose received signal strength is less than a second predetermined signal threshold.

[0029] Optionally, the second determination unit includes: a third determination module, configured to determine the ambiguity distance according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the radio frequency signal clock offset frequency using a second formula, wherein the second formula is: d i represents the i-th fuzzy distance, at i Indicates the timestamp of the i-th tag receiving, t tag1 Indicates the emission timestamp, tt i Indicates the i-th sending timestamp, t i Indicates the receiving timestamp of the i-th base station, f tagrepresents the RF signal clock offset frequency, c represents the speed of light, and i represents the i-th initial target base station; a fourth determination module is used to determine that the multiple fuzzy distances calculated by the second formula are the fuzzy distance sequence.

[0030] Optionally, the third determining unit includes: a fifth determining module, configured to determine the target base station according to the fuzzy distance sequence using a third formula, wherein the third formula is: C i =d i *(RSS i -ASS i ), C i Indicates the impact value of the i-th signal strength, d i represents the i-th fuzzy distance, RSS i Indicates the strength of the i-th received signal, ASS i represents the i-th first path signal strength, and i represents the i-th initial target base station; the second selection module is used to select a base station whose signal strength impact value is greater than the signal strength impact threshold among the initial target base stations as the target base station.

[0031] Optionally, the third determination unit includes: a sixth determination module, used to determine the tag broadcast message based on the base station identifier, fuzzy distance and message transmission timestamp of the target base station; a setting module, used to set the sending attribute of the tag broadcast message to delayed automatic sending; a broadcast module, used to broadcast the tag broadcast message through the tag if the message transmission timestamp arrives under the setting module; a positioning module, used to locate the tag based on the communication data including the tag broadcasting the tag broadcast message.

[0032] According to another aspect of an embodiment of the present application, an ultra-wideband technology-based adaptive positioning system is further provided. The ultra-wideband technology-based adaptive positioning system uses any of the above-mentioned ultra-wideband technology-based adaptive positioning methods.

[0033] According to another aspect of an embodiment of the present application, a computer-readable storage medium is further provided, which includes a stored program, wherein the program executes any one of the adaptive positioning methods based on ultra-wideband technology.

[0034] According to another aspect of an embodiment of the present application, a processor is further provided, which is used to run a program, wherein the program executes any one of the adaptive positioning methods based on ultra-wideband technology when running.

[0035] In an embodiment of the present application, after sending a broadcast message through a tag, a received signal strength sequence of each base station in each base station when receiving the broadcast message is recorded; each base station is filtered according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold, wherein the comprehensive signal strength is a signal strength determined based on the received signal strength and the first path signal strength of each base station; a tag receiving timestamp sequence of the feedback message column received by the tag is determined, and the RF signal clock offset frequency of the tag and the initial target base station is determined at the same time, wherein the feedback message sequence includes a base station receiving timestamp sequence of the broadcast message received that is fed back by each initial target base station to the tag; a fuzzy distance sequence is determined based on the transmission timestamp of the broadcast message, the tag receiving timestamp sequence, the base station receiving timestamp sequence, the feedback message sending timestamp sequence, and the RF signal clock offset frequency; a target base station is selected from the initial target base station after determining the fuzzy distance sequence, and the tag is positioned based on the communication data between each target base station and the tag. Through the above technical solution, base stations with excellent communication signal quality can be intelligently screened out, achieving the purpose of adaptively selecting the signal with the least NLOS interference for positioning from the source, thereby achieving the technical effect of improving the UWB positioning accuracy under NLOS, and further solving the technical problem that when positioning tags in actual applications, UWB wireless RF signals are easily affected by the environment, which will generate a series of NLOS interference and lead to low positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0037] FIG1 is a hardware structure block diagram of a mobile terminal for an adaptive positioning method based on ultra-wideband technology according to an embodiment of the present application;

[0038] FIG2 is a flow chart of an adaptive positioning method based on ultra-wideband technology according to an embodiment of the present application;

[0039] FIG3 is a flow chart of an optional adaptive positioning method based on ultra-wideband technology according to an embodiment of the present application;

[0040] FIG4 is a schematic diagram of base station grouping according to an embodiment of the present application;

[0041] FIG5 is a schematic diagram of base station time traversal and clock synchronization according to an embodiment of the present application;

[0042] FIG6 is a schematic diagram of a tag broadcast message according to an embodiment of the present application;

[0043] FIG7 is a schematic diagram of the first self-screening and filtering of a base station according to an embodiment of the present application;

[0044] FIG8 is a schematic diagram of a base station sending back a message after a first screening and filtering according to an embodiment of the present application;

[0045] FIG9 is a schematic diagram of a second screening and filtering of tags according to an embodiment of the present application;

[0046] FIG10 is a schematic diagram of a tag broadcast according to an embodiment of the present application, in which the base station data is finally screened;

[0047] FIG11 is a schematic diagram of the communication process between the tag and the base station in an embodiment of the present application;

[0048] FIG12 is a schematic diagram of an adaptive positioning device based on ultra-wideband technology according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] As described in the background technology, in practical applications of related technologies, UWB wireless radio frequency signals are easily affected by the environment when positioning tags, which can cause a series of NLOS interferences, resulting in low positioning accuracy. In the embodiments of this application, an adaptive positioning method and apparatus based on ultra-wideband technology are provided.

[0052] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0053] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, FIG1 is a hardware structure block diagram of a mobile terminal of an adaptive positioning method based on ultra-wideband technology in an embodiment of the present application. As shown in FIG1 , the mobile terminal may include one or more (only one is shown in FIG1 ) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will be understood by those skilled in the art that the structure shown in FIG1 is only for illustration and does not limit the structure of the mobile terminal. For example, the mobile terminal may also include more or fewer components than those shown in FIG1 , or have a configuration different from that shown in FIG1 .

[0054] The memory 104 can be used to store computer programs, such as software programs and modules of application software, such as the computer program corresponding to the adaptive positioning method based on ultra-wideband technology in the embodiments of the present application. The processor 102 executes the computer program stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0055] According to an embodiment of the present application, a method embodiment of an adaptive positioning method based on ultra-wideband technology is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0056] FIG2 is a flow chart of an adaptive positioning method based on ultra-wideband technology according to an embodiment of the present application. As shown in FIG2 , the method includes the following steps:

[0057] Step S202 : After the broadcast message is sent through the tag, a received signal strength sequence of each base station when receiving the broadcast message is recorded.

[0058] Optionally, the received signal strength sequence is a sequence of received signal strengths recorded after the tag sends a broadcast message and each base station within the communication range receives the broadcast message.

[0059] According to the above-mentioned embodiment of the present application, before the above-mentioned step S202, that is, before sending the broadcast message through the tag, it can also include: assigning a base station identifier to each base station, wherein the base station identifier is used to uniquely identify the base station; grouping each base station according to a predetermined grouping form based on the base station identifier to obtain a base station group, wherein the predetermined grouping form is at least: a matrix form.

[0060] Optionally, the base station identifier represents a unique ID assigned to a base station, and each identifier corresponds to a unique base station. The identifier may include, but is not limited to, Arabic numerals, English letters, Roman numerals, and the like.

[0061] Optionally, the above matrix form is to group and divide the base stations with reference to a matrix arranged in a rectangular array in the field of mathematics.

[0062] The embodiment will be described below in conjunction with FIG3 , which is a flow chart of an optional adaptive positioning method based on ultra-wideband technology according to an embodiment of the present application. As shown in FIG3 , the base station areas may be grouped first.

[0063] The following will describe the base station grouping method in detail with reference to FIG4 , which is a schematic diagram of the base station grouping of an embodiment of the present application. For example, Arabic numerals are selected as base station identifiers to give base stations a unique identity ID. The base stations are deployed in a matrix format, with a spacing of 20-30 meters between base stations. The actual base station locations can be slightly adjusted according to actual conditions, with four base stations grouped as a region. In theory, the rows and columns of the base station grouping matrix can be expanded infinitely, and then the groups are numbered 1, 2, 3...n. As shown in FIG4 , for convenience, the base stations are divided into 3x3 regions, totaling 9 groups, with a total of 36 base stations, numbered 1, 2, 3...36, respectively. The regional grouping diagram is used to illustrate the schematic diagram. It should be noted that the distance between adjacent base stations should not be too large. It is necessary to ensure that the base stations on the left and right sides can communicate normally, such as base station 1 and base station 5 can communicate normally, and base station 5 and base station 9 can also communicate normally. Grouping the base stations in this way can better implement the wireless clock synchronization mechanism and the tag operation rhythm, and can more quickly screen base stations with good communication signals, reduce the time consumed by synchronization, and thus improve the positioning accuracy of the tag.

[0064] To ensure consistent UWB clocks between base stations, tags, and base stations, and between tags, wireless communications proceed in an orderly manner according to the clock beats, avoiding wireless signal collisions and ensuring normal positioning. In embodiments of the present application, wireless clock synchronization can be performed between base stations, tags, and tags. The following describes in detail the wireless clock synchronization method between base stations.

[0065] For the initial traversal phase of each base station, in the above embodiment, before sending the broadcast message through the tag, it can also include: selecting a base station from each of the base station groups as a reference base station to obtain a reference base station sequence; selecting a base station from the reference base station sequence as a target reference base station; starting from the target reference base station, using the target reference base station as the clock synchronization standard to perform preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station.

[0066] Optionally, the initial traversal stage is a stage in which the wireless clock synchronization signal has not yet been transmitted to the last regional group.

[0067] Optionally, the target reference base station and the reference base station are used to facilitate the orderly execution of clock synchronization of each base station in the subsequent process.

[0068] In the above embodiment, starting from the target reference base station, preliminary clock synchronization is performed on other reference base stations in the reference base station sequence except the target reference base station using the target reference base station as the clock synchronization standard, which can include: using the next-level reference base station adjacent to the target reference base station among other reference base stations of the target reference base station to send a wireless clock synchronization message signal to perform clock synchronization on the next-level reference base station, and automatically increasing the level of the wireless clock synchronization message signal by 1; using the next-level reference base station to send a synchronization message to the next-next-level reference base station adjacent to the next-level reference base station among other reference base stations to perform clock synchronization on the next-next-level reference base station, and automatically increasing the level of the wireless clock synchronization message signal by 1, repeating the clock synchronization operation until the clock synchronization message is transmitted to the last one of the other reference base stations, and determining that each base station has completed the initial synchronization operation.

[0069] Stable traversal phase: The wireless clock synchronization signal has completed the clock synchronization of all base stations at least once, and the clock synchronization is performed in a three-stage pipeline.

[0070] Optionally, the above-mentioned next-level expression of the reference base station means that after the base stations are grouped, each matrix group will be identified and sorted according to this identification. The reference base station in the next base station group adjacent to the reference base station is the next-level reference base station, and the expression of the next-next-level reference base station can be deduced in this way.

[0071] Optionally, in the above embodiment, after determining that each base station completes the initial synchronization operation, the method may further include: performing clock synchronization on other base stations in each base station group except the reference base station using the reference base station in each base station group.

[0072] Optionally, the above initial synchronization operation means that the wireless synchronization signal has not yet been transmitted to the base station of the last area group.

[0073] The following example will be illustrated in conjunction with Figure 5, which is a schematic diagram of base station time traversal and clock synchronization in an embodiment of the present application. As shown in Figure 5, with base station 1 as the clock reference (that is, the target reference base station), base station 1 will initiate a wireless clock synchronization message signal to the base station 5 of the next level area (that is, the reference base station in the group) at a certain period, and then base station 5 performs clock synchronization, automatically increases the level of the synchronization message content by 1 and immediately transmits it to the base station 9 of the next level area. After receiving the message, base station 9 performs clock correction, and then automatically increases the level of the synchronization message content by 1 and immediately transmits it to the base station 13 of the next level area. According to this rule, it is transmitted to the last regional group. The process is shown in the solid line part of Figure 5; in this process, only one base station clock is corrected in each regional group. Therefore, when the base station of each regional group transmits the wireless clock synchronization signal, it is also necessary to synchronize the clocks of the remaining 3 base stations of the regional group. The process is shown in the dotted line part of Figure 5, which completes the initial traversal stage.

[0074] Regarding the stable traversal stage of each base station, in an embodiment of the present application, after determining that each base station has completed the initial synchronization operation, it can also include: selecting some base station groups in each base station group as reference base station groups; selecting at least one base station from each of each reference base station group as a reference base station; dividing each reference base station into levels to obtain a reference base station group; sending clock synchronization messages to the reference base stations in each reference base station group in turn, so as to synchronize the clocks of the reference base stations in each reference base station group using the clock synchronization messages; after the reference base stations in each reference base station group have completed clock synchronization, using the reference base stations in each reference base station group to synchronize the clocks of other base stations in each reference base station group.

[0075] Optionally, the clock synchronization message is a wireless clock synchronization message signal initiated by the target reference base station at a certain period.

[0076] Optionally, the stable traversal stage is a stage in which the wireless clock synchronization signal has completed clock synchronization of all base stations at least once, for example, clock synchronization can be performed in a three-stage pipeline.

[0077] As shown in Figure 5 above, after the above process traverses the last regional group, the initial traversal phase ends and enters the stable traversal phase. In the stable traversal phase, the wireless clock signal can be synchronized in a three-level pipeline. For example, base station 1, base station 17, base station 33...base station 16*j+1 have the same clock cycle in the first level, and infinite clock synchronization messages are transmitted at the same time. For example, base station 2, base station 18, base station 34...base station 16*j+2 have the same clock cycle in the second level. Compared with traversing all base station clock synchronization, only three wireless clock synchronization cycles are used, which improves synchronization efficiency and greatly reduces the waste of time and space. At the same time, the tag can also monitor the idle time slot for a shorter time.

[0078] The time traversal shown in FIG3 is completed in the above manner, that is, all base stations perform wireless clock synchronization.

[0079] From the above analysis, it can be seen that the wireless clock synchronization process can be divided into two stages: the initial traversal stage and the stable traversal stage to improve the traversal efficiency.

[0080] According to the above-mentioned embodiment of the present application, in step S202, sending a broadcast message through a tag may include: monitoring a wireless clock synchronization signal through the tag; using the tag to determine a clock beat cycle initiated by tag positioning based on the wireless clock synchronization signal and the base station identifier of the tag; when the tag runs to the clock beat cycle, initiating a broadcast message and recording a transmission timestamp.

[0081] The following will illustrate this embodiment with reference to FIG6 , which is a schematic diagram of a tag broadcast message in an embodiment of the present application. As shown in FIG6 , after all base station clocks are synchronized, no matter which area of ​​the base station the tag is in, the tag can directly monitor the wireless clock synchronization signal and participate in wireless positioning. The wireless clock synchronization signal message is accompanied by idle time slot data. The tag will obtain the clock beat cycle initiated by the tag positioning based on the tag ID and the wireless clock synchronization signal of the base station. When the tag runs to the clock beat cycle, the tag will initiate a broadcast signal and record the broadcast transmission timestamp t tag1 ,The broadcast message allows the base stations within the surrounding communication range to receive the signal.,① in Figure 6 indicates the location of the tag.

[0082] The above steps complete the tag monitoring of idle time slots and broadcasting of tag messages as shown in FIG3 .

[0083] Step S204 , filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold, wherein the comprehensive signal strength is the signal strength determined based on the received signal strength and the first path signal strength of each base station.

[0084] Optionally, in the above comprehensive signal strength, the received signal strength is used as a main influencing factor, and the received signal strength minus the first-path signal strength is used as a second influencing factor.

[0085] As shown in Figure 3 above, after receiving the broadcast information of the tag, each base station will perform the first self-rejection and self-filtering by analyzing the quality of the received signal.

[0086] According to the above embodiment of the present application, in the above step S204, filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold may include at least one of the following: determining the comprehensive signal strength sequence by a first formula, wherein the first formula is: k n =RSS n +10*(RSS n -ASS n -6), k n Indicates the comprehensive signal strength, RSS n Indicates the received signal strength in the received signal strength sequence, ASS n represents the first path signal strength in the first path signal strength sequence, and n represents the signal strength when the nth base station receives the broadcast information; each base station in the comprehensive signal strength sequence is compared with the signal strength threshold to filter each base station and obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold.

[0087] Optionally, the above signal strength threshold is 0, if k n If it is less than 0, it means that the quality of the integrated signal is very poor and needs to be discarded.

[0088] According to the above-mentioned embodiment of the present application, in the above-mentioned step S204, each base station is filtered according to the received signal strength sequence and the first-path signal strength sequence of each base station, and may also include at least one of the following: determining a signal strength difference sequence according to the received signal strength sequence and the first-path signal strength sequence of each base station, comparing each of the signal strength difference sequences with the first predetermined signal strength, filtering out base stations among the base stations whose signal strength difference is greater than the first predetermined signal strength; filtering out base stations among the base stations whose received signal strength is less than the second predetermined signal threshold.

[0089] Optionally, the first predetermined signal strength is 8dB. If the absolute value of the difference between the received signal strength of a certain base station and the first path signal strength is greater than 8dB (ie, RSS n -ASS n >8db), indicating that the base station is severely blocked by the signal and needs to be filtered out.

[0090] Optionally, the second predetermined signal threshold is -85dBm. If the received signal strength of a certain base station is less than -85dBm (ie, RSS n <-85dBm), indicating that the base station is far away from the tag. Even if it is not affected by NLOS, it is easily affected by reflected waves and therefore needs to be filtered out.

[0091] The following is an example of this embodiment with reference to FIG7 , which is a schematic diagram of the first self-screening filtering of the base station in the embodiment of the present application. For example, after the tag sends a broadcast message, when the tag sends a broadcast message, the base station within the communication range receives the broadcast message and records the received signal strengths as RSS1, RSS2, RSS3...RSS n , record the first path signal strength as ASS1, ASS2, ASS3...ASS n , calculate the comprehensive signal strength based on the recorded received signal strength and first-path signal strength, and sort the comprehensive signal strength sequence according to the principle that the stronger the signal, the less interference factors, and should be ranked first. In addition, if the comprehensive signal evaluation quality of a base station is less than 0, then the base station should be discarded according to the above filtering criteria; if the absolute value of the difference between the received signal strength and the first-path signal strength of some base stations is greater than 8db, or its received signal strength is less than -85dbm, then these base stations with poor quality are discarded according to the above filtering criteria, completing the first self-rejection filtering of the base stations. Then record the receiving timestamps corresponding to the remaining base stations after filtering as t1, t2, t3...t n The base station sends the timestamps t1, tt2, tt3...tt n After the first signal quality filtering mentioned above, most of the base stations with poor quality signals are filtered out, and the remaining base stations in the first filtering will continue to the next step.

[0092] As shown in Figure 7, assuming that after filtering, base stations with IDs 4, 7, 8, 18, 19, and 22 remain. These base stations are initially determined to have good received signal quality and will proceed to the next step. This initial signal quality filtering eliminates most base stations with poor signal quality, allowing for the selection of high-quality base stations. This improves the positioning accuracy of UWB positioning in actual NLOS environments.

[0093] Step S206: Determine a tag reception timestamp sequence of a feedback message sequence received by the tag, and simultaneously determine a radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes a base station reception timestamp sequence of a broadcast message received as fed back by each initial target base station to the tag.

[0094] Optionally, the base station whose tag receives the timestamp sequence without filtering will switch to short frame mode and send back the reception timestamp data, the first path signal strength data and the reception signal strength data to the tag. When the tag receives the message from each base station in turn, it will record the reception timestamp of the tag corresponding to a t1 , a t2 , a t3 ……a tn .

[0095] As shown in Figure 3 above, after the base station undergoes the first filtering and self-rejection, the base station that has not self-filtered switches to short frame mode and sends signal quality data and timestamp data back to the tag.

[0096] In an embodiment of the present application, after the above-mentioned step S204, that is, after the base station has undergone the first signal quality filtering, the unfiltered base station will switch to the short frame mode and send back the received timestamp data, the first path signal strength data and the received signal strength data to the tag. The short frame mode preamble is 64 bytes. The purpose of switching to the short frame mode is to reduce the time required for the base station to transmit, which only takes less than 100us, and is also relatively relatively to reduce the system error. The base station will send back data to the tag in sequence according to the size of the base station ID number sequence and the wireless clock. The process is illustrated in conjunction with Figure 8. Figure 8 is a schematic diagram of the base station of the embodiment of the present application sending back messages after the first screening and filtering. As shown in Figure 8, base stations 4, 7, 8, 18, 19, and 22 will send back data to the tag in sequence.

[0097] Step S208 , determining an ambiguous distance sequence according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the RF signal clock offset frequency.

[0098] As shown in Figure 3 above, after the tag receives the signal quality data and timestamp data sent back by each base station, it will record the received signal quality, and then the tag will perform a second base station filtering based on the two signal qualities and fuzzy distance.

[0099] According to the above embodiment of the present application, in the above step S208, determining the fuzzy distance sequence according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the radio frequency signal clock offset frequency may include: using a second formula, according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the radio frequency signal clock offset frequency, determining the fuzzy distance, wherein the second formula is: d i represents the i-th fuzzy distance, at i Indicates the timestamp of the i-th tag receiving, t tag1 Indicates the emission timestamp, tt i Indicates the i-th sending timestamp, t i Indicates the receiving timestamp of the i-th base station, f tag represents the RF signal clock offset frequency, c represents the speed of light, and i represents the i-th initial target base station; the multiple fuzzy distances calculated by the second formula are determined to be a fuzzy distance sequence.

[0100] Step S210 : Determine the fuzzy distance sequence to select a target base station from the initial target base stations, and locate the tag according to the communication data between each target base station and the tag.

[0101] Optionally, the above communication data is the base station identifier, fuzzy distance and message transmission timestamp of the target base station.

[0102] According to the above embodiment of the present application, in the above step S210, determining the fuzzy distance sequence to select the target base station from the initial target base stations may include: determining the target base station according to the fuzzy distance sequence using a third formula, wherein the third formula is: C i =d i *(RSS i -ASS i ), C i Indicates the impact value of the i-th signal strength, d i represents the i-th fuzzy distance, RSS i Indicates the strength of the i-th received signal, ASS i represents the i-th first path signal strength, i represents the i-th initial target base station; the base station whose signal strength impact value is greater than the signal strength impact threshold among the initial target base stations is selected as the target base station.

[0103] For example, after the tag receives the feedback message from each base station in turn, the receiving timestamp of the tag corresponds to a t1 , a t2 , a t3 ……a tn , record the clock offset frequency of the RF signal between the tag and the base station as f tag , according to the tag emission timestamp t tag1 and base station receiving timestamps t1, t2, t3...t n , and the base station sends timestamps tt1, tt2, tt3...tt n ; and according to the second formula above Calculate the fuzzy distance d1, d2, d3...d n , d i The larger the value, the farther the distance, and the greater the impact of NLOS. i -ASS i The NLOS occlusion measured by the chip. The larger the absolute difference, the more serious the occlusion. Therefore, the distance d i , received signal strength RSS i and the first signal strength ASS i The degree to which the signal quality is affected by NLOS can be comprehensively evaluated C i , the calculated NLOS impact trend C1, C2, C3...C nSort by large to small, then filter a second time to remove the larger values ​​and keep the four smallest C i The corresponding four base stations are the optimal base stations after comprehensive signal quality and distance, which are also the base stations we want to locate. This process is illustrated in conjunction with Figure 9, which is a schematic diagram of the second screening and filtering of tags in an embodiment of the present application. As shown in Figure 9, assuming that base stations 4 and 19 have a greater degree of NLOS impact, they need to be filtered out, and the remaining base stations 7, 8, 18, and 22 are the better positioning base stations.

[0104] According to the above embodiment of the present application, in the above step S210, the tag is positioned according to the communication data between each target base station and the tag, which may include: determining the tag broadcast message according to the base station identifier, fuzzy distance and message transmission timestamp of the target base station; setting the sending attribute of the tag broadcast message to delayed automatic sending; under delayed automatic sending, if the message transmission timestamp arrives, broadcast the tag broadcast message through the tag; and positioning the tag according to the communication data including the tag broadcast tag broadcast message.

[0105] Optionally, the delayed automatic transmission refers to automatic transmission when the transmission time is up, so that the tag can accurately control the transmission timestamp to facilitate the calculation and correction of the final distance.

[0106] As shown in Figure 3 above, after the above filtering process, the base station IDs that are not filtered will be written into the tag's broadcast data. The tag will then broadcast the data packet, and the base station will receive and identify whether it is filtered. The base stations that violate the filtering will participate in the positioning calculation, completing the base station's adaptive intelligent positioning.

[0107] Optionally, in this embodiment, the embodiment is described in conjunction with FIG10, which is a schematic diagram of the base station data that is finally screened after the tag broadcast in the embodiment of the present application. The tag determines the best four base stations, and then uses the best base station ID and the corresponding distance d i Write the tag to transmit the message and timestamp the transmission d ti The tag's transmission message is also written, and the tag is set to delay automatic transmission of the message. When the transmission time is up, the signal is automatically transmitted. The base station will then receive the data packet sent by the tag, and then determine whether the base station is the best signal base station. If not, the process ends. If so, the signal base station's reception timestamp is recorded as ttt1, and then the best signal base station corresponding to the tag's reception timestamp a is recorded. t1 , a t2 , a t3 , a t4 , the optimal signal base station receives the timestamp t1, t2, t ，t4，以及最优信号基站的发送时间戳tt1，tt2，tt3，tt4，和射频信号的时钟偏移ftag，按照第四公式( 其中，c为光速，i＝1,2,3,4)计算出标签到最优基站的距离为ds1，ds2，ds3，ds4，即可计算得到最优的四个基站，然后通过相关定位解算算法，即可解算得到精确的标签定位位置。

[0108] As can be seen from the above, in an embodiment of the present application, through the above steps, after the broadcast message is sent through the tag, the received signal strength sequence of each base station when the broadcast message is received is recorded; each base station is filtered according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain an initial target base station whose comprehensive signal strength is greater than the signal strength threshold, wherein the comprehensive signal strength is a signal strength determined based on the received signal strength and the first path signal strength of each base station; the tag receiving timestamp sequence of the feedback message sequence received by the tag is determined, and the RF signal clock offset frequency of the tag and the initial target base station is determined at the same time, wherein the feedback message sequence includes the base station receiving timestamp sequence of the broadcast message received fed back by each initial target base station to the tag; the fuzzy distance sequence is determined based on the transmission timestamp of the broadcast message, the tag receiving timestamp sequence, the base station receiving timestamp sequence, the feedback message sending timestamp sequence, and the RF signal clock offset frequency; the target base station is selected from the initial target base stations based on the fuzzy distance sequence, and the tag is located based on the communication data between each target base station and the tag, thereby achieving the purpose of adaptively selecting the signal with the minimum NLOS interference for positioning from the source, thereby achieving the technical effect of improving the UWB positioning accuracy under NLOS.

[0109] It is worth noting that in the embodiment of the present application, distributed base station group rapid traversal is used to achieve wireless clock synchronization. On this basis, the first screening and filtering is performed by receiving the tag signal through the base station, and the second fine screening and filtering is performed by judging the received base station data and evaluating the comprehensive signal quality through the tag. At the same time, the receiving timestamp and transmitting timestamp data required for positioning are obtained with minimal time consumption, and the intelligent adaptive positioning of the base station is quickly realized, which improves the positioning efficiency and positioning accuracy of the tag.

[0110] Therefore, the technical solution provided by the embodiment of the present application solves the technical problem that the UWB wireless radio frequency signal is easily affected by the environment when positioning the tag in actual applications in the prior art, which will cause a series of NLOS interferences and lead to low positioning accuracy.

[0111] Through the above steps S202 to S210, the communication process between the tag and the base station when the tag is positioned using the adaptive positioning method based on ultra-wideband technology can be obtained. The communication process between the tag and the base station in this embodiment is described below in conjunction with Figure 11. Figure 11 is a schematic diagram of the communication process between the tag and the base station in this embodiment of the present application. As shown in Figure 11, when the tag runs to the clock beat cycle, the tag will send a broadcast message. At this time, the tag records the sending timestamp t tag1After receiving the broadcast message, the base station performs a first round of filtering and records the corresponding reception timestamp t1 of the remaining base stations after filtering. The unfiltered base stations then send feedback message data back to the tag. The base station records the transmission timestamp tt1. The tag receives the base station's return message and also records the reception timestamp at1. The tag then performs a second round of filtering to determine the four optimal base stations. The optimal base station's ID and corresponding distance are written to the tag, and then the optimal base station message is transmitted to the base station. The tag records the transmission timestamp bt1. The base station receives the message from the tag and determines whether it is the optimal signal base station. If not, the process ends. If so, the signal base station's reception timestamp is recorded as ttt1. The distance from the tag to the optimal base station is then calculated. The base station then transmits a clock synchronization message. Finally, the optimal four base stations are calculated. Using the relevant positioning solution algorithm, the tag's precise positioning position can be determined.

[0112] During the communication process between the tag and the base station, the tag transmits twice, and the base station transmits three signals and one clock synchronization signal. This method realizes the process of intelligent adaptive positioning and screening of base stations with fewer communications. Through signal interaction and timestamp calculation, as well as two different filtering types, the final four base stations with the optimal signal quality are obtained, and finally the base station distance is calculated.

[0113] Through the above embodiments of the present application, the main problem is how to quickly screen base stations with excellent communication signal quality each time the tag is positioned, and then position with them. This method cleverly utilizes the UWB communication mechanism; specifically, all base stations are first wirelessly synchronized with the clock, and the accuracy is controlled at the ten us level, so that the tag can monitor the idle time slot, and both the tag and the base station can obtain the timestamps of the sent and received signals. While obtaining the timestamps, the signal quality can be obtained synchronously. The base station with the best signal is filtered out through two-way signal filtering between the tag and the base station, thereby reducing the NLOS impact from the source and improving the UWB positioning accuracy under NLOS; therefore, it has the following beneficial effects: 1). Improve the positioning accuracy of UWB positioning in an actual NLOS environment; 2). Quickly filter out base stations with poor signal quality to obtain base stations with excellent communication signal quality, reduce the time occupied by screening base stations, and improve the efficiency of base station screening.

[0114] It should be noted that for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0115] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, and of course it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0116] According to an embodiment of the present application, an adaptive positioning device based on ultra-wideband technology is also provided for implementing the above-mentioned adaptive positioning method based on ultra-wideband technology. Figure 12 is a schematic diagram of the adaptive positioning device based on ultra-wideband technology according to an embodiment of the present application. As shown in Figure 12, the device includes: a recording unit 121, an acquisition unit 123, a first determination unit 125, a second determination unit 127, and a third determination unit 129. The adaptive positioning device based on ultra-wideband technology is described in detail below.

[0117] The recording unit 121 is configured to record a received signal strength sequence of each base station when receiving the broadcast message after the broadcast message is sent via the tag;

[0118] an acquiring unit 123 configured to filter each base station based on a received signal strength sequence and a first path signal strength sequence of each base station to obtain an initial target base station having a comprehensive signal strength greater than a signal strength threshold, wherein the comprehensive signal strength is a signal strength determined based on the received signal strength and the first path signal strength of each base station;

[0119] A first determining unit 125 is configured to determine a tag reception timestamp sequence of a feedback message sequence received by the tag, and simultaneously determine a radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes a base station reception timestamp sequence of a broadcast message received as fed back by each initial target base station to the tag;

[0120] The second determining unit 127 is configured to determine an ambiguous distance sequence according to a transmission timestamp of the broadcast message, a tag reception timestamp sequence, a base station reception timestamp sequence, a feedback message transmission timestamp sequence, and a radio frequency signal clock offset frequency;

[0121] The third determining unit 129 is configured to determine the fuzzy distance sequence to select a target base station from the initial target base stations, and locate the tag according to the communication data between each target base station and the tag.

[0122] It should be noted here that the above-mentioned recording unit 121, acquisition unit 123, first determination unit 125, second determination unit 127, and third determination unit 129 correspond to steps S202 to S210 in the above-mentioned embodiment. The five units have the same instances and application scenarios as the corresponding steps, but are not limited to the contents disclosed in the above-mentioned embodiment.

[0123] From the above, it can be seen that in the scheme recorded in the above embodiment of the present application, the recording unit can be used to record the received signal strength sequence of each base station in each base station when the broadcast message is received after the broadcast message is sent through the tag; then the acquisition unit can be used to filter each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold, wherein the comprehensive signal strength is the signal strength determined based on the received signal strength and the first path signal strength of each base station; the first determination unit can also be used to determine the tag reception timestamp sequence of the feedback message column received by the tag, and at the same time determine the RF signal clock offset frequency of the tag and the initial target base station, Among them, the feedback message sequence includes the base station reception timestamp sequence of the broadcast message fed back by each initial target base station to the tag; then the second determination unit is used to determine the fuzzy distance sequence based on the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence and the radio frequency signal clock offset frequency; finally, the third determination unit is used to determine the fuzzy distance sequence to select the target base station from the initial target base stations, and the tag is positioned according to the communication data between each target base station and the tag, thereby achieving the purpose of adaptively selecting the signal with the minimum NLOS interference for positioning from the source, thereby achieving the technical effect of improving the UWB positioning accuracy under NLOS.

[0124] Therefore, the technical solution provided by the embodiment of the present application solves the technical problem that the UWB wireless radio frequency signal is easily affected by the environment when positioning the tag in actual applications in the prior art, which will cause a series of NLOS interferences and lead to low positioning accuracy.

[0125] Optionally, the recording unit also includes: an allocation module for allocating a base station identifier to each base station before sending a broadcast message through a tag, wherein the base station identifier is used to uniquely identify the base station; a grouping module for grouping each base station according to a predetermined grouping form based on the base station identifier to obtain a base station group, wherein the predetermined grouping form is at least: a matrix form.

[0126] Optionally, the recording unit also includes: a first acquisition module, used to select a base station as a reference base station from each base station group after sending a broadcast message through a tag to obtain a reference base station sequence; a first selection module, used to select a base station as a target reference base station from the reference base station sequence; a synchronization module, used to start from the target reference base station and use the target reference base station as the clock synchronization standard to perform preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station.

[0127] Optionally, the synchronization module includes: a sending submodule, which is used to use the next-level reference base station adjacent to the target reference base station among other reference base stations of the target reference base station to send a wireless clock synchronization message signal to perform clock synchronization on the next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1; a determining submodule, which is used to use the next-level reference base station to send a synchronization message to the next-next-level reference base station adjacent to the next-next-level reference base station among other reference base stations to perform clock synchronization on the next-next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1, and repeat the clock synchronization operation until the clock synchronization message is transmitted to the last one of the other reference base stations to determine that each base station has completed the initial synchronization operation.

[0128] Optionally, the determination submodule further includes: a first synchronization submodule, configured to perform clock synchronization on other base stations in each base station group except the reference base station using the reference base station in each base station group after determining that each base station completes the initial synchronization operation.

[0129] Optionally, the determination submodule also includes: a first selection submodule, used to select some base station groups in each base station group as reference base station groups after determining that each of the base stations has completed the initial synchronization operation; a second selection submodule, used to select at least one base station from each of each reference base station group as a reference base station; an acquisition submodule, used to classify each reference base station to obtain a reference base station group; a second synchronization submodule, used to send clock synchronization messages to the reference base stations in each reference base station group in turn, so as to use the clock synchronization messages to perform clock synchronization on the reference base stations in each reference base station group; a third synchronization submodule, used to use the reference base stations in each reference base station group to perform clock synchronization on other base stations in each reference base station group after the reference base stations in each reference base station group have completed clock synchronization.

[0130] Optionally, the recording unit includes: a monitoring module for monitoring the wireless clock synchronization signal through the tag; a first determination module for using the tag to determine the clock beat cycle initiated by the tag positioning based on the wireless clock synchronization signal and the base station identifier of the tag; a recording module for initiating a broadcast message and recording the transmission timestamp when the tag runs to the clock beat cycle.

[0131] Optionally, the acquisition unit includes at least one of the following: a second determination module, configured to determine the integrated signal strength sequence using a first formula, wherein the first formula is: k n =RSS n +10*(RSS n -ASS n -6), k n Indicates the comprehensive signal strength, RSS n Indicates the received signal strength in the received signal strength sequence, ASS n represents the first path signal strength in the first path signal strength sequence, and n represents the signal strength when the nth base station receives the broadcast information; the second acquisition module is used to compare each of the comprehensive signal strength sequence with the signal strength threshold to filter each base station and obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold.

[0132] Optionally, the acquisition unit also includes at least one of the following: a first filtering module, used to determine a signal strength difference sequence based on the received signal strength sequence and the first path signal strength sequence of each base station, compare each of the signal strength difference sequences with the first predetermined signal strength, and filter out base stations among the base stations whose signal strength difference is greater than the first predetermined signal strength; a second filtering module, used to filter out base stations among the base stations whose received signal strength is less than a second predetermined signal threshold.

[0133] Optionally, the second determination unit includes: a third determination module, configured to determine the fuzzy distance according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence, and the radio frequency signal clock offset frequency using a second formula, wherein the second formula is: d i represents the i-th fuzzy distance, at i Indicates the timestamp of the i-th tag receiving, t tag1 Indicates the emission timestamp, tt i Indicates the i-th sending timestamp, t i Indicates the receiving timestamp of the i-th base station, f tag represents the RF signal clock offset frequency, c represents the speed of light, and i represents the i-th initial target base station; a fourth determination module is used to determine that the multiple fuzzy distances calculated by the second formula are a fuzzy distance sequence.

[0134] Optionally, the third determining unit includes: a fifth determining module, configured to determine the target base station according to the fuzzy distance sequence using a third formula, wherein the third formula is: C i =d i *(RSS i -ASS i ), Ci Indicates the impact value of the i-th signal strength, d i represents the i-th fuzzy distance, RSS i Indicates the strength of the i-th received signal, ASS i represents the i-th first path signal strength, and i represents the i-th initial target base station; the second selection module is used to select a base station whose signal strength impact value is greater than the signal strength impact threshold among the initial target base stations as the target base station.

[0135] Optionally, the third determination unit includes: a sixth determination module, used to determine the tag broadcast message based on the base station identifier, fuzzy distance and message transmission timestamp of the target base station; a setting module, used to set the sending attribute of the tag broadcast message to delayed automatic sending; a broadcast module, used to broadcast the tag broadcast message through the tag if the message transmission timestamp arrives under the setting module; a positioning module, used to locate the tag based on the communication data including the tag broadcast tag broadcast message.

[0136] According to another aspect of an embodiment of the present application, an adaptive positioning system based on ultra-wideband technology is further provided, including: the adaptive positioning system based on ultra-wideband technology uses any of the above-mentioned adaptive positioning methods based on ultra-wideband technology.

[0137] According to another aspect of an embodiment of the present application, a computer-readable storage medium is further provided, including: the computer-readable storage medium includes a stored program, wherein the program executes any one of the adaptive positioning methods based on ultra-wideband technology.

[0138] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the communication devices in a communication device group.

[0139] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: after sending a broadcast message through a tag, recording a received signal strength sequence of each base station in each base station when receiving the broadcast message; filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold, wherein the comprehensive signal strength is a signal strength determined based on the received signal strength and the first path signal strength of each base station; determining a tag reception timestamp sequence of a feedback message column received by the tag, and simultaneously determining a radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes a base station reception timestamp sequence of the broadcast message received that is fed back by each initial target base station to the tag; determining a fuzzy distance sequence based on the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the transmission timestamp sequence of the feedback message, and the radio frequency signal clock offset frequency; determining a target base station from the initial target base stations after determining the fuzzy distance sequence, and locating the tag based on the communication data between each target base station and the tag.

[0140] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: before sending a broadcast message through a tag, it also includes: assigning a base station identifier to each base station, wherein the base station identifier is used to uniquely identify the base station; grouping each base station according to a predetermined grouping form based on the base station identifier to obtain a base station group, wherein the predetermined grouping form is at least: a matrix form.

[0141] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: before sending the broadcast message through the tag, it also includes: selecting a base station from each of the base station groups as a reference base station to obtain a reference base station sequence; selecting a base station from the reference base station sequence as a target reference base station; starting from the target reference base station, using the target reference base station as the clock synchronization standard to perform preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station.

[0142] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: starting from the target reference base station, performing preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station using the target reference base station as the clock synchronization standard, including: using the next-level reference base station adjacent to the target reference base station among other reference base stations of the target reference base station to send a wireless clock synchronization message signal to perform clock synchronization on the next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1; using the next-level reference base station to send a synchronization message to the next-next-level reference base station adjacent to the next-level reference base station among other reference base stations to perform clock synchronization on the next-next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1, repeating the clock synchronization operation until the clock synchronization message is transmitted to the last one of the other reference base stations, and determining that each base station has completed the initial synchronization operation.

[0143] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: after determining that each base station has completed the initial synchronization operation, it also includes: using the reference base station in each base station group to synchronize the clocks of other base stations in each base station group except the reference base station.

[0144] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: after determining that each base station has completed the initial synchronization operation, it also includes: selecting some base station groups in each base station group as reference base station groups; selecting at least one base station from each of each reference base station group as a reference base station; dividing each reference base station into levels to obtain a reference base station group; sending clock synchronization messages to the reference base stations in each reference base station group in turn, so as to synchronize the clocks of the reference base stations in each reference base station group using the clock synchronization messages; after the reference base stations in each reference base station group have completed clock synchronization, using the reference base stations in each reference base station group to synchronize the clocks of other base stations in each reference base station group.

[0145] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: sending a broadcast message through a tag, including: monitoring a wireless clock synchronization signal through the tag; using the tag to determine a clock beat cycle initiated by tag positioning based on the wireless clock synchronization signal and the base station identifier of the tag; when the tag runs to the clock beat cycle, initiating a broadcast message and recording a transmission timestamp.

[0146] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold, including at least one of the following: determining the comprehensive signal strength sequence by a first formula, wherein the first formula is: k n =RSS n +10*(RSS n -ASS n -6), k n Indicates the comprehensive signal strength, RSS n Indicates the received signal strength in the received signal strength sequence, ASS n represents the first path signal strength in the first path signal strength sequence, and n represents the signal strength when the nth base station receives the broadcast information; each base station in the comprehensive signal strength sequence is compared with the signal strength threshold to filter each base station and obtain the initial target base station whose comprehensive signal strength is greater than the signal strength threshold.

[0147] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: filtering each base station according to the received signal strength sequence and the first path signal strength sequence of each base station, and also including at least one of the following: determining a signal strength difference sequence according to the received signal strength sequence and the first path signal strength sequence of each base station, comparing each of the signal strength difference sequences with the first predetermined signal strength, filtering out base stations among the base stations whose signal strength difference is greater than the first predetermined signal strength; filtering out base stations among the base stations whose received signal strength is less than a second predetermined signal threshold.

[0148] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: determining an ambiguous distance sequence based on a broadcast message transmission timestamp, a tag reception timestamp sequence, a base station reception timestamp sequence, a feedback message transmission timestamp sequence, and a radio frequency signal clock offset frequency, including: determining an ambiguous distance based on a broadcast message transmission timestamp, a tag reception timestamp sequence, a base station reception timestamp sequence, a feedback message transmission timestamp sequence, and a radio frequency signal clock offset frequency using a second formula, wherein the second formula is: d i represents the i-th fuzzy distance, at i Indicates the timestamp of the i-th tag receiving, t tag1 Indicates the emission timestamp, tt i Indicates the i-th sending timestamp, t i Indicates the receiving timestamp of the i-th base station, f tagrepresents the RF signal clock offset frequency, c represents the speed of light, and i represents the i-th initial target base station; the multiple fuzzy distances calculated by the second formula are determined to be a fuzzy distance sequence.

[0149] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: determining the fuzzy distance sequence to select a target base station from the initial target base stations, comprising: determining the target base station according to the fuzzy distance sequence using a third formula, wherein the third formula is: C i =d i *(RSS i -ASS i ), C i Indicates the impact value of the i-th signal strength, d i represents the i-th fuzzy distance, RSS i Indicates the strength of the i-th received signal, ASS i represents the i-th first path signal strength, i represents the i-th initial target base station; the base station whose signal strength impact value is greater than the signal strength impact threshold among the initial target base stations is selected as the target base station.

[0150] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for performing the following steps: locating the tag based on the communication data between each target base station and the tag, including: determining the tag broadcast message based on the base station identifier, fuzzy distance and message transmission timestamp of the target base station; setting the sending attribute of the tag broadcast message to delayed automatic sending; under delayed automatic sending, if the message transmission timestamp arrives, broadcast the tag broadcast message through the tag; locating the tag based on the communication data including the tag broadcast tag broadcast message.

[0151] According to another aspect of an embodiment of the present application, a processor is further provided, which is used to run a program, wherein when the program is run, any one of the adaptive positioning methods based on ultra-wideband technology is executed.

[0152] The serial numbers of the above embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0153] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0154] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0155] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0156] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0157] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0158] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. An adaptive positioning method based on ultra-wideband technology, comprising: After sending the broadcast message through the tag, recording the received signal strength sequence when each of the base stations receives the broadcast message; Filtering each of the base stations according to the received signal strength sequence and the first path signal strength sequence of each of the base stations to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold, wherein the comprehensive signal strength is a signal strength determined according to the received signal strength and the first path signal strength of each of the base stations; Determine a tag receiving timestamp sequence of a feedback message column received by the tag, and simultaneously determine a radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes a base station receiving timestamp sequence of the broadcast message received and fed back by each of the initial target base stations to the tag; Determine an ambiguous distance sequence according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence and the radio frequency signal clock offset frequency; The fuzzy distance sequence is determined to select a target base station from the initial target base stations, and the tag is positioned according to the communication data between each of the target base stations and the tag.

2. The adaptive positioning method based on ultra-wideband technology according to claim 1, wherein: Before sending a broadcast message via a tag, also include: Allocating a base station identifier to each of the base stations, wherein the base station identifier is used to uniquely identify the base station; The base stations are grouped in a predetermined grouping form based on the base station identifiers to obtain a base station group, wherein the predetermined grouping form is at least a matrix form.

3. The adaptive positioning method based on ultra-wideband technology according to claim 2, wherein: Also includes: Selecting a base station from each of the base station groups as a reference base station to obtain a reference base station sequence; Selecting a base station from the reference base station sequence as a target reference base station; Starting from the target reference base station, preliminary clock synchronization is performed on other reference base stations in the reference base station sequence except the target reference base station using the target reference base station as a clock synchronization standard.

4. The adaptive positioning method based on ultra-wideband technology according to claim 3, wherein: Starting from the target reference base station, performing preliminary clock synchronization on other reference base stations in the reference base station sequence except the target reference base station using the target reference base station as a clock synchronization standard, including: Using a next-level reference base station adjacent to the target reference base station among the other reference base stations of the target reference base station to send a wireless clock synchronization message signal to synchronize the clock of the next-level reference base station, and automatically increase the level of the wireless clock synchronization message signal by 1; The next-level reference base station is used to send a synchronization message to the next-level reference base station adjacent to the other reference base stations to perform clock synchronization on the next-level reference base station, and the level of the wireless clock synchronization message signal is automatically increased by 1, and the clock synchronization operation is repeated until the clock synchronization message is transmitted to the last one of the other reference base stations, so as to determine that each of the base stations has completed the initial synchronization operation.

5. The adaptive positioning method based on ultra-wideband technology according to claim 4, wherein: After determining that each of the base stations completes the initial synchronization operation, the method further includes: The reference base station in each of the base station groups is used to perform clock synchronization on other base stations in each of the base station groups except the reference base station.

6. The adaptive positioning method based on ultra-wideband technology according to claim 4, wherein: After determining that each of the base stations completes the initial synchronization operation, the method further includes: selecting some base station groups among the base station groups as reference base station groups; Selecting at least one base station from each of the reference base station groups as a reference base station; Classifying the reference base stations into different levels to obtain a reference base station group; Sending clock synchronization messages to the reference base stations in each reference base station group in turn, so as to synchronize the clocks of the reference base stations in each reference base station group using the clock synchronization messages; After the reference base stations in each of the reference base station groups complete clock synchronization, the reference base stations in each of the reference base stations are used to perform clock synchronization on other base stations in each of the reference base stations.

7. The adaptive positioning method based on ultra-wideband technology according to claim 6, wherein: Send broadcast messages via tags, including: Monitoring a wireless clock synchronization signal via the tag; Determine the clock beat period initiated by the tag positioning according to the wireless clock synchronization signal and the base station identifier of the tag by using the tag; When the tag runs to the clock beat cycle, the broadcast message is initiated and the transmission timestamp is recorded.

8. The adaptive positioning method based on ultra-wideband technology according to claim 1, wherein: Filtering each of the base stations according to the received signal strength sequence and the first path signal strength sequence of each of the base stations to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold includes at least one of the following: The integrated signal strength sequence is determined by a first formula, wherein the first formula is: n =RSS n +10*(RSS n -ASS n -6), k n Represents the comprehensive signal strength, RSS n represents the received signal strength in the received signal strength sequence, ASS n represents the first path signal strength in the first path signal strength sequence, and n represents the signal strength when the nth base station receives the broadcast information; Each of the integrated signal strength sequences is compared with the signal strength threshold to filter the base stations to obtain the initial target base stations whose integrated signal strength is greater than the signal strength threshold.

9. The adaptive positioning method based on ultra-wideband technology according to claim 1, wherein: Filtering each of the base stations according to the received signal strength sequence and the first path signal strength sequence of each of the base stations further includes at least one of the following: Determine a signal strength difference sequence according to the received signal strength sequence and the first path signal strength sequence of each base station, compare each of the signal strength difference sequences with a first predetermined signal strength, and filter out base stations among the base stations whose signal strength difference is greater than the first predetermined signal strength; The base stations whose received signal strength is less than a second predetermined signal threshold are filtered out.

10. The adaptive positioning method based on ultra-wideband technology according to claim 1, wherein: Determining the fuzzy distance sequence according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence and the radio frequency signal clock offset frequency, including: The fuzzy distance is determined by a second formula according to the transmission timestamp of the broadcast message, the tag reception timestamp sequence, the base station reception timestamp sequence, the feedback message transmission timestamp sequence and the RF signal clock offset frequency, wherein the second formula is: d i represents the i-th fuzzy distance, at i Indicates the timestamp of the i-th tag receiving, t tag1 represents the emission timestamp, tt i represents the i-th sending timestamp, t i represents the receiving timestamp of the i-th base station, f tag Indicates the radio frequency Signal clock offset frequency, c represents the speed of light, and i represents the i-th initial target base station; The plurality of fuzzy distances calculated by the second formula are determined to be the fuzzy distance sequence.

11. The adaptive positioning method based on ultra-wideband technology according to claim 1, wherein: Determining the fuzzy distance sequence to select a target base station from the initial target base stations includes: The target base station is determined according to the fuzzy distance sequence by a third formula, wherein the third formula is: C i =d i *(RSS i -ASS i ), C i Indicates the influence value of the i-th signal strength, d i represents the i-th fuzzy distance, RSS i Indicates the strength of the i-th received signal, ASS i represents the signal strength of the i-th first path, and i represents the i-th initial target base station; A base station whose signal strength impact value is greater than a signal strength impact threshold value among the initial target base stations is selected as the target base station.

12. The adaptive positioning method based on ultra-wideband technology according to claim 1, wherein: Positioning the tag according to the communication data between each target base station and the tag includes: Determine the tag broadcast message according to the base station identifier, fuzzy distance and message transmission timestamp of the target base station; Set the sending attribute of the tag broadcast message to delayed automatic sending; Under the delayed automatic sending, if the message transmission timestamp arrives, the tag broadcast message is broadcasted through the tag; The tag is positioned according to the communication data of the tag broadcast message broadcast by the tag.

13. An adaptive positioning device based on ultra-wideband technology, comprising: a recording unit configured to record, after sending the broadcast message through the tag, a received signal strength sequence when each of the base stations receives the broadcast message; an acquisition unit, configured to filter each of the base stations according to the received signal strength sequence and the first path signal strength sequence of each of the base stations, to obtain an initial target base station whose comprehensive signal strength is greater than a signal strength threshold, wherein the comprehensive signal strength is a signal strength determined according to the received signal strength and the first path signal strength of each of the base stations; The first determining unit is configured to determine a tag receiving timestamp sequence of a feedback message column received by the tag, and determine a radio frequency signal clock offset frequency of the tag and the initial target base station, wherein the feedback message sequence includes the timestamp of each initial target base station receiving the broadcast message fed back to the tag. The base station receives the time stamp sequence; A second determining unit is configured to determine an ambiguous distance sequence according to a transmission timestamp of the broadcast message, a tag reception timestamp sequence, a base station reception timestamp sequence, a feedback message transmission timestamp sequence, and a radio frequency signal clock offset frequency; The third determination unit is configured to determine the fuzzy distance sequence to select a target base station from the initial target base stations, and locate the tag according to the communication data between each of the target base stations and the tag.

14. An adaptive positioning system based on ultra-wideband technology, wherein the adaptive positioning system based on ultra-wideband technology uses the adaptive positioning method based on ultra-wideband technology according to any one of claims 1 to 12.

15. A computer-readable storage medium comprising a stored program, wherein: The program executes the adaptive positioning method based on ultra-wideband technology as described in any one of claims 1 to 12.

16. A processor for running a program, wherein: When the program is running, the adaptive positioning method based on ultra-wideband technology described in any one of claims 1 to 12 is executed.

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