Self-moving device positioning method and apparatus, and readable storage medium

Abstract

A self-moving device positioning method and apparatus, and a readable storage medium, relating to the technical field of self-moving device positioning. The method comprises: on the basis of first environmental position data of a positioning tag in a map coordinate system, determining second environmental position data of a self-moving device in the map coordinate system, wherein the map coordinate system is generated on the basis of position coordinates of a positioning base station (S10); and positioning the self-moving device by fusing the second environmental position data and first machine body position data of the self-moving device in a device coordinate system, wherein the first machine body position data is acquired by a positioning sensor (S20).

Description

Method, device and readable storage medium for positioning self-mobile equipment

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on October 31, 2023, with application number 202311441202.5, and invention name “Method, device, equipment and readable storage medium for positioning of mobile equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of self-mobile device positioning, and in particular to a self-mobile device positioning method, device and readable storage medium. Background Art

[0003] When a self-mobile device needs to be positioned in indoor and outdoor scenarios, some self-mobile devices will directly use a wheel speed meter and a gyroscope as positioning sensors. However, this positioning method can only provide direction information on a coordinate system related to the self-mobile device itself, but cannot provide direction information related to the external environment. In addition, the errors generated during the positioning process will be accumulated, resulting in a gradual increase in positioning errors. Some self-mobile devices will use a UWB (Ultra Wide-Band) positioning system, which is located by setting up a base station in the environment and calculating the position of the self-mobile device relative to the base station. Although the UWB positioning system has a wide range of applicable scenarios, high positioning accuracy, and a small amount of calculation, this method is only applicable in areas surrounded by base stations and without large obstacles. When the self-mobile device is close to a wall or some large objects, the UWB signal is not sufficiently penetrable, which may cause certain interference to the positioning results of the UWB positioning system. Therefore, the inventors realized that when a self-mobile device uses a positioning device to obtain location information, it is prone to ranging errors or large positioning errors, resulting in low positioning accuracy of the self-mobile device positioning system.

[0004] The above content is only used to assist in understanding the technical solution of this application and does not constitute an admission that the above content is prior art.

[0005] Summary of the Invention

[0006] The main purpose of this application is to provide a method, device and readable storage medium for positioning a self-moving device, aiming to solve the technical problem that the existing UWB positioning system is prone to ranging errors near large obstacles, resulting in low working safety of the self-moving device and reduced positioning accuracy.

[0007] To achieve the above objectives, the present application provides a method for positioning a self-moving device, which is applied to a UWB positioning system. The UWB positioning system is provided with a self-moving device, a positioning sensor, a positioning tag, and at least one positioning base station. The method for positioning a self-moving device includes:

[0008] Determining second environmental position data of the mobile device in a map coordinate system according to the first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on the position coordinates of the positioning base station;

[0009] The self-mobile device is positioned by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by the positioning sensor.

[0010] Furthermore, to achieve the above objectives, a self-moving device is provided, wherein the self-moving device comprises: a vehicle head, a vehicle body, a positioning device, a memory, one or more processors, and a self-moving device positioning program stored in the memory and executable on the one or more processors, wherein the vehicle head is detachably connected to the vehicle body, the positioning device, the memory, and the one or more processors are disposed on the vehicle body, and the self-moving device positioning program is configured to implement the following steps:

[0011] Determining second environmental position data of the mobile device in a map coordinate system based on first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on position coordinates of the positioning base station;

[0012] The self-mobile device is positioned by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by a positioning sensor.

[0013] The present application further provides a readable storage medium, wherein the readable storage medium stores a self-mobile device positioning program, and when the self-mobile device positioning program is executed by one or more processors, the following steps are implemented:

[0014] Determining second environmental position data of the mobile device in a map coordinate system based on first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on position coordinates of the positioning base station;

[0015] The self-mobile device is positioned by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by a positioning sensor.

[0016] The present application provides a method for positioning a self-mobile device. The present application determines the second environmental position data of the self-mobile device in the map coordinate system based on the first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on the position coordinates of the positioning base station; and positions the self-mobile device by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by the positioning sensor.

[0017] The present application uses a UWB positioning system for positioning. When a mobile device is positioned using the UWB positioning system, a map coordinate system is first generated based on the position coordinates of each positioning base station, and first environmental position data of each tag in the map coordinate system is determined. Second environmental position data of the mobile device in the map coordinate system is determined from the first environmental position data. A positioning sensor is added, and the positioning sensor determines first body position data of the mobile device in the device coordinate system. The second environmental position data is fused and calculated with the first body position data obtained by the positioning sensor to thereby position the mobile device. Since each positioning base station in the environment and the positioning tag fixed on the mobile device can provide the position data of the mobile device, and the positioning sensor is added to fuse the position data obtained by the tag, the positioning accuracy is improved and the impact of environmental factors on the positioning accuracy is reduced. Therefore, the technical defect that when the mobile device is positioned in a complex environment, the UWB signal has weak penetration, which leads to a decrease in positioning accuracy, a large ranging error, and a collision of the mobile device and other safety issues is overcome. Therefore, the positioning accuracy of the positioning system of the mobile device is improved.

[0018] The details of one or more embodiments of the disclosure are set forth in the accompanying drawings and the description below, and other features and advantages of the disclosure will be apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0021] FIG1 is a flow chart of a method for positioning a mobile device according to an embodiment of the present invention;

[0022] FIG2 is a schematic diagram of the installation positions of the positioning tags and base stations provided in Example 1 of the method for positioning a mobile device of the present application;

[0023] FIG3 is a schematic diagram showing the relationship between the device coordinate system and the map coordinate system provided in the first embodiment of the method for positioning a mobile device of the present application.

[0024] FIG4 is a flow chart of a second embodiment of a method for positioning a mobile device according to the present invention;

[0025] FIG5 is a flow chart of the method for locating a mobile device of the present invention for obtaining the location of a positioning tag and the location of the mobile device;

[0026] FIG6 is a flow chart showing two fusion processes of the positioning method of a mobile device according to the present application;

[0027] FIG7 is a schematic diagram of the module structure of a UWB positioning system provided in Example 2 of the method for positioning a mobile device of the present application;

[0028] FIG8 is a schematic diagram of the module structure of the positioning device according to an embodiment of the present application;

[0029] FIG9 is a schematic diagram of the device structure of the hardware operating environment involved in the method for positioning a mobile device in an embodiment of the present application.

[0030] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0031] To make the above-mentioned purposes, features, and advantages of the present application more clearly understood, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making any creative work are within the scope of protection of this application.

[0032] Example 1

[0033] With the continuous development of technology, more and more autonomous mobile devices are no longer limited to working in a small range indoors, but can move and work accurately both indoors and outdoors.

[0034] When a mobile device is working indoors or outdoors, in order to move and work more safely and accurately, it is necessary to obtain the current position and movement direction of the mobile device through a positioning device, and determine the next working position and direction to avoid collisions.

[0035] Conventional positioning systems for mobile devices typically include wheel speed meters, global navigation satellite systems (GNSS), simultaneous localization and mapping (SLAM), and ultra-wideband (UWB) communication positioning systems. Wheel speed meters calculate wheel speed and integrate it with the angular velocity from a gyroscope to obtain the position coordinates and direction information of the mobile device. Wheel speed meters have low positioning costs and can obtain relatively accurate positioning values ​​in a short period of time. However, during the positioning process, the positioning errors generated by the wheel speed meter and gyroscope are accumulated, causing the positioning error to gradually increase. GNSS methods receive signals from geosynchronous satellites to obtain the distance between the mobile device and the satellites, and then further calculate the longitude and latitude of the mobile device on Earth to obtain centimeter-level position information. However, GNSS methods are suitable for open outdoor scenes. GNSS positioning accuracy is low indoors or in scenes with severe overhead obstruction. SLAM uses a camera to capture video or continuous images, compares two adjacent frames to determine the deviation of specific points, and then estimates the camera's displacement and velocity based on this deviation. Closed-loop detection is then performed, and the accumulated errors are processed to form a map before coordinates are determined through image matching. While SLAM is immune to wheel slip, it requires significant computing resources and is prone to failure when there are many similar scenes, significant lighting variations, or significant changes in the scene landscape. UWB communication positioning systems measure the time difference between signal transmission between a base station and a rover to determine the distance between them. By determining the distance between a rover and three or more base stations, its position relative to the base stations can be calculated. While UWB positioning offers high accuracy and minimal computational effort when the signal is strong, it is only effective within the area enclosed by the base stations. Ranging errors can occur when the device is close to walls or other large objects, resulting in "blind spots" with poor positioning accuracy near walls and obstacles.

[0036] In addition, the wheel speed meter and gyroscope obtain the direction information of the mobile device itself, but cannot provide direction information related to the external environment. GNSS or UWB calculates the current direction by recording the change in position of the mobile device after moving a certain distance. However, this method is usually suitable for situations with good ground conditions. In scenes where slipping is easy or walking is difficult, the speed of obtaining correct direction information from the mobile device is slow.

[0037] Based on this, the present application proposes a first embodiment of a method for positioning a self-moving device, referring to FIG1 . The method for positioning a self-moving device includes:

[0038] Step S10: determining the second environmental position data of the mobile device in the map coordinate system according to the first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on the position coordinates of the positioning base station;

[0039] Step S20: Positioning the self-mobile device by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by the positioning sensor.

[0040] It should be noted that the self-mobile device includes a positioning device, which refers to a device composed of a positioning tag and a positioning sensor, and is used to obtain all positioning data of the self-mobile device. The first body position data obtained comes from the positioning sensor installed on the self-mobile device. The positioning sensor is used to obtain the center position and moving direction of the self-mobile device. Specifically, it can be composed of a wheel speed meter and an IMU module (Inertial Measurement Unit), and the first body position data includes the position data and angular data of the self-mobile device. The first environmental position data obtained is data obtained by calculating the position of the positioning tag installed on the self-mobile device by the UWB positioning system. Specifically, two positioning tags can be installed on the self-mobile device. When determining the position coordinates of the self-mobile device, the position coordinates of the two positioning tags installed on the self-mobile device, that is, the first environmental position data, must be obtained respectively.

[0041] In addition, it should be noted that the positioning base station is used to receive and estimate the measurement signal sent from the tag, and can be specifically installed in the working area of ​​the self-mobile device. Since the UWB positioning device sends the measurement signal to each base station through the tag, the distance between the tag and the base station is determined according to the time taken by the measurement signal to reach each base station, and the distance between the base stations is determined by comparing the time difference of the measurement signal reaching each base station. Therefore, the tag installed on the self-mobile device can output the distance between the tag and all base stations, as well as the distance between the base stations. In addition, the map coordinate system (O map , x map ,y map ) is used to determine the position of the self-mobile device in the working area. It is established based on the positional relationship between base stations. Specifically, based on the position of the base station in the map coordinate system and the distance between the tag and the base station, the coordinates of each tag at any time can be calculated using the least squares positioning method. For example, in one possible implementation, two tags are installed on the self-mobile device, and there are four base stations in the working area of ​​the self-mobile device. The distance between the tag and the base station is represented by r, the tag is represented by T, the base station is represented by B, k represents the kth tag, k = {0, 1}, and r_T can be read.k B0, r_T k B1, r_T k B2, r_T k B3, as well as r_B0B1, r_B0B2, r_B0B3, r_B1B2, r_B1B3, r_B2B3.

[0042] In addition, it should be noted that the device coordinate system is used to represent the installation position of the driving wheel and the positioning tag on the self-moving device. The installation position is represented by the coordinate value on the device coordinate system. For example, the device coordinate system is a coordinate system fixedly connected to the self-moving device, with the motion center of the self-moving device as the origin, the straight-line forward direction of the self-moving device as the x-axis, the z-axis is perpendicular to the horizontal plane and upward, and the y-axis direction satisfies the right-hand rule.

[0043] In addition, it should be noted that a directional antenna is installed on the positioning base station, while an omnidirectional antenna is installed on the positioning tag. A directional antenna refers to an antenna that transmits and receives electromagnetic waves with particularly strong intensity in one or several specific directions, while transmitting and receiving electromagnetic waves in other directions is zero or extremely small. The directional antenna appears as radiation within a certain angle range in the horizontal pattern, and the directional antenna can suppress potential interference signals and reduce the intensity of noise signals reflected near obstacles. The omnidirectional antenna refers to an antenna that radiates uniformly 360° in the horizontal pattern, usually without directionality, and generally does not have a signal transmission dead spot. The directional antenna is installed on the base station, and the omnidirectional antenna is installed on the tag.

[0044] The present application uses a UWB positioning system for positioning. When locating a mobile device, the UWB positioning system first generates a map coordinate system based on the position coordinates of each positioning base station, determines first environmental position data of each tag in the map coordinate system, and determines second environmental position data of the mobile device in the map coordinate system from the first environmental position data. A positioning sensor is then added to determine first body position data of the mobile device in the device coordinate system. The second environmental position data is then fused with the first body position data obtained by the positioning sensor to locate the mobile device. Since each positioning base station in the environment and the positioning tags fixed to the mobile device can provide the location data of the mobile device, the addition of the positioning sensor to fuse the location data obtained by the tags improves positioning accuracy and reduces the impact of environmental factors on positioning accuracy. Therefore, the present application overcomes the technical defect that when a mobile device is performing recharging positioning and walking near a wall or large object, the UWB signal has weak penetration, which can lead to decreased positioning accuracy, large ranging errors, and safety issues such as collisions of the mobile device. Therefore, the positioning accuracy of the positioning system for mobile device positioning is improved.

[0045] In a possible implementation, the step of generating a map coordinate system according to the position coordinates of each positioning base station includes:

[0046] Step A10, constructing at least one preselected map coordinate system with each of the positioning base stations as the origin center;

[0047] Step A20, converting the position coordinates of each positioning base station in each preselected map coordinate system to obtain the center coordinates of each positioning base station;

[0048] Step A30: Generate the map coordinate system according to the center coordinates.

[0049] It should be noted that when there are multiple base stations in the working area, each base station needs to be used as the origin to establish a coordinate system. Therefore, more than one map coordinate system will be constructed, that is, multiple pre-selected map coordinate systems. One of the multiple pre-selected coordinate systems is selected as the reference coordinate system, and the base station coordinates obtained in each pre-selected map coordinate system are converted to the reference coordinate system. Since there will be more than one coordinate position of each base station, it is necessary to select the center position of the multiple coordinate positions and establish a map coordinate system based on the determined center position.

[0050] For example, in order to help understand the technical concept or technical principle of the present application, please refer to Figure 2, which provides a schematic diagram of the installation position of tags and base stations. Assuming that there are four base stations in total, there are two tags with omnidirectional antennas, and they are fixed on the self-moving device. The distance between the two tags needs to be as large as possible, such as tag T0 and tag T1 in Figure 2. The base stations are placed around the working area of ​​the self-moving device. It is necessary to avoid placing all the base stations in the same straight line, such as B0, B1, B2 and B3 in Figure 2. The signal transmission direction of the base station is all directed to the center of the area surrounded by the base station. The distance between base stations and between base stations and tags does not exceed 100m, and there is as little obstruction as possible between base stations and between base stations and tags.

[0051] As an example, a base station may specifically include a UWB positioning device, a directional antenna with a horizontal beam width of <90 degrees, a battery, and a power supply circuit. Assuming that there are four base stations in total, and any three base stations arranged counterclockwise are known, such as B0, B1, and B2, where the distances between B0, B1, and B2 are r_B0B1, r_B0B2, and r_B1B2, respectively, a set of coordinates can be determined by the trigonometric relationship between the base stations, that is, let the coordinates of base station B0 be the origin (0,0), and the line connecting B0 and B1 be the x-axis, then the coordinates of B1 are (r_B0B1,0), and the coordinates of B2 (x2, y2) can be obtained as x2 = r_B0B2 × cos(α) y2 = r_B0B2 × sin(α)

[0052] Among them, α = ∠B1B0B2, which can be determined by the cosine theorem. In this way, a map coordinate system is determined by three base stations. Since there are four base stations in total, any three arranged base stations are selected from the four base stations to establish a map coordinate system and determine the position coordinates of the base stations. A total of four selected map coordinate systems can be obtained, among which one of the base stations is used as the origin, and the map coordinate system constructed by the origin and another base station is used as the reference coordinate system. The calculation results of the remaining three coordinate systems for the base station can be transformed to the reference coordinate system through translation and rotation. Due to the existence of ranging errors, each base station can obtain three calculation results, and the center point of the three calculation results of each base station is used as the final positioning result of the base station.

[0053] For example, in order to help understand the technical concept or technical principle of the present application, please refer to Figure 3. Figure 3 provides a schematic diagram of the relationship between the device coordinate system and the map coordinate system. Assuming that four base stations are installed in the working area, the device coordinate system is located on the body of the self-mobile device, with the center of the body of the self-mobile device as the origin, and the self-mobile device is located on the map coordinate system, which is determined based on the base station.

[0054] In one possible implementation, the step of determining the second environmental position data of the mobile device in the map coordinate system based on the first environmental position data of the positioning tag in the map coordinate system includes:

[0055] Step B10, obtaining the second fuselage position data of the positioning tag in the map coordinate system;

[0056] Step B20: Determine the second environmental position data of the mobile device in the map coordinate system by fusing the second body position data and the first environmental position data of the positioning tag in the map coordinate system.

[0057] It should be noted that the second body position data refers to the position of the positioning tag of the self-mobile device in the map coordinate system, and is determined by the first body position data. The fusion positioning algorithm is used to fuse the various positioning data, specifically the Extended Kalman Filter (EKF) algorithm. The EKF algorithm is an algorithm that can fuse multiple measurement data. By fusing the data measured by different positioning devices, more accurate and reliable stand-by positioning data can be obtained.

[0058] The extended Kalman filter related formula is:

[0059] Optimal state estimate covariance matrix:

[0060] Kalman filter matrix:

[0061] Update best estimate status:

[0062] Update the covariance matrix:

[0063] Where Z = [x obs y obs θ obs 1] T represents the observation value, i.e., the first environment position data of the positioning tag in the map coordinate system, Q represents the noise covariance matrix of the predicted value, which is determined according to the second fuselage position data, R represents the noise covariance matrix determined by the observation value, which is determined according to the first environment position data, X k It is the positioning data of the positioning label obtained by fusion positioning calculation.

[0064] It should be noted that the main steps of the extended Kalman filter algorithm include: prediction and update, where the prediction is to predict the current state value X based on the state value of the previous step and the state transfer matrix F. k , the noise covariance matrix Q determined by the first positioning state value predicts the current covariance matrix The update is done by taking the current covariance matrix into account. The Kalman gain K is calculated based on the noise covariance matrix R determined by the observation value, and the state value X at the current moment is updated by the Kalman gain K. k and the covariance matrix P k The above steps are the steps of one iteration of the EKF algorithm, and the state value X k and the covariance matrix P k It will be used as the initial state value and covariance matrix for the next iteration. By combining the second fuselage position data and the first environment position data, the estimation result will be continuously corrected until a more accurate state value X is obtained. k , which is the fused positioning data of the label.

[0065] In addition, it should be noted that since the first body position data obtained by the positioning sensor represents the positioning data of the self-mobile device, and the first environmental position data obtained through the UWB positioning base station is the positioning data of the positioning tag installed on the self-mobile device, before performing the fusion calculation, the first body position data needs to be converted into the positioning data of the positioning tag on the self-mobile device, that is, by determining the installation position of the tag on the self-mobile device, the first body position data is converted to obtain the second body position data of each tag, and then the first environmental position data and the second body position data are fused. Among them, since the positioning tags installed on the self-mobile device can be two, three or four, etc., when performing the fusion processing, the first environmental position data and the second body position data of each positioning tag need to be fused separately to obtain the fused positioning data corresponding to all tags.

[0066] In a possible implementation, the step of positioning the self-mobile device by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system includes:

[0067] Step C10, obtaining first body position data of the mobile device in a device coordinate system;

[0068] Step C20, determining second direction angle data of the mobile device in the map coordinate system based on the first environmental position data;

[0069] Step C30 , positioning the mobile device by obtaining target positioning data by fusing the first body position data, the second environment position data, and the second direction angle data.

[0070] It should be noted that the fusion positioning method involved in this embodiment is specifically the same as the fusion positioning method involved in the previous embodiment. In this embodiment, the first body data is used as the prediction value in the fusion positioning algorithm, and the second environmental data and the second directional angle data are jointly used as the observation values ​​in the fusion positioning algorithm. According to the above-mentioned fusion positioning method, the positioning data of the self-mobile device is fused and positioned, thereby outputting the positioning data closest to the true value of the self-mobile device.

[0071] For example, in order to help understand the technical concept or technical principle of the present application, please refer to Figures 5 and 6. Figure 5 provides a flow chart of the UWB positioning device and the positioning sensor obtaining the positioning tag and the position of the self-mobile device. Figure 6 provides a flow chart of two fusion processes. Assume that there are two tags on the self-mobile device, namely T0 and T1, and the carrier is the self-mobile device. The current position of the self-mobile device is positioned and calculated 1 by the wheel speed meter and the IMU module, and the positioning results obtained are position 1 and direction 1. Then, according to the positions of the two positioning tags on the self-mobile device and the position of the self-mobile device in the map coordinate system, the position 2 and direction 2 of the positioning tag T0 in the map coordinate system and the position 3 and direction 3 of the positioning tag T1 in the map coordinate system are respectively calculated. At the same time, according to the position of the UWB base station and the distance between the two positioning tags and the base station, the position 4 of the positioning tag T0 in the map coordinate system and the distance of the positioning tag T1 in the map coordinate system are respectively calculated. 1 is located at position 5 in the map coordinate system, and the orientation of the mobile device is determined based on the installation position of the tag on the mobile device to determine direction 4. The position 2 and direction 2 of tag T0 determined by the wheel speed meter and IMU module are then fused with the position 4 determined by the UWB positioning device, and the position 3 and direction 3 of tag T1 determined by the wheel speed meter and IMU module are fused with the position 5 determined by the UWB positioning device to obtain position 6 of tag T0 and position 7 of tag T1, respectively. Using geometric relationships, based on the position of the tag in the map coordinate system and the position of the tag on the mobile device, positions 6 and 7 are converted to obtain the position of the mobile device in the map coordinate system, i.e., position 8. Finally, position 8, direction 4 of the mobile device, and position 1 and direction 1 determined by the wheel speed meter and IMU module are fused again to obtain position 9 and direction 5, i.e., the real position data of the mobile device at the current moment.

[0072] In a possible implementation, the step of fusing the second fuselage position data with the first environment position data of the positioning tag in a map coordinate system includes:

[0073] Step D10, subtracting the second body position data from the first environment position data to obtain a position data difference corresponding to the positioning tag;

[0074] Step D20, detecting whether the position data difference is greater than a preset credibility threshold;

[0075] Step D30: If yes, the second body position data and the first environment position data are fused.

[0076] It should be noted that during the movement of a self-moving device, it may encounter scenarios such as slipping or difficulty walking, as well as interference with the positioning signal from large obstacles, resulting in deviations in the positioning results. The deviation in the positioning results is determined by obtaining the positioning result measured by the UWB positioning device for the self-moving device and comparing it with the conventional distance generated by the normal movement speed and direction of the self-moving device. If the difference between the measured positioning result and the conventional distance is large, the positioning result measured by the UWB positioning device is not used as the current position of the self-moving device. If the difference between the measured positioning result and the conventional distance is small, the positioning results of the self-moving device from the positioning sensor and the UWB positioning device are compared. If the difference between the positioning results of the positioning sensor and the UWB positioning device is greater than a preset confidence threshold, the positioning result of the positioning sensor is not included in the fusion positioning. A difference between the positioning results of the positioning sensor and the UWB positioning device greater than the preset confidence threshold indicates that the measurement result obtained by the positioning sensor is significantly greater than the measurement result obtained by the UWB positioning device, i.e., the self-moving device may be slipping.

[0077] Additionally, it's important to note that both the wheel speed meter and IMU modules rely on the integration of velocity / angular velocity to calculate the position of the autonomous device. While this provides relatively accurate positioning results in the short term, if the autonomous device slips, the wheel speed meter and IMU measurement data can experience significant errors. When the wheel speed meter measurement is significantly greater than the UWB measurement, the fusion calculation can be optimized by adjusting Q and R, the noise covariance matrices of the state and observation values.

[0078] For example, to help understand the technical concept or technical principle of the present application, please refer to Figure 7, which provides a schematic diagram of the module structure of a UWB positioning system. The UWB positioning system includes at least a wheel speed meter, an IMU module and a UWB system, as well as a computing unit and an actuator. The wheel speed meter measures the wheel speed data and the two-wheel differential model of the self-mobile device, the IMU module measures the angular direction data of the self-mobile device, and the RTK system measures the position data of the tag on the self-mobile device. The computing unit performs a fusion calculation on the wheel speed data measured by the wheel speed meter, i.e., the two-wheel differential model, the angular direction data measured by the IMU module, and the position data measured by the UWB system.

[0079] Example 2

[0080] Based on the first embodiment of the present application, in another embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated hereafter. On this basis, please refer to FIG4 , the step of obtaining the second fuselage position data of the positioning tag in the map coordinate system includes:

[0081] Step E10: constructing a state transition matrix of the self-moving device according to the first body position data and the single-step increment of the position of the self-moving device;

[0082] Step E20: determining the second fuselage position data of the positioning tag in the map coordinate system according to the state transition matrix.

[0083] It should be noted that in order to determine the second body position data of the positioning tag and obtain the predicted value in the fusion positioning, it can be solved by estimating the system state predicted value. The variance of the estimated predicted value is as follows:

[0084] Construct the state transfer matrix:

[0085] Where X = [xy θ 1] T is the system status, x and y are the position coordinates of the mobile device on the map coordinate system, is the state transfer matrix, θ is the angle between the orientation of the mobile device and the east direction, v and w are the single-step increments of the first body position data in position and direction, k represents the result of the iterative calculation of the extended Kalman filter algorithm to the kth step, and the value of the state transfer matrix is That is the second body position data.

[0086] In a possible implementation, the step of obtaining the second fuselage position data of the positioning tag in the map coordinate system includes:

[0087] Step F10, obtaining wheel speed data, two-wheel differential model and first direction angle data from the mobile device in the device coordinate system;

[0088] Step F20 , determining the second body position data of the positioning tag in the map coordinate system according to the first body data, the wheel speed data, the two-wheel differential model and the first direction angle data.

[0089] It should be noted that when selecting the predicted value in the fusion calculation, since the fusion calculation frequency is lower than the sampling frequency of the positioning sensor, the predicted value calculated from the original reading of the positioning sensor is more accurate. Therefore, the calculation result of the original reading is used instead of the predicted value obtained in the above embodiment.

[0090] In addition, it should be noted that the chassis of the self-moving device used in this application has two driving wheels, which can rotate back and forth. According to the size and installation method of the two driving wheels, the distance traveled by the driving wheels of the self-moving device within one time step is calculated respectively, that is, the motion characteristics of the two wheels are described by a two-wheel differential model, and the wheel speed data is obtained by counting the number of pulses of the photoelectric sensor of the wheel speed meter within a period of time, and converting the number of pulses to obtain the speed data of the driving wheel. In addition, the IMU module can calculate three attitude angles, namely roll angle, pitch angle and heading angle, by measuring the angular velocity and acceleration of the self-moving device. At the same time, the change data of the heading angle within the current time is the heading angle data. Through the two-wheel differential model, combined with the wheel speed and the heading angle data provided by the IMU module, the current position and heading angle of the self-moving device in the carrier coordinate system can be calculated. The incremental value can be transformed to the map coordinate system through rotation and translation, thereby obtaining the first body position data of the self-moving device in the map coordinate system.

[0091] In addition, it should be noted that in order to determine the second body position data of the tag in the map coordinate system, it can also be determined through the positional relationship between the tag and the self-mobile device. According to the first body position of the self-mobile device and combined with the position coordinates of the positioning tag in the device coordinate system, the first body position data is converted into the position data of the positioning tag. Similarly, the wheel speed data, two-wheel differential data and first direction angle data obtained by the IMU module and the speedometer are used to obtain the speed, angular velocity and predicted value of the movement direction of the self-mobile device based on the position coordinates of the positioning tag in the device coordinate system. Thus, the position data and direction data are combined to obtain the second body position data of the positioning tag in the map coordinate system.

[0092] For example, in one possible implementation, the two-wheel differential model, combined with the azimuth data from the wheel speed meter and the IMU module, can be used to calculate the increment dx of the current position and azimuth of the mobile device in the device coordinate system. odom ,dy odom and dθ odom , increment dx odom ,dy odom and dθ odom The center position prediction value of the mobile device is obtained by transforming it to the map coordinate system through rotation and translation and The center position prediction value of the mobile device is used to represent the position of the center point of the mobile device on the map coordinate system when the mobile device is moving.

[0093] Let the position of the label in the coordinate system of the mobile device be x tag_b ,y tag_b, the position prediction value of the label in the map coordinate system can be obtained through translation and rotation transformation and

[0094] According to the speed v of the mobile device center and angular velocity w center , the speed v of the tag can be obtained through geometric relationships tag and angular velocity w tag , and the predicted value of the movement direction of the mobile device w tag =w center

[0095] where v tag_x =v center +v tag_b ×cosθ tag_b v tag_y =v center +v tag_b ×sinθ tag_b

[0096] where v tag_b =w center ×r tag_b θ tag_b =arctan(y tag_b / x tag_b ) r tag_b =(x tag_b 2 +y tag_b 2 ) 0.5

[0097] Example 3

[0098] The present application also provides a positioning device, referring to FIG8 , which includes:

[0099] a determination module 10, configured to determine, based on the first environmental location data of the positioning tag in a map coordinate system, second environmental location data of the mobile device in the map coordinate system, wherein the map coordinate system is generated based on the location coordinates of the positioning base station;

[0100] The fusion module 20 is used to locate the self-mobile device by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by the positioning sensor.

[0101] In one embodiment, the positioning device further includes a generating module, and the generating module is configured to:

[0102] Constructing at least one preselected map coordinate system with each of the positioning base stations as the origin center;

[0103] Converting the position coordinates of each positioning base station in each preselected map coordinate system to obtain the center coordinates of each positioning base station;

[0104] The map coordinate system is generated according to the center coordinates.

[0105] In one embodiment, the determining module 10 is further configured to:

[0106] Acquire the second fuselage position data of the positioning tag in the map coordinate system;

[0107] The second environment position data of the mobile device in the map coordinate system is determined by fusing the second body position data and the first environment position data of the positioning tag in the map coordinate system.

[0108] In one embodiment, the positioning device further includes an acquisition module, and the acquisition module is configured to:

[0109] Constructing a state transition matrix of the self-moving device according to the first body position data and the single-step increment of the position of the self-moving device;

[0110] Determine second body position data of the positioning tag in the map coordinate system according to the state transfer matrix.

[0111] In one embodiment, the acquisition module is further configured to:

[0112] Obtaining wheel speed data, two-wheel differential model, and first direction angle data from the mobile device in the device coordinate system;

[0113] The second body position data of the positioning tag in the map coordinate system is determined according to the first body data, the wheel speed data, the two-wheel differential model and the first direction angle data.

[0114] In one embodiment, the fusion module 20 is further configured to:

[0115] Acquire first body position data of the mobile device in a device coordinate system;

[0116] Determining second direction angle data of the mobile device in the map coordinate system according to the first environmental position data;

[0117] The self-mobile device is positioned by obtaining target positioning data by fusing the first body position data, the second environment position data, and the second direction angle data.

[0118] In one embodiment, the positioning device further includes a detection module, and the detection module is further configured to:

[0119] Subtracting the second body position data from the first environment position data to obtain a position data difference corresponding to the positioning tag;

[0120] Detecting whether the position data difference is greater than a preset credibility threshold;

[0121] If so, the second body position data and the first environment position data of the positioning tag in the map coordinate system are fused.

[0122] Example 4

[0123] An embodiment of the present application provides a self-moving device, which includes: a vehicle head, a vehicle body; at least one processor; and a positioning device and a memory that are communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the self-moving device positioning method in the above-mentioned embodiment 1 to control the positioning of the positioning device.

[0124] As shown in FIG9 , the self-mobile device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, a memory 1005, a positioning device 1006, a vehicle body 1007, and a vehicle head 1008. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001. Positioning device 1006 can include an RTK module and a positioning sensor. Positioning device 1006 can also optionally be a positioning device independent of processor 1001. Vehicle head 1008 is detachably connected to vehicle body 1007. Processor 1001, communication bus 1002, user interface 1003, network interface 1004, memory 1005, and positioning device 1006 are disposed on vehicle body 1007.

[0125] Those skilled in the art will appreciate that the structure shown in FIG. 9 does not limit the self-moving device, and may include more or fewer components than shown, or a combination of certain components, or a different arrangement of components.

[0126] As shown in FIG9 , the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a self-mobile device positioning program.

[0127] In the self-mobile device shown in Figure 9, the network interface 1004 is mainly used for data communication with other devices; the user interface 1003 is mainly used for data interaction with the user; the processor 1001, memory 1005 and positioning device 1006 in the self-mobile device of the present application can be set in the self-mobile device, and the self-mobile device calls the self-mobile device positioning program stored in the memory 1005 through the processor 1001, and controls the positioning device 1006 to execute the self-mobile device positioning method provided in the embodiment of the present application.

[0128] The self-propelled device provided in this application utilizes the self-propelled device positioning method described in the above-mentioned embodiments, thereby resolving the technical issues of existing UWB positioning systems, which are prone to ranging errors near large obstacles, resulting in low operating safety and reduced positioning accuracy for the self-propelled device. Compared to the prior art, the beneficial effects of the readable storage medium provided in this embodiment of the application are the same as those of the self-propelled device positioning method provided in the above-mentioned embodiments 1 or 2, and are not further elaborated here.

[0129] It should be understood that various parts of the present disclosure can be implemented with hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in an appropriate manner.

[0130] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0131] Example 5

[0132] An embodiment of the present application provides a readable storage medium having readable program instructions stored thereon, and the readable program instructions are used to execute the self-mobile device positioning method in the above-mentioned embodiment 1.

[0133] The readable storage medium provided in the embodiment of the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the readable storage medium can be any tangible medium that contains or stores a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0134] The above-mentioned readable storage medium may be included in the electronic device; or may exist independently without being assembled into the electronic device.

[0135] The above-mentioned readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by an electronic device, the electronic device: determines the second environmental position data of the self-mobile device in the map coordinate system based on the first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on the position coordinates of the positioning base station; and locates the self-mobile device by fusing the second environmental position data and the first body position data of the self-mobile device in the device coordinate system, wherein the first body position data is collected by the positioning sensor.

[0136] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on the remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0137] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0138] The modules involved in the embodiments described in this disclosure may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0139] The readable storage medium provided in this application is a computer-readable storage medium that stores readable program instructions for executing the aforementioned method for positioning a self-moving device. This computer-readable storage medium can address the technical issues of existing UWB positioning systems, which are prone to ranging errors near large obstacles, resulting in low operating safety and reduced positioning accuracy for self-moving devices. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in the embodiments of this application are the same as those of the method for positioning a self-moving device provided in the aforementioned first or second embodiments, and are not further elaborated here.

[0140] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or system comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or system. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or system comprising the element.

[0141] 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.

[0142] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course 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 is essentially 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) as described above, 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.

[0143] The above are only preferred embodiments of the present application and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for positioning a mobile device, wherein: Applied to a UWB positioning system, the UWB positioning system is provided with a self-moving device, a positioning sensor, a positioning tag and at least one positioning base station, and the self-moving device positioning method includes: Determine the second environmental position data of the mobile device in the map coordinate system according to the first environmental position data of the positioning tag in the map coordinate system, wherein the map coordinate system is generated based on the position coordinates of the positioning base station; The self-moving device is positioned by fusing the second environment position data and the first body position data of the self-moving device in the device coordinate system, wherein the first body position data is acquired by the positioning sensor.

2. The method for positioning a self-moving device according to claim 1, wherein: Before the step of determining the second environmental position data of the self-mobile device in the map coordinate system according to the first environmental position data of the positioning tag in the map coordinate system, the self-mobile device positioning method includes: Constructing at least one pre-selected map coordinate system with each of the positioning base stations as the origin center; Converting the position coordinates of each positioning base station in each pre-selected map coordinate system to obtain the center coordinates of each positioning base station; The map coordinate system is generated according to the central coordinates.

3. The method for positioning a self-moving device according to claim 1, wherein: Before positioning the self-mobile device by fusing the second environment position data and the first body position data of the self-mobile device in the device coordinate system, the self-mobile device positioning method includes: The device coordinate system is obtained by taking the motion center of the self-moving device as the origin, the straight-line forward direction of the self-moving device as the x-axis, the vertical upward direction of the horizontal plane as the z-axis and the direction satisfying the right-hand rule as the y-axis.

4. The method for positioning a self-moving device according to claim 1, wherein: The step of determining the second environment position data of the mobile device in the map coordinate system according to the first environment position data of the positioning tag in the map coordinate system comprises: Acquire the second fuselage position data of the positioning tag in the map coordinate system; The second environment position data of the mobile device in the map coordinate system is determined by fusing the second body position data and the first environment position data of the positioning tag in the map coordinate system.

5. The method for positioning a self-moving device as claimed in claim 4, wherein: The step of obtaining the second fuselage position data of the positioning tag in the map coordinate system comprises: Constructing a state transfer matrix of the self-moving device according to the first body position data and the single-step increment of the position of the self-moving device; According to the state transfer matrix, second fuselage position data of the positioning tag in the map coordinate system is determined.

6. The method for positioning a self-moving device as claimed in claim 4, wherein: The step of obtaining the second fuselage position data of the positioning tag in the map coordinate system comprises: Obtain wheel speed data, two-wheel differential model and first direction angle data from the mobile device in the device coordinate system; The second body position data of the positioning tag in the map coordinate system is determined according to the first body data, the wheel speed data, the two-wheel differential model and the first direction angle data.

7. The method for positioning a self-moving device according to claim 6, wherein: The step of determining the second fuselage position data of the positioning tag in the map coordinate system according to the first fuselage data, the wheel speed data, the two-wheel differential model and the first direction angle data comprises: According to the first body position of the self-mobile device and in combination with the position coordinates of the positioning tag in the device coordinate system, converting the first body position data into the position data of the positioning tag; Calculate the speed, angular velocity and predicted value of the moving direction of the tag from the mobile device according to the position coordinates of the positioning tag in the device coordinate system, and use the speed, angular velocity and predicted value of the moving direction of the tag from the mobile device as the direction data; The second body position data of the positioning tag in the map coordinate system is obtained according to the position data and the direction data.

8. The method for positioning a self-moving device according to claim 1, wherein: The step of positioning the self-mobile device by fusing the second environment position data and the first body position data of the self-mobile device in the device coordinate system comprises: Acquire first body position data of the self-mobile device in a device coordinate system; Determine second direction angle data of the mobile device in the map coordinate system according to the first environmental position data; The self-mobile device is positioned by obtaining target positioning data by fusing the first body position data, the second environment position data and the second direction angle data.

9. The method for positioning a self-moving device as claimed in claim 4, wherein: The step of fusing the second fuselage position data and the first environment position data of the positioning tag in the map coordinate system comprises: Subtract the second body position data from the first environment position data to obtain a position data difference corresponding to the positioning tag; Detecting whether the position data difference is greater than a preset credibility threshold; If so, the second body position data and the first environment position data of the positioning tag in the map coordinate system are fused.

10. A self-propelled device, wherein: The self-moving device comprises: a vehicle head, a vehicle body, a positioning device, a memory, one or more processors, and a self-moving device positioning program stored in the memory and executable on the one or more processors, the vehicle head is detachably connected to the vehicle body, the positioning device, the memory, and the one or more processors are arranged on the vehicle body, the positioning device is composed of a positioning tag and a positioning sensor, and the self-moving device positioning program is configured to implement the following steps: According to the first environment position data of the positioning tag in the map coordinate system, determine the location of the mobile device Second environment position data in the map coordinate system, wherein the map coordinate system is generated based on the position coordinates of the positioning base station; The self-moving device is positioned by fusing the second environment position data and the first body position data of the self-moving device in the device coordinate system, wherein the first body position data is acquired by a positioning sensor.

11. The self-moving device according to claim 10, wherein: The positioning sensor consists of a wheel speed meter and an IMU module.

12. The self-moving device according to claim 10, wherein: There are two positioning labels.

13. The method for positioning a self-moving device according to claim 10 or 12, wherein: There are four positioning base stations.

14. The method for positioning a self-moving device according to any one of claims 10 to 13, wherein: The positioning base station is equipped with a directional antenna, and the positioning tag is equipped with an omnidirectional antenna.

15. The self-moving device according to claim 10, wherein: The self-mobile device positioning program is configured to further implement the following steps: Constructing at least one pre-selected map coordinate system with each of the positioning base stations as the origin center; Converting the position coordinates of each positioning base station in each pre-selected map coordinate system to obtain the center coordinates of each positioning base station; The map coordinate system is generated according to the central coordinates.

16. The method for positioning a self-moving device according to claim 10, wherein: The self-mobile device positioning program is configured to further implement the following steps: The device coordinate system is obtained by taking the motion center of the self-moving device as the origin, the straight-line forward direction of the self-moving device as the x-axis, the vertical upward direction of the horizontal plane as the z-axis and the direction satisfying the right-hand rule as the y-axis.

17. The method for positioning a self-moving device according to claim 12, wherein: The self-mobile device positioning program is configured to further implement the following steps: Acquire the second fuselage position data of the positioning tag in the map coordinate system; The second environment position data of the mobile device in the map coordinate system is determined by fusing the second body position data and the first environment position data of the positioning tag in the map coordinate system.

18. A readable storage medium, wherein: The readable storage medium stores a self-mobile device positioning program, and when the self-mobile device positioning program is executed by one or more processors, the following steps are implemented: Determine, according to the first environment location data of the positioning tag in the map coordinate system, the second environment location data of the mobile device in the map coordinate system, wherein the map coordinate system is generated based on the location coordinates of the positioning base station; The self-moving device is positioned by fusing the second environment position data and the first body position data of the self-moving device in the device coordinate system, wherein the first body position data is acquired by a positioning sensor.

19. The readable storage medium according to claim 18, wherein: When the self-mobile device positioning program is executed by one or more processors, the following steps are also implemented: Constructing at least one pre-selected map coordinate system with each of the positioning base stations as the origin center; Converting the position coordinates of each positioning base station in each pre-selected map coordinate system to obtain the center coordinates of each positioning base station; The map coordinate system is generated according to the central coordinates.

20. The readable storage medium of claim 18, wherein: When the self-mobile device positioning program is executed by one or more processors, the following steps are also implemented: The device coordinate system is obtained by taking the motion center of the self-moving device as the origin, the straight-line forward direction of the self-moving device as the x-axis, the vertical upward direction of the horizontal plane as the z-axis and the direction satisfying the right-hand rule as the y-axis.

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