Target positioning method, target positioning apparatus, and storage medium

Abstract

The present disclosure relates to the technical field of wireless positioning, and provides a target positioning method, a target positioning apparatus, and a storage medium. The target positioning method comprises: acquiring a Wi-Fi target device and a plurality of ultra-wideband (UWB) anchors having a consistent operating frequency band; establishing a communication link between the Wi-Fi target device and each UWB anchor among the plurality of UWB anchors, and acquiring timestamp information of a signal propagated in each communication link; calculating a time difference of arrival of the signals propagated in the communication links on the basis of the timestamp information; and acquiring the positioning of the Wi-Fi target device on the basis of the time difference of arrival.

Description

Target positioning method and target positioning device, storage medium

[0001] Cross-references to related applications

[0002] This disclosure is based on and claims priority to CN application No. 202510002351.4 filed on January 2, 2025, the contents of which are incorporated herein by reference in their entirety. Technical Field

[0003] This disclosure belongs to the field of wireless positioning technology, and particularly relates to a target positioning method, a target positioning device, and a storage medium. Background Technology

[0004] Wireless positioning technology has always been a hot research topic. With the development of construction machinery towards intelligence and unmanned operation, the demand for vehicle positioning has increased significantly to meet the needs of various application scenarios. Although GPS (Global Positioning System) is widely deployed in smartphones and vehicles, its accuracy often decreases in environments with weakened GPS signal strength, such as remote areas, underground spaces, and local area network construction areas. In these situations, Wi-Fi positioning methods are typically used to achieve wireless positioning. Summary of the Invention

[0005] In a first aspect of this disclosure, a target localization method is provided, comprising: acquiring a Wi-Fi target device operating in the same frequency band and a plurality of ultra-wideband (UWB) anchor points; establishing a communication link between the Wi-Fi target device and each of the plurality of UWB anchor points, and acquiring timestamp information of the signals propagating in the communication link; calculating the time difference of arrival of the signals propagating in the communication link based on the timestamp information; and acquiring the location of the Wi-Fi target device based on the time difference of arrival.

[0006] In some embodiments, establishing a communication link between the Wi-Fi target device and the UWB anchor point, and obtaining the timestamp information of the signals propagating in each communication link, includes: downsampling a pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device; modulating and transmitting the Wi-Fi analog signal through the Wi-Fi target device; receiving and demodulating the modulated Wi-Fi analog signal through the UWB anchor point to obtain the payload of the UWB signal and extracting the timestamp information therein.

[0007] In some embodiments, downsampling the pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device includes: performing low-pass filtering on the UWB signal to obtain a filtered signal, wherein the filtered information retains signals in the UWB signal with the same bandwidth as the Wi-Fi signal; and performing decimation processing on the filtered signal to obtain the Wi-Fi analog signal.

[0008] In some embodiments, receiving and demodulating the modulated Wi-Fi analog signal via a UWB anchor point includes: dividing the modulated Wi-Fi analog signal into subcarriers using Fourier transform, and obtaining the symbol sequence corresponding to each subcarrier using quadrature amplitude demodulation.

[0009] In some embodiments, calculating the arrival time difference of the propagated signal in each communication link based on the timestamp information includes: introducing a wireless synchronization mechanism between the Wi-Fi target device and each UWB anchor point; constructing a hyperbolic equation between the synchronized Wi-Fi target device and each UWB anchor point; calculating the distance difference between the Wi-Fi target device and each UWB anchor point based on the hyperbolic equation; and measuring the arrival time difference of the transmitted signal of the Wi-Fi target device at each UWB anchor point based on the distance difference.

[0010] In some embodiments, calculating the distance difference between the Wi-Fi target device and each UWB anchor point based on the hyperbolic equation includes: using the formula

[0011] Calculate the distance difference, where d AB Let be the distance difference between the Wi-Fi target device and UWB anchor point A and the distance between the Wi-Fi target device and UWB anchor point B. The coordinates of the Wi-Fi target device are (x, y), and the positions of UWB anchor points A and B are (x, y). A ,y A ) and (x B ,y B ).

[0012] In some embodiments, measuring the arrival time difference of the transmitted signal of the Wi-Fi target device at each UWB anchor point based on the distance difference includes: using the formula

[0013] Calculate the arrival time difference, where TDoA AB This represents the time difference of arrival of the transmitted signal at each UWB anchor point.

[0014] In some embodiments, obtaining the location of a Wi-Fi target device based on the time difference of arrival includes: obtaining the intersection points of each hyperbola based on the hyperbolic equation between the Wi-Fi target device and each UWB; and obtaining the location result of the Wi-Fi target device based on the intersection points of each hyperbola.

[0015] In some embodiments, obtaining the positioning result of the Wi-Fi target device based on the intersection of each hyperbola includes: obtaining the channel impulse response of each UWB anchor point; obtaining the weight of each hyperbola intersection based on the channel impulse response information; and performing joint positioning of the Wi-Fi target device based on the weight of the hyperbola intersection.

[0016] In some embodiments, obtaining the channel impulse response of each UWB anchor point includes: using the formula

[0017] Calculate the channel impulse response, where CIR(t) is the channel impulse response function of the anchor point at time t, δ(t-τ) i ) is at t-τ i The impulse function of the impulse signal arriving at a given time.

[0018] In some embodiments, obtaining the weights of each hyperbola intersection point based on channel impulse response information includes: using the formula w m,n =logA CIR (m)+logA CIR (n)

[0019] Calculate the weights, where w m,n The weights are the intersection points of the hyperbolic curves, where m and n represent different UWB anchor points.

[0020] In some embodiments, joint localization of Wi-Fi target devices based on the weights of hyperbola intersections includes: using the formula

[0021] The joint positioning is performed, where T(x,y) is the location of the Wi-Fi target device, and w m,n C represents the weights corresponding to anchor points m and n. m,n (x,y) represents the coordinates of the focus calculated from anchor points m and n.

[0022] In some embodiments, obtaining Wi-Fi target devices and UWB anchors operating in the same frequency band includes: enabling the Wi-Fi target device to operate in 802.11ax 6E mode; and using multiple UWB devices operating in the 6GHz frequency band as the multiple UWB anchors.

[0023] In a second aspect of this disclosure, a target positioning device is provided, comprising: a heterogeneous network construction module configured to acquire a Wi-Fi target device operating in the same frequency band and a plurality of ultra-wideband (UWB) anchor points; a heterogeneous direct connection module configured to establish a communication link between the Wi-Fi target device and each of the plurality of UWB anchor points, and acquire timestamp information of the signals propagating in the communication link; a time difference calculation module configured to calculate the time difference of arrival of the signals propagating in the communication link based on the timestamp information; and a multi-anchor point positioning module configured to acquire the positioning of the Wi-Fi target device based on the time difference of arrival.

[0024] In a third aspect of this disclosure, a target localization apparatus is provided, comprising: a memory configured to store instructions; and a processor coupled to the memory, the processor being configured to execute the target localization method as described in any of the above embodiments based on the instructions stored in the memory.

[0025] In a fourth aspect of this disclosure, a computer storage medium is provided that stores computer instructions that, when executed by a processor, implement the target positioning method as described in any of the above embodiments.

[0026] In a fifth aspect of this disclosure, a computer program is provided, including computer instructions, wherein the computer instructions, when executed by a processor, implement the target localization method as described in any of the above embodiments.

[0027] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this disclosure or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other embodiments can be obtained based on these accompanying drawings.

[0029] Figure 1 is a flowchart illustrating a target localization method according to an embodiment of this disclosure;

[0030] Figure 2 shows a schematic diagram of establishing a Wi-Fi-UWB heterogeneous direct connection in one embodiment of this disclosure;

[0031] Figure 3 shows a schematic diagram of the principle of calculating the time difference of the propagated signal from the Wi-Fi device to different UWB devices based on the UWB timestamp in one embodiment of this disclosure;

[0032] Figure 4 shows a schematic diagram of the principle of joint positioning of Wi-Fi devices based on time difference in one embodiment of this disclosure;

[0033] Figure 5 shows a schematic diagram of using a Wi-Fi device to simulate a UWB signal in one embodiment of this disclosure;

[0034] Figure 6 is a schematic diagram of the wireless synchronization mechanism in a heterogeneous network according to one embodiment of this disclosure;

[0035] Figure 7 shows a schematic diagram of the channel impulse response of a UWB anchor point in one embodiment of this disclosure.

[0036] Figure 8 is a schematic diagram of the structure of a target positioning device according to an embodiment of the present disclosure;

[0037] Figure 9 shows a schematic diagram of the target positioning device according to another embodiment of the present disclosure. Detailed Implementation

[0038] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use. All other embodiments obtained by those skilled in the art based on the embodiments of this disclosure without creative effort are within the scope of protection of this disclosure.

[0039] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of this disclosure.

[0040] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0041] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0042] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0044] The inventors noted that in related technologies, Wi-Fi positioning methods require a Wi-Fi gateway as an anchor point, estimating location by extracting Time of Flight (ToF) and angle information from the communication between the target Wi-Fi device and the anchor point. However, when the Signal-to-Noise Ratio (SNR) at the anchor point drops significantly, especially in long-distance scenarios, communication between the target device and the anchor point can be affected by excessive noise, potentially leading to communication failure and thus degrading positioning performance.

[0045] Accordingly, this disclosure provides a target positioning method that effectively ensures the accuracy of long-distance wireless positioning.

[0046] As shown in Figure 1, this disclosure provides a target localization method. In some embodiments, the following target localization method is performed by a target localization device, including steps 11-14.

[0047] In step 11, obtain Wi-Fi target devices with the same operating frequency band and multiple UWB (Ultra Wide Band) anchor points.

[0048] In step 12, a communication link is established between the Wi-Fi target device and each UWB anchor point among multiple UWB mapping points, and the timestamp information of the propagated signal in each communication link is obtained.

[0049] In step 13, the arrival time difference of the propagated signal in each communication link is calculated based on the timestamp information.

[0050] In step 14, the location of the Wi-Fi target device is obtained based on the arrival time difference.

[0051] Wi-Fi UWB Joint Positioning Technology (WULoc) is an innovative long-distance, high-precision positioning solution for Wi-Fi devices. WULoc establishes a connection between a Wi-Fi target device operating on the same frequency band and a UWB anchor point. It then collects timestamp data from multiple links between the target device and the anchor point. Finally, it calculates high-resolution positioning based on the collected time difference information. This overcomes the limitation that UWB and Wi-Fi cannot communicate directly. Even if the Wi-Fi device is far away from the UWB anchor point, it can still achieve high-resolution timestamp collection, thus improving the accuracy of long-distance wireless positioning.

[0052] In some embodiments, the target localization method is specifically divided into the following steps:

[0053] Step 1: Heterogeneous Network Construction

[0054] Unlike traditional positioning methods that use Wi-Fi base stations as anchor points, WULoc uses ultra-wideband (UWB) devices operating in the 6GHz band as anchor points, a band that overlaps with the Wi-Fi 802.11ax 6E band.

[0055] Step 2: Heterogeneous direct connection

[0056] As shown in Figure 2, using heterogeneous direct connection technology, WULoc can establish a unidirectional communication link between a Wi-Fi target device operating in 802.11ax 6E mode and a UWB anchor point. Through packet emulation, a specially customized Wi-Fi data packet is recognized and received as a UWB data packet at the UWB anchor point. After receiving the simulated UWB data packet, the UWB anchor point can extract a precise timestamp.

[0057] To establish efficient cross-technology communication from UWB to Wi-Fi, as shown in Figure 5, the high configurability of Wi-Fi devices is used to transmit a specially designed payload to simulate UWB signals. Since the bandwidth of the UWB protocol is much higher than that of the Wi-Fi protocol, the UWB signal to be transmitted is first generated and embedded in the Wi-Fi data packet. The UWB 500MHz signal is downsampled to the same 80MHz signal as Wi-Fi, and then the Wi-Fi device modulates and transmits the signal. To achieve downsampling, the signal first needs to be low-pass filtered, and the calculation formula is shown in formula (1).

[0058] Where s represents the complex frequency variable, which is a variable in the Laplace transform and represents the frequency characteristics of the system; ω3 is the cutoff frequency, which represents the frequency point at which the filter begins to significantly attenuate the signal; and n is the order of the filter.

[0059] The filtered signal retains the low-frequency 80MHz information and is then downsampled using the formula y[n]=x[nM], where x is the original signal and M is the downsampling coefficient.

[0060] By receiving Wi-Fi modulated signals through UWB anchor points, and based on Paswald's theorem and Fourier transform, the signal within the entire bandwidth is divided into subcarriers. Using orthogonal amplitude demodulation, the time-domain signal is transformed into Wi-Fi orthogonal amplitude modulation points, and the symbol sequence corresponding to each subcarrier is solved, thereby inferring the payload of the Wi-Fi protocol.

[0061] Since there are errors in the forced conversion process of the signal, the error in the time domain of the signal simulation will be manifested in the frequency domain. Therefore, it is necessary to pre-select a special cyclic prefix length and a special UWB preamble sequence according to the error. The error calculation formula is shown in formula (2).

[0062] Where U[k] is the frequency domain sequence of the analog signal, V[k] is the frequency domain sequence of the standard signal, u(t) is the time domain sequence of the analog signal, and v(t) is the time domain sequence of the standard signal.

[0063] Step 3: Time Difference Calculation

[0064] WULoc utilizes the high power output of Wi-Fi devices to achieve long-distance positioning, while leveraging the high sampling rate of UWB to improve the accuracy of Wi-Fi target positioning. In this method, the signal broadcast by the Wi-Fi device is received by multiple UWB anchor points, as shown in Figure 3. By measuring the time difference of arrival of the Wi-Fi signal at each anchor point, the distance between the Wi-Fi target and each anchor point is determined using the signal propagation speed.

[0065] Due to inherent deviations in the devices, a wireless synchronization mechanism as shown in Figure 6 is introduced in advance to the heterogeneous network to achieve high-precision synchronization between devices. The clock calculation formula is shown in Formula (3).

[0066] Among them, t + and t Q The timestamp for the record sent by the wireless synchronization source, t > The timestamp of the record sent to the target, t +J t is the time when local data packet 1 is received at anchor point A. +K t is the time when data packet 1 was received locally at anchor point B. >J t is the time t is the time when data packet 2 is received locally at anchor point A. >K t is the time t is the time when data packet 2 is received locally at anchor point B. QJ t is the time when local data packet 1 is received at anchor point A. QK The time when data packet 3 was received locally at anchor point B.

[0067] After synchronization between devices, the path difference d between UWB anchor point A, UWB anchor point B and the Wi-Fi target is used. JK To calculate the time difference TDoA between the propagating signal and the two anchor points. JK Its formula is shown in formula (4). TDoA JK =Δt JK =d JK / c (4)

[0068] Therefore, we can calculate: c*Δt JK =d JK .

[0069] Based on the hyperbola formula, assuming the target position is (x, y), and the positions of anchor point A and anchor point B are (x, y) respectively... J ,y J ) and (x K ,y K From this, we can obtain the distance difference between the target and the anchor point, and the formula is shown in formula (5).

[0070] From this, the hyperbolic equation of time difference and coordinates can be calculated.

[0071] Step 4: Multi-anchor point positioning

[0072] In WULoc, a unique positioning result is obtained by comprehensively calculating the TDoA data between multiple anchor points. Two anchor points can only determine two curves according to the hyperbolic equation, as shown in Figure 4. Multiple hyperbolic equations are established through multiple anchor points to obtain more intersection points, and the target position is located based on the different weights of the intersection points.

[0073] As shown in Figure 7, WULoc needs to obtain the first peak value of the channel impulse response of different anchor points to give different anchor points different weights. The calculation formula of the channel impulse response is shown in Formula (6).

[0074] In Figure 7, curve 1 is the UWB timestamp, curve 2 is the 80MHz analog timestamp, curve 3 is the 40MHz analog timestamp, and curve 4 is the 20MHz analog timestamp.

[0075] WULoc assigns different hyperbola intersection weights based on the different channel impulse response amplitudes of different anchor points, and finally achieves joint positioning of the target. Its calculation formula is shown in formula (7).

[0076] The weight w g,h The calculation formula is: w g,h =logA `\k (m)+logA `\k (n), where T(x,y) is the target position.

[0077] WULoc leverages the inherent capabilities of UWB technology to achieve long-range and high-precision positioning of Wi-Fi target devices. UWB anchors possess extremely low signal-to-noise ratio (SNR) signal reception capabilities, enabling them to reliably extract timestamps from Wi-Fi-UWB communication even in long-distance scenarios. Furthermore, the shortest path from the Wi-Fi target device to the UWB anchor is marked with a high-precision (15.62 picosecond level) timestamp, crucial for accurate time difference calculation and contributing to precise positioning of Wi-Fi target devices.

[0078] Figure 8 is a schematic diagram of a target positioning device according to an embodiment of the present disclosure. As shown in Figure 8, the target positioning device includes:

[0079] Heterogeneous networking construction module 81: Acquires Wi-Fi target devices with the same operating frequency band and multiple UWB anchor points as networking communication devices.

[0080] Heterogeneous direct connection module 82: Establishes a communication link between the Wi-Fi target device and each of the multiple UWB anchor points, and obtains the timestamp information of the signals propagated in each communication link, thereby establishing efficient cross-technology communication from the UWB anchor point to the Wi-Fi target device, enabling the UWB anchor point to successfully identify the signals propagated by the Wi-Fi target device and record the timestamp information.

[0081] Time Difference Calculation Module 83: Calculates the arrival time difference of signals propagating in the communication link based on timestamp information. It performs wireless synchronization on multiple UWB anchor points and calculates the time difference using timestamp information obtained from different UWB anchor points. It then constructs a hyperbola equation using the time difference information and anchor point positions.

[0082] Multi-anchor point positioning module 84: Obtains the location of the Wi-Fi target device based on the time difference of arrival. The weights of different anchor points are calculated based on the channel impulse response information of the UWB node. The intersection point is calculated using the hyperbola in the time difference calculation module 83 as a potential location. Different weights are assigned to different potential locations to achieve joint positioning.

[0083] Figure 9 shows a schematic diagram of the target positioning device according to another embodiment of the present disclosure.

[0084] As shown in Figure 9, the target positioning device 90 is presented in the form of a general-purpose computing device. The target positioning device 90 includes a memory 91, a processor 92, and a bus 93 connecting different system components.

[0085] The memory 91 may include, for example, system memory, non-volatile storage media, etc. System memory may store, for example, an operating system, application programs, a boot loader, and other programs. System memory may include volatile storage media, such as random access memory (RAM) and / or cache memory. Non-volatile storage media may store, for example, instructions for a corresponding embodiment of at least one target location method being executed. Non-volatile storage media include, but are not limited to, disk storage, optical storage, flash memory, etc.

[0086] The processor 92 can be implemented using a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete hardware components such as discrete gates or transistors. Accordingly, each module, such as the acquisition module, the calculation module, and the adjustment module, can be implemented by the central processing unit (CPU) running instructions in the memory to execute the corresponding steps, or by dedicated circuitry to execute the corresponding steps.

[0087] For example, processor 92 is configured to implement the target localization method involved in any embodiment of FIG1 by executing instructions based on memory storage.

[0088] Bus 93 can use any of the various bus architectures. For example, bus architectures include, but are not limited to, the Industry Standard Architecture (ISA) bus, the Micro Channel Architecture (MCA) bus, and the Peripheral Component Interconnect (PCI) bus.

[0089] The interfaces 94, 95, and 96 of the target positioning device 90, as well as the memory 91 and processor 92, can be connected via bus 93. Input / output interface 94 provides a connection interface for input / output devices such as monitors, mice, and keyboards. Network interface 95 provides a connection interface for various networked devices. Storage interface 96 provides a connection interface for external storage devices such as floppy disks, USB flash drives, and SD cards.

[0090] Various aspects of this disclosure are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus, and computer program products according to embodiments of this disclosure. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations thereof, can be implemented by computer-readable program instructions.

[0091] These computer-readable program instructions are provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable device to produce a machine, such that execution of the instructions by the processor produces means for implementing the functions specified in one or more boxes of the flowchart and / or block diagram.

[0092] These computer-readable program instructions may also be stored in a computer-readable storage medium. These instructions cause a computer to work in a particular manner to produce an article of manufacture, including instructions that implement the functions specified in one or more boxes in a flowchart and / or block diagram.

[0093] This disclosure may take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects.

[0094] This embodiment provides a computer storage medium storing computer instructions. When the computer instructions are executed by a processor, the target positioning method described in any embodiment of FIG1 is implemented.

[0095] This disclosure also provides a computer program product, including computer instructions, wherein when the computer instructions are executed by a processor, they implement the target localization method involved in any embodiment of FIG1.

[0096] This disclosure constructs a heterogeneous network by selecting UWB and Wi-Fi devices operating in the same frequency band, and leverages the high configurability of Wi-Fi devices to transmit specially designed payloads to simulate UWB signals. This achieves high bandwidth and high-accuracy timestamps for Wi-Fi device positioning using low-power UWB devices, with less susceptibility to low signal-to-noise ratios. This makes the disclosure more suitable for long-distance propagation scenarios, ensuring the accuracy of long-distance wireless positioning. Even when the distance between the target and the anchor point exceeds 200 meters, UWB can still successfully record the timestamps of Wi-Fi simulated data packets. This solves the problem in existing technologies where the channel state information of Wi-Fi devices used as anchor points is severely affected by channel conditions, limiting positioning accuracy at greater distances. Transmission distance and more complex environments can both lead to inaccurate channel state information. For complex indoor reflection environments, UWB's timestamp recording mechanism records the first peak in the channel impulse response, and subsequent reflections do not affect the recorded timestamp, ensuring accuracy even in complex environments and providing high-precision positioning information. Furthermore, unlike wired optical cable clock synchronization schemes in related studies, the wireless synchronization mechanism used in this disclosure can effectively achieve synchronization between different devices, eliminating inherent crystal oscillator errors. By utilizing UWB's unique channel impulse response information based on different hyperbolas with varying weights to achieve joint positioning of multiple anchor points, positioning accuracy can be significantly improved.

[0097] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0098] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0099] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0100] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0101] The embodiments of this disclosure have been described above with reference to the accompanying drawings. However, this disclosure is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this disclosure without departing from the spirit and scope of the claims. All of these forms are within the protection scope of this disclosure.

Claims

1. A target localization method, comprising: Acquire Wi-Fi target devices operating on the same frequency band and multiple UWB anchor points; A communication link is established between the Wi-Fi target device and each of the plurality of UWB anchor points, and the timestamp information of the signal propagated in the communication link is obtained; Calculate the arrival time difference of the signal propagating in the communication link based on the timestamp information; The location of the Wi-Fi target device is obtained based on the arrival time difference.

2. The target localization method according to claim 1, wherein, The step of establishing a communication link between the Wi-Fi target device and each of the plurality of UWB anchor points, and obtaining the timestamp information of the signal propagated in the communication link, includes: The pre-generated UWB signal is downsampled to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device; The Wi-Fi analog signal is modulated and transmitted by the Wi-Fi target device; The modulated Wi-Fi analog signal is received and demodulated through the UWB anchor point to obtain the payload of the UWB signal and extract the timestamp information therein.

3. The target localization method according to claim 2, wherein, The step of downsampling the pre-generated UWB signal to obtain a Wi-Fi analog signal with the same bandwidth as the Wi-Fi target device includes: The UWB signal is low-pass filtered to obtain a filtered signal, wherein the filtered information retains the UWB signal with the same bandwidth as the Wi-Fi signal; The filtered signal is decimated to obtain the Wi-Fi analog signal.

4. The target localization method according to claim 2, wherein, The process of receiving and demodulating the modulated Wi-Fi analog signal through the UWB anchor point includes: The modulated Wi-Fi analog signal is divided into subcarriers by Fourier transform, and the symbol sequence corresponding to each subcarrier is obtained by quadrature amplitude demodulation.

5. The target localization method according to claim 1, wherein, The step of calculating the arrival time difference of the propagated signal in the communication link based on the timestamp information includes: A wireless synchronization mechanism is introduced between the Wi-Fi target device and each UWB anchor point; A hyperbolic equation is constructed between the synchronized Wi-Fi target device and each UWB anchor point, and the distance difference between the Wi-Fi target device and each UWB anchor point is calculated based on the hyperbolic equation. The arrival time difference of the Wi-Fi target device's transmitted signal at each UWB anchor point is measured based on the distance difference.

6. The target localization method according to claim 5, wherein, The calculation of the distance difference between the Wi-Fi target device and each UWB anchor point based on the hyperbolic equation includes: Using formula Calculate the distance difference, where d AB Let be the distance difference between the Wi-Fi target device and UWB anchor point A and the distance between the Wi-Fi target device and UWB anchor point B. The coordinates of the Wi-Fi target device are (x, y), and the positions of UWB anchor points A and B are (x, y). A ,y A ) and (x B ,y B ).

7. The target localization method according to claim 6, wherein, The measurement of the arrival time difference of the Wi-Fi target device's transmitted signal at each UWB anchor point based on the distance difference includes: Using formula Calculate the arrival time difference, where TDoA AB This represents the time difference of arrival of the transmitted signal at each UWB anchor point.

8. The target localization method according to claim 5, wherein, The step of obtaining the location of the Wi-Fi target device based on the time difference of arrival includes: The intersection points of each hyperbola are obtained based on the hyperbolic equation between the Wi-Fi target device and each UWB; The location results of the Wi-Fi target device are obtained based on the intersection points of each hyperbola.

9. The target localization method according to claim 8, wherein, The method of obtaining the location result of the Wi-Fi target device based on the intersection of each hyperbola includes: Obtain the channel impulse response of each UWB anchor point; The weights of the intersection points of each hyperbola are obtained based on the channel impulse response information. Joint localization of Wi-Fi target devices is performed based on the weights of the intersection points of the hyperbolas.

10. The target localization method according to claim 9, wherein, The acquisition of the channel impulse response of each UWB anchor point includes: Using formula Calculate the channel impulse response, where CIR(t) is the channel impulse response function of the anchor point at time t, δ(t-τ) i ) is at t-τ i The impulse function of the impulse signal arriving at a given time.

11. The target localization method according to claim 9, wherein, The step of obtaining the weights of each hyperbola intersection point based on the channel impulse response information includes: Using formula In m,n =logA CIR (m)+logA CIR (n) Calculate the weights, where w m,n The weights are the intersection points of the hyperbolic curves, where m and n represent different UWB anchor points.

12. The target localization method according to claim 9, wherein, The joint localization of Wi-Fi target devices based on the weights of hyperbola intersections includes: Using formula The joint positioning is performed, where T(x,y) is the location of the Wi-Fi target device, and w m,n C represents the weights corresponding to anchor points m and n. m,n (x,y) represents the coordinates of the focus calculated from anchor points m and n.

13. The target localization method according to any one of claims 1-12, wherein, The acquisition of Wi-Fi target devices and UWB anchor points with the same operating frequency band includes: Enables the target Wi-Fi device to operate in 802.11ax 6E mode; Multiple ultra-wideband (UWB) devices operating in the 6GHz band will be used as the multiple UWB anchor points.

14. A target positioning device, comprising: The heterogeneous networking construction module is configured to acquire Wi-Fi target devices operating on the same frequency band and multiple UWB anchor points; The heterogeneous direct connection module is configured to establish a communication link between the Wi-Fi target device and each of the plurality of UWB anchor points, and to obtain timestamp information of the signal propagated in the communication link; The time difference calculation module is configured to calculate the arrival time difference of the signal propagating in the communication link based on the timestamp information; A multi-anchor positioning module is configured to obtain the location of a Wi-Fi target device based on the time difference of arrival.

15. A target positioning device, comprising: The memory is configured to store instructions; A processor, coupled to a memory, is configured to implement the target localization method as described in any one of claims 1-13 based on the memory-stored instructions.

16. A computer storage medium storing computer instructions thereon, characterized in that, When the computer instructions are executed by the processor, the target localization method as described in any one of claims 1-13 is implemented.

17. A computer program comprising computer instructions, wherein the computer instructions, when executed by a processor, implement the target localization method as described in any one of claims 1-13.

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