3463 results about "Ultra-wideband" patented technology

The invention provides an information system engineering supervision project risk adaptive assessment method and system. According to the project management scheme, a dynamic knowledge graph is formed by constructing a data model fusing a building information model and a geographic information system. The three-dimensional coordinate track of the construction machinery is captured in real time by using an ultra wide band positioning device array, and the space occupied hot area distribution is generated by using a multipath interference suppression technology. An operation simulation environment is established based on a digital twinning technology, and a space-time risk topology network is established to early warn path conflicts and safety spacing problems. And according to network node density characteristics, dynamically adjusting a risk assessment parameter weight, and assessing an equipment collision probability and a construction process conflict index. Finally, the stress threshold value and the signal sampling frequency are adjusted according to the composite risk level result feedback, and construction management and safety guarantee are optimized. According to the technical scheme provided by the invention, the efficiency and safety of information system engineering supervision project risk adaptive assessment can be improved.

The invention provides a directional energy multi-target interference system based on an ultra-wideband phased array technology, and the system integrates signal perception, target recognition, interference signal generation and phased array control, so as to achieve the precise interference of an unmanned aerial vehicle cluster. The signal sensing module scans an airspace target through the ultra-wideband phased-array antenna array and obtains spectrum characteristics of a target signal. The target identification module analyzes signal features, identifies an individual target and predicts a motion track and a communication protocol of the individual target. And the phased array control module calculates and adjusts antenna beam forming parameters, and dynamically controls the radiation direction, phase and transmitting power of the antenna. The interference signal generation module generates a matched interference waveform based on the target communication protocol and the trajectory information. The ultra-wideband phased-array antenna array adopts a digital beam forming technology. According to the invention, efficient and accurate directional energy interference can be realized under multiple frequency bands, the confrontation capability of the unmanned aerial vehicle cluster is improved, and the method is suitable for defense tasks in electronic warfare and complex electromagnetic environments.

The invention discloses an ultra-wideband laser radar inertial navigation cooperative SLAM (Simultaneous Localization and Mapping) method and system, which are suitable for robot positioning and mapping tasks in a GPS (Global Positioning System)-free environment. According to the method, high-frequency motion priori of an IMU, relative pose constraint of LiDAR and absolute ranging information of UWB are fused, a unified factor graph optimization model is constructed, and multi-sensor cooperative positioning is realized; in the system initialization stage, IMU bias calibration, UWB base station coordinate configuration and LiDAR initial attitude estimation are completed; in the operation process, IMU pre-integration is utilized to predict the pose, LiDAR point cloud registration is utilized to obtain the relative motion between key frames, UWB ranging is combined to construct a residual item, a self-adaptive weight mechanism is introduced to suppress ranging abnormity, and the fusion robustness is improved; the system supports geometric feature loopback detection, cross-frame constraints are constructed in combination with UWB to carry out closed-loop optimization, and an optimization result is used for real-time incremental updating of a global map; the method has the advantages of high positioning precision, strong anti-interference capability, wide application scene and the like.

The invention provides a multi-platform cooperative unmanned inspection task planning method and system for a wind power scene, and relates to the technical field of wind power plant inspection, and the method comprises the steps: based on a wind power plant three-dimensional scene model, adaptively dividing an inspection region, constructing a reachability path network, calculating an inspection difficulty coefficient according to target detection point information, and calculating a target inspection point; and generating an unmanned aerial vehicle and unmanned vehicle inspection area. A sensor is deployed to collect environment and equipment state data, feature vectors are extracted to establish an inspection constraint model, and main and branch inspection paths are planned on the reachability path network. And performing multi-platform relative positioning by using ultra-wideband radio waves, and dynamically optimizing an inspection path according to the equipment health score and the inspection constraint model. Through multi-platform cooperation, adaptive path planning and intelligent state identification, the wind power plant inspection efficiency and accuracy are improved, and the inspection cost is reduced.

A stream classification service-based communication method and an apparatus are applied to a wireless local area network system that supports 802.11 series protocols, for example, a next-generation Wi-Fi protocol of IEEE 802.11ax, such as 802.11be, Wi-Fi 7, or EHT, or for another example, a next-generation protocol of 802.11be, Wi-Fi 8, or UHR, and can be further applied to a UWB-based wireless personal area network system, a sensing system, and the like. The method includes: a receiving end sends a measurement request, and correspondingly, a transmitting end receives the measurement request. The measurement request includes an identifier of a stream classification service (SCS) stream. The transmitting end sends a measurement report, and correspondingly, the receiving end receives the measurement report. The measurement report includes the identifier of the SCS stream and QoS measurement data of the SCS stream.

The invention discloses a graph optimization-based UWB / IMU / GNSS multi-unmanned vehicle cooperative positioning method, which comprises a global satellite navigation system GNSS, an ultra wide band (UWB) system, an inertial measurement unit IMU and a robot motion control system, and is characterized in that the UWB system comprises a UWB label and three UWB base stations, the UWB label is deployed on a target unmanned vehicle to be positioned, and the UWB label is deployed on the target unmanned vehicle to be positioned; and the three UWB base stations are respectively arranged on the other three unmanned vehicles as mobile base station unmanned vehicles. The GNSS module and the IMU module are deployed on the unmanned vehicle to serve as a movable UWB base station, and GNSS absolute position information and IMU relative motion information are fused by adopting an extended Kalman filtering algorithm; and according to the determined position of the unmanned vehicle in the movable base station, a distance observation value between the label and the base station is obtained based on a single-side bidirectional distance measurement method, a factor graph model fusing UWB distance measurement constraint and IMU motion constraint is constructed, and a factor graph optimization algorithm is adopted to optimize the position of the target unmanned vehicle. According to the method, the cost of a traditional fixed base station is reduced through the deployment of a mobile base station unmanned vehicle, and the precision and robustness of UWB system positioning in a complex environment are improved in combination with a multi-source sensor data fusion strategy.

Technologies directed to using at least three antennas and Ultra-Wideband (UWB) protocols are described. One method includes sending a first signal to a second wireless device with data that cause it to send a second signal at a plurality of times. The method receives copies of the second signal at a first time via a first pair of antennas and copies of the second signal at a second time via a second pair of antennas. The method determines first and second angle-of-arrival (AoA) values from the copies of the second signals at the first and second times, respectively. The method determines location information of the second wireless device, the location information including an identifier corresponding to a first field of view (FOV) corresponding to the first pair or a second FOV corresponding to the second pair and at least one of the first AoA value or the second AoA value.

The invention discloses a multi-unmanned aerial vehicle cluster cooperative positioning method based on multi-sensor fusion, and the method comprises the following steps: S1, collecting and processing the multi-sensor data of unmanned aerial vehicles, compensating VIO accumulated drift through fusing ultra-wideband ranging information, guaranteeing the time-space consistency of the multi-sensor data through employing a layered time synchronization strategy, and carrying out the collection and processing of the multi-sensor data of the unmanned aerial vehicles; suppressing multipath interference of the UWB signal and eliminating an NLOS error by using adaptive Kalman filtering, and obtaining initial positioning data of the unmanned aerial vehicle; s2, acquiring key frames of multiple unmanned aerial vehicles based on a window sampling method, and performing key frame optimization and outlier processing to balance noise suppression and real-time performance; and S3, constructing a factor graph model of the key frame data based on a graph optimization theory, and obtaining optimized cluster position information by solving a nonlinear least square optimization problem. The method effectively improves the accuracy and stability of multi-unmanned aerial vehicle cluster cooperative positioning, and can be applied to the fields of unmanned aerial vehicle logistics distribution, environment monitoring and the like.

An ultra-wideband (UWB) device according to an embodiment disclosed herein comprises a UWB subsystem (UWBS) and a processor connected to the UWBS. The processor may: control to transmit a control message, including a first ranging round management list (RRML) parameter corresponding to a first session ID and a second RRML parameter corresponding to a second session ID, in a first ranging round within a first ranging block; perform contention-based ranging in a second ranging round mapped to the first session ID within the first ranging block; and transfer data to an external UWB device on a plurality of ranging slots mapped to the second session ID within the first ranging block.

The invention provides a three-dimensional simulation and infection scene decision optimization system and method based on digital twinning, and relates to the technical field of intelligent medical treatment and digital twinning crossing technologies. The three-dimensional simulation and infection scene decision optimization system and method based on digital twinborn comprises the following modules: a data acquisition module, a path optimization module, a risk analysis module, a disinfection scheduling module and a collaborative prevention and control module, by arranging an air microorganism sampler, ultra-wideband positioning equipment and a temperature and humidity sensor, pathogen concentration, personnel trajectory and environmental parameters are collected in real time. Through a multi-source sensor fusion algorithm and a space-time attention mechanism, weight fusion and noise filtering are carried out on pathogen concentration, personnel tracks and environmental parameters in a hospital environment, the problems of information isolation and noise interference in traditional data collection are solved, and the space-time relevance of multi-modal data is remarkably enhanced.

The invention discloses an ultra-wideband indoor positioning method based on a multi-mode diffusion model, which belongs to the field of indoor positioning and comprises the following steps: acquiring distance data and RSSI (Received Signal Strength Indicator) data between UWB anchor points and labels in an indoor environment based on a mobile multi-sensor platform; performing feature extraction and feature fusion on the multi-modal input data through a multi-modal feature extraction module; an improved denoising diffusion implicit model is adopted to perform accelerated reverse sampling, a U-Net architecture neural network is utilized to realize high-quality distance reconstruction, and a distance estimation value is output; and establishing a position estimation layer, performing time sequence modeling by adopting a long-short-term memory network, learning position estimation, and outputting a three-dimensional coordinate positioning value. According to the method, UWB distance data and RSSI data can be effectively fused, high-quality reconstruction of lost data is achieved, meanwhile, statistical characteristics and spatial-temporal correlation of the data are reserved, and the precision and robustness of indoor positioning are remarkably improved.

The invention provides a miner safety early warning system based on UWB and AI cameras, and relates to the technical field of mine safety, the miner safety early warning system comprises a positioning module, a video monitoring and analysis module, a data fusion and processing module and an early warning and communication module, the positioning module is composed of a plurality of UWB base stations arranged in a mine and UWB positioning cards worn by miners, and the video monitoring and analysis module is connected with the early warning and communication module. The centimeter-level real-time positioning of miners is realized through ultra-wideband pulse signals; the UWB technology is applied, the positioning precision is improved to the centimeter level, the positions of miners can be accurately mastered, precious time is won for emergency rescue, intelligent recognition and analysis of personnel behaviors and environmental risks are achieved through the AI camera, the defects of traditional monitoring are overcome, potential safety hazards can be found in advance, and through multi-source data fusion and real-time processing, the safety of the miners is improved. The system can give an early warning at the first time when a danger occurs, thereby effectively avoiding the occurrence of an accident or reducing the harm degree of the accident.

The invention discloses an integrated machine room operation and maintenance management system, which relates to the field of information technology management and comprises a plurality of modules such as a distributed data acquisition module, a heterogeneous equipment adaptation module and a standardized communication interface module. The system realizes module cooperation through a two-way synchronous lock mechanism and an intelligent load sensing mechanism; the distributed acquisition module realizes millisecond-level high-precision data synchronization by using an ultra wide band and millimeter wave combined sensing technology; the heterogeneous equipment module eliminates communication compatibility obstacles; the standardized communication module is fused with an optical fiber and a dynamic arbitration mechanism to realize microsecond-level low-delay communication; the resource virtualization module supports unified abstraction and low-delay scheduling of physical resources; the expansion module can complete new node integration within three seconds; the fault-tolerant module can early warn faults ten minutes in advance and realize quick recovery; the intelligent decision-making module optimizes an operation and maintenance strategy based on edge reinforcement learning; and the interaction module supports multi-terminal state reproduction and programming control. The method has the beneficial effects that automation, intelligence and reliability levels of machine room operation and maintenance are improved.

The invention provides an unmanned aerial vehicle fusion positioning method based on four-anchor-point UWB pose dynamic quality evaluation, and the method comprises the following steps: defining an unmanned aerial vehicle coordinate system and a world coordinate system, and selecting a first frame point cloud coordinate system of a laser radar as the world coordinate system; defining a state transition model required by front-end state estimation; obtaining a front-end laser radar-inertial odometer factor by using an iterative Kalman filter; based on the four-anchor-point ultra wide band, the accurate unmanned aerial vehicle position and attitude are obtained to serve as ultra wide band factors; based on the obtained ultra-wideband factor, judging the position and attitude quality of the ultra-wideband factor, and determining whether the ultra-wideband factor participates in factor graph optimization or not by adopting an event triggering mechanism; and factor graph optimization is used to obtain the accurate position and attitude of the unmanned aerial vehicle after optimization. And the calculation burden of an airborne computer of the unmanned aerial vehicle is reduced, and the accurate unmanned aerial vehicle position and attitude obtained by combining the four-anchor-point ultra wide band are combined, so that the unmanned aerial vehicle real-time positioning with higher precision and lower calculation burden is realized.

The invention relates to the technical field of high-precision positioning, in particular to an outdoor immersive text and travel hybrid positioning and dynamic rendering optimization method, and the method comprises the steps: obtaining a positioning signal of a mobile terminal in a target service area through a hybrid positioning model; the positioning signals comprise an ultra-wideband ranging signal, a visual inertial odometer signal, a real-time carrier phase difference signal and an inertial navigation signal; processing the positioning signal through a multi-layer signal processing filtering model to obtain coordinate data, and generating a space coordinate; constructing a user movement situation prediction model based on the space coordinates, generating a navigation prediction track and navigation confidence, and generating a preloading strategy; acquiring geographical environment parameters of the target service area, and integrating the space coordinates, the geographical environment parameters, the preloading strategy and the virtual object through a multi-dimensional virtual-real fusion model to generate an augmented reality space scene; and analyzing the user movement track data and the augmented reality space scene through a multi-modal driving model to generate interactive content.

The invention relates to the technical field of engineering, in particular to a geomembrane defect detection system and method under the earth and stone medium coverage condition, and the geomembrane defect detection system comprises a multi-mode adaptive sensing module, an edge calculation module, a data fusion module, a digital twinning module and a decision and application module; compared with the defects that single resistivity or geological radar detection is adopted in the prior art, interference of medium conductivity and metal impurities is likely to happen, and the deep resolution is insufficient, the scheme adopts multi-mode sensor network cooperative work, and a dynamic density layout and time-phased acquisition strategy is combined; through multi-mode complementation of an electrode array, an ultra-wideband radar, a distributed optical fiber and an MEMS vibration sensor, a dominant sensing mode is automatically switched in a conductive clay area, temperature gradient interference is avoided through night acquisition, the penetration depth is increased to 15 meters through multi-band radar fusion, and metal interference is inhibited; the detection precision and the anti-interference capability in a complex medium environment are remarkably improved, and the problems of high false alarm rate and high omission ratio of a traditional method are effectively solved.

The invention discloses an intelligent identification and grading early warning method based on mine production abnormity, and a system and equipment thereof. The method comprises the following steps: obtaining space-time evolution data, earth surface deformation data and environment monitoring data of rock mass stress in a target area; performing abnormal mode detection on the data by using a space-time convolutional network to obtain accident risk probability distribution data; using an ultra wide band positioning system to track the movement track of the person entering the target area in real time to obtain the movement track data of the person; and constructing a three-dimensional early warning index system in combination with the accident risk probability distribution data in the target area and a dynamic early warning mechanism, performing dynamic early warning grading on different positions in the target area by using the three-dimensional early warning index system, and generating a grading response strategy matched with the personnel activity trajectory data. According to the invention, the problems of incapability of tracking a personnel movement track in real time and low timeliness of mine production abnormity early warning are solved.

A system and method for dynamic two-way ranging using unmanned aerial vehicles may use ultrawideband transceivers for dynamic two-way ranging between unmanned aerial vehicles among a first set of unmanned aerial vehicles. Embodiments of the system and method may allow for dynamic two-way ranging where GPS information may be limited or not be available at all.

The invention relates to the field of industrial chain docking, and discloses an LBS-driven industrial chain precise intelligent docking method, which comprises the following steps: acquisition and alignment: acquiring corresponding data through a multi-modal sensor network deployed at industrial chain nodes, and performing space-time alignment to generate multi-source fusion data under a unified coordinate system; error compensation: based on the multi-source fusion data, performing anti-interference processing on a signal through spectrum sensing and a deep learning model, dynamically compensating a positioning error, and outputting preliminary positioning data; and calculation optimization: inputting the preliminary positioning data into an edge calculation node for real-time calculation, and aggregating multi-node positioning error characteristics and model parameters through a federated learning mechanism. The method comprises the following steps: acquiring multi-source data, dynamically switching ultra-wideband frequency bands by using a spectrum sensing technology to resist interference, compensating positioning errors, resolving in real time by using edge computing nodes, optimizing a global positioning model and dynamically adjusting space-time constraint weights in combination with a federated learning mechanism, and analyzing a supply-demand relationship to trigger a docking instruction.

The invention discloses a mining equipment positioning system and method based on radar, ultra wide band and inertial navigation, and the system is characterized in that a multi-source sensor unit, a data synchronization and collection module and a preprocessing module are connected in sequence, and a state fusion module is connected with the preprocessing module, a UWB ranging error compensation module, a radar motion estimation module and a pose output module; the upper computer is connected with the pose output module; the method comprises the steps of collecting multi-source data; timestamp alignment and format conversion processing are carried out, and feature and speed constraint information extraction is carried out on the point cloud data; fitting correction is carried out on the ranging data by adopting a weighted least square method, and position information is obtained through an error weighted average algorithm; feature matching is carried out, and in combination with a KISS-ICP point cloud registration method, a speed estimation result is obtained; carrying out data fusion, and obtaining a pose estimation result by adopting an extended Kalman filtering algorithm; and outputting equipment position and attitude information. According to the invention, high-precision real-time estimation of the attitude and position information of the mining equipment can be realized.

The invention relates to the technical field of electromagnetics, in particular to an ultra-wideband full-polarization large-angle beam scanning theory based on an electromagnetic metasurface, which comprises the following steps of: S1, regulating and controlling a beam far-field phase based on an array global reference phase; s2, adjusting and controlling far-field orthogonal polarization vector field superposition based on array factors to realize full-polarization beam control; and S3, theoretical calculation verification of full-polarization beam regulation and full-wave simulation verification of the full-polarization beam. According to the invention, a novel full-polarization wave beam regulation and control theory based on array factor regulation and control orthogonal polarization vector field superposition is provided, and theoretical calculation and full-wave simulation are carried out on the provided full-polarization wave beam regulation and control theory; according to the theory, the effectiveness and universality of realizing ultra-wideband and large-angle full-polarization beam regulation and control by only using one-bit phase resolution are verified.

The invention relates to a flight path planning method and system based on multi-unmanned aerial vehicle cooperative inspection, and the method comprises the following steps: S1, carrying out the combined modeling of LiDAR and oblique photography, generating a point cloud map of an inspection region, and generating a voxel map with obstacle labels through TSDF fusion; s2, according to the voxel map with the obstacle label, based on Voronoi iteration of an improved Lloyd algorithm, dynamically allocating sub-regions in combination with the performance of the unmanned aerial vehicle, and ensuring load balance; s3, performing path planning based on a bilayer planning framework according to the unmanned aerial vehicles after the sub-regions are allocated; s4, performing routing inspection according to a path planning result, and realizing distributed conflict resolution by adopting a contract network protocol; and S5, in combination with 5G communication, an ad-hoc network and an ultra wide band, enhancing data communication between the unmanned aerial vehicles and between the unmanned aerial vehicles and the aircraft nest. According to the invention, comprehensive optimization of multi-unmanned aerial vehicle cooperative inspection is realized.

The present invention discloses a high polarization isolation dual-polarization tightly coupled ultra-wideband phased array antenna. It includes a dipole unit, a coaxial feed line, a metal reflective floor, a fishbone cross-shaped patch and a cross-shaped metal wall; the dipole unit includes a horizontal and two vertical dielectric substrates, and the vertical dielectric substrates are orthogonal to each other; two groups of coplanar and mutually perpendicular butterfly-shaped dipole units are printed on the lower surface of the horizontal dielectric substrate; a fishbone cross-shaped patch is embedded at the intersection of the ends of the dipole units, and there is a gap between the patch and the end of the dipole; a patch with an etched groove line is printed on one side of the vertical dielectric substrate; the patch is connected to the dipole; the microstrip line on the upper surface of the horizontal dielectric substrate is connected to the inner conductor of the coaxial feed line, and the dipole is connected to the outer conductor of the coaxial feed line; the fishbone cross-shaped patch is in contact with the cross-shaped metal wall. The present invention realizes high polarization isolation and low cross-polarization of the dual-polarization tightly coupled ultra-wideband phased array in a lower frequency band without the need for a complex feeding network.

The invention belongs to the technical field of antenna engineering, and particularly relates to an ultra-wide-band low-profile phased-array antenna, which realizes broadband impedance matching characteristics and effectively expands the working bandwidth of the antenna by optimizing a dipole arm structure and introducing a matching branch knot and linear tapered slot composite structure on a radiation unit layer; on the array architecture level, an electromagnetic metasurface technology is adopted, array current distribution is improved through a periodic artificial electromagnetic structure, the active standing-wave ratio is remarkably reduced, the scanning angle of an array is widened, and meanwhile high compression of a system profile is achieved; on the structural design level, a three-dimensional composite structure of a transverse metal floor, a longitudinal radiation layer and a transverse metasurface layer is innovatively constructed, and the overall section height is reduced to 0.137 lambda Low (lambda Low is the lowest working frequency wavelength) through electromagnetic coupling and space folding technologies; in conclusion, the ultra wide band (the relative bandwidth is greater than or equal to 90%) and the low profile (lt; and the method is suitable for a new generation of broadband phased array radar system.

The invention discloses a crown block positioning control method and related equipment, and relates to the technical field of industrial automation control, and the method comprises the steps: obtaining multi-source sensing data of a target crown block; carrying out fusion processing on the ultra-wideband positioning signal, the encoder displacement increment and the inertial measurement unit data based on a robust Kalman filtering algorithm to obtain a first positioning result; performing point cloud registration processing on the laser radar scanning data to obtain a second positioning result; determining a pose offset compensation amount through a preset kinetic model; and controlling the target crown block according to the first positioning result, the second positioning result and the pose offset compensation amount. Through the multi-sensor fusion and dynamic compensation technology, high-precision and anti-interference crown block positioning and control suitable for complex working conditions can be achieved.

The invention discloses an intelligent ultra-wideband positioning data correction method. The method comprises the following steps: S1, generating a preprocessed ultra-wideband positioning data set; s2, training the improved self-supervised learning network model to obtain a positioning feature vector; s3, outputting a dynamic mask parameter pair; s4, outputting the corrected ultra-wideband positioning data; and S5, performing error evaluation on the corrected ultra-wideband positioning data and the original ultra-wideband positioning data, updating the improved self-supervised learning network model and the abnormal mode adaptive clustering mask mechanism according to an error evaluation result, and outputting the corrected ultra-wideband positioning data passing the error evaluation for downstream navigation, tracking or position service application. According to the invention, the data stability and application reliability of downstream navigation, tracking and position service systems are effectively guaranteed.

The present invention relates to the field of electronic devices of wireless communication systems. Disclosed is an ultra-wideband and high-protection-efficiency filtering energy selective surface, comprising one or more layers of reflecting surfaces; each reflecting surface is mainly composed of a plurality of metal sheets which are located on the same plane, have the same shape and are arranged in central symmetry; a gap for electrical isolation is formed between every two adjacent metal sheets; each gap is provided with a PIN diode; the anodes and cathodes of all the PIN diodes are arranged in a clockwise or counterclockwise direction; and all the gaps form an interconnected gap structure on the plane where the reflecting surface is located. The ultra-wideband and high-protection-efficiency filtering energy selective surface can be achieved by a first-order filtering energy selective surface unit or a second-order filtering energy selective surface unit. The filtering energy selective surface of the present invention has a small surface thickness and a simple structure, can achieve fast roll-off filtering for low-power signals, achieve an ultra-wide suppression stopband, and achieve ultra-wideband and high-efficiency protection for high-power electromagnetic waves.

The invention discloses a train positioning method and system. The method comprises the steps that when a train drives into an inactive area, first positioning information of the train is determined according to an ultra-wideband signal of the train; mapping the first positioning information of the train to a station map, and determining track section occupation information of the train; when the train drives into an activation area, acquiring point cloud data detected by the train in real time; according to the point cloud data and the station yard map, determining second positioning information of identification equipment of the activation area; and according to the second positioning information, carrying out intrusion detection on the train to obtain a train intrusion result. According to the embodiment of the invention, the accuracy of train positioning can be improved.

The invention provides a fusion positioning mapping method using a single anchor point external confidence source. The method comprises the following steps: step 1, arranging UWB anchor points; 2, initializing the mobile robot; 3, processing a front-end point cloud map; step 4, processing UWB ranging information; step 5, key frame judgment; and step 6, optimizing a back-end factor graph. The invention provides a multi-sensor synchronous positioning and mapping system integrating a 3D laser radar, an inertial measurement unit and an ultra-wideband sensor, and aims to improve the positioning precision and trajectory estimation performance of a mobile robot in a complex environment. According to the method, a robust and efficient positioning scheme is provided by combining data of three sensors through a factor graph optimization method.

The invention provides an edge computing method and system for collaborative optimization of identification analysis and positioning service. The method comprises the following steps of: dividing cellular coverage area levels according to time delay differences of cellular communication links, and determining an initial response range of an identification analysis request; generating a positioning correction parameter by using the combination of the arrival time and the angle of the multi-anchor signal of the ultra-wideband array; a joint analysis channel is established at the edge node, and the identification analysis request and the positioning correction parameter are packaged into a composite data unit; dynamically adjusting a cellular time delay compensation value and an ultra-wideband anchor point weight distribution value based on a correction parameter in the composite data so as to adapt to the cooperative constraint of an equipment movement track and metal interference in an industrial scene; and finally, generating a cooperation instruction, and synchronously feeding back the optimized identification analysis result and the real-time positioning coordinate through the edge node. According to the technical scheme provided by the invention, the precision of equipment identifier analysis and positioning service in an industrial complex environment is improved.