CN115665660A - UWB-based positioning method, device and medium - Google Patents
UWB-based positioning method, device and medium Download PDFInfo
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Abstract
The invention discloses a positioning method, a positioning device and a positioning medium based on UWB (ultra Wide band), which are suitable for the technical field of communication. Obtaining distance values between each base station and the terminal through the distance measurement times, the distance measurement algorithm and the position information of each base station, determining positioning information corresponding to the terminal according to the distance values, and determining a corresponding positioning strategy according to the relation between the positioning information and a preset condition, wherein the preset condition is that a plurality of positioning information are located in a current preset area, the combination of the distance measurement algorithm and the positioning strategy reduces the error of signal transmission between the base station and the terminal, and the obtained positioning information of the terminal has lower error compared with the positioning information obtained by the existing single positioning method; meanwhile, a corresponding positioning strategy is determined according to the relationship between the plurality of positioning information and the preset condition, so that the position information of the terminal is in the preset area, the deviation of the positioning information is reduced, and the positioning accuracy of the terminal is improved.
Description
Technical Field
The present invention relates to the field of communications technologies, and in particular, to a positioning method, apparatus, and medium based on UWB.
Background
An Ultra Wide Band (UWB) is a new technology in the field of indoor positioning, and is a low-power-consumption radio technology applied to the field of wireless communication, and nanosecond or subnanosecond pulses are used for realizing wireless communication.
The current distance measurement and positioning method only determines the position information of the terminal of the base station according to the signal parameters between the base station and the terminal by a distance measurement method or a positioning method, so that the positioning measurement and calculation method is single, and the generated error cannot be eliminated. And the traditional positioning algorithm causes errors aiming at the interferences of reflection, multipath propagation, non-line-of-sight propagation, noise and the like in the propagation, so that the obtained position information of the terminal has larger deviation and lower accuracy.
Therefore, it is highly desirable to those skilled in the art to find a UWB positioning method.
Disclosure of Invention
The invention aims to provide a positioning method, a positioning device and a positioning medium based on UWB, so that the position information of a terminal is in a preset area, the deviation of the positioning information is reduced, and the positioning accuracy of the terminal is improved.
In order to solve the technical problem, the invention provides a positioning method based on UWB, which comprises the following steps:
acquiring position information of each base station, wherein the number of the base stations is at least three;
obtaining distance values between each base station and the terminal through the ranging times, the ranging algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal;
and determining a corresponding positioning strategy according to the relationship between the positioning information and a preset condition to obtain the final position information of the terminal, wherein the preset condition is that the positioning information is in a current preset area.
Preferably, the determining a plurality of positioning information corresponding to the terminal by obtaining the distance value between each base station and the terminal through the number of ranging times, the ranging algorithm, and the location information of each base station includes:
acquiring signal parameters between each corresponding base station and a terminal under the current ranging times;
determining the current distance value corresponding to each base station and the terminal of the current distance measurement times according to the distance measurement algorithm and the signal parameters;
and determining the current positioning information corresponding to the terminal of the current distance measurement times according to the relationship between the current distance value and the position information of each base station.
Preferably, determining the current distance value corresponding to each base station and terminal of the current ranging times according to the ranging algorithm and the signal parameter includes:
acquiring timestamps of pulse signal transmission between each base station and a terminal, wherein the timestamps at least comprise a group of first timestamps and second timestamps of pulse signal transmission from each base station to the terminal, a group of third timestamps and fourth timestamps of response pulse signal transmission from the terminal to each base station, and signal parameters are the transmitted timestamps;
performing difference processing according to the first time stamp and the fourth time stamp to obtain a first difference value;
performing difference processing according to the second time stamp and the third time stamp to obtain a second difference value;
performing difference processing on the first difference value and the second difference value to obtain the bidirectional delay time of each base station and each terminal;
dividing the two-way delay time by 2 to obtain a one-way delay time;
and determining the current distance value between each base station and the terminal according to the relation between the one-way delay time and the speed.
Preferably, the establishing process of the first time stamp and the second time stamp comprises the following steps:
receiving a first time stamp transmitted by each base station to a terminal;
receiving pulse signals sent by each base station, and recording the receiving time of receiving the first time stamp as a second time stamp;
correspondingly, the establishing process of the third timestamp and the fourth timestamp comprises the following steps:
generating a response signal of a response pulse signal according to the pulse signal sent by each base station, and recording the sending time of the response signal as a third timestamp;
and sending the third timestamp and the response signal to each base station so that each base station records the response signal, wherein the receiving time of the third timestamp is a fourth timestamp.
Preferably, determining a corresponding positioning policy according to a relationship between the plurality of positioning information and a preset condition to obtain final position information of the terminal includes:
judging whether the plurality of positioning information meet preset conditions or not;
if not, respectively determining the actual distance value between the base stations at the current moment and the actual measurement distance value between each base station and the terminal according to a distance measurement algorithm;
determining an error mean value according to the relation between each actual distance value and each standard distance value, and determining the position information of the terminal according to the relation between the actual distance value and the error mean value, wherein each standard distance value is the distance value between each base station determined by the position information of each base station;
using the position information of the terminal as new positioning information;
combining the ranging times with the positioning information to select the positioning information corresponding to the ranging times close to the current moment to obtain new positioning information, and returning to the step of judging whether the positioning information meets the preset conditions;
and if so, determining the final position information of the terminal according to the relationship among the plurality of positioning information.
Preferably, the process of establishing the current preset area specifically includes:
selecting any two pieces of positioning information from the plurality of pieces of positioning information to determine corresponding length values;
selecting a maximum length value from the length values, and taking the maximum length value as a diameter length value;
determining corresponding target positioning information according to the maximum length value;
and dividing the circular area according to the relation between the target positioning information and the diameter length value to determine the current preset area.
Preferably, the determining the position information of the terminal according to the relation between each measured distance value and the error mean value includes:
respectively carrying out and processing on each measured distance value and the error mean value to obtain a first distance value, a second distance value and a third distance value of the corresponding terminal;
and determining the position information of the terminal according to the relation among the first distance value, the second distance value, the third distance value and the position information of each base station.
Preferably, determining the final location information of the terminal according to the relationship between the plurality of positioning information includes:
judging whether the plurality of positioning information are the same or not;
if the terminal position information is different from the terminal position information, averaging the positioning information to obtain final positioning information serving as the final position information of the terminal;
and if the terminal position information is the same as the terminal position information, selecting one piece of positioning information from the plurality of pieces of positioning information as the final position information of the terminal.
In order to solve the above technical problem, the present invention further provides a positioning apparatus based on UWB, comprising:
the device comprises an acquisition module, a processing module and a processing module, wherein the acquisition module is used for acquiring the position information of each base station, and the number of the base stations is at least three;
the first determining module is used for obtaining a distance value between each base station and the terminal through the ranging times, the ranging algorithm and the position information of each base station so as to determine a plurality of positioning information corresponding to the terminal;
and the second determining module is used for determining a corresponding positioning strategy according to the relationship between the plurality of positioning information and a preset condition to obtain the final position information of the terminal, wherein the preset condition is that the plurality of positioning information are in a current preset area.
In order to solve the above technical problem, the present invention further provides a positioning apparatus based on UWB, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the UWB-based positioning method as described above when executing the computer program.
In order to solve the above technical problem, the present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the steps of the UWB-based positioning method as described above.
The invention provides a positioning method based on UWB, which comprises the following steps: acquiring position information of each base station, wherein the number of the base stations is at least three; obtaining distance values between each base station and the terminal through the distance measurement times, the distance measurement algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal; and determining a corresponding positioning strategy according to the relationship between the positioning information and a preset condition to obtain the final position information of the terminal, wherein the preset condition is that the positioning information is in a current preset area. The method comprises the steps of obtaining distance values between each base station and each terminal through a ranging algorithm, determining positioning information corresponding to the terminals according to the distance values, determining corresponding positioning strategies according to the relation between the positioning information and preset conditions, reducing errors of transmission signals between the base stations and the terminals through the combination of the ranging algorithm and the positioning strategies, and obtaining the positioning information of the terminals, wherein the obtained positioning information of the terminals has lower error compared with the positioning information obtained by the existing single positioning method; meanwhile, a corresponding positioning strategy is determined according to the relationship between the plurality of positioning information and the preset condition, so that the position information of the terminal is in the preset area, the deviation of the positioning information is reduced, and the positioning accuracy of the terminal is improved.
In addition, the invention also provides a positioning device and a medium based on UWB, which have the same beneficial effects as the positioning method based on UWB.
Drawings
In order to more clearly illustrate the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained by those skilled in the art without inventive effort.
Fig. 1 is a flowchart of a UWB-based positioning method according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a terminal positioning method according to an embodiment of the present invention;
FIG. 3 is a block diagram of a UWB based positioning device according to an embodiment of the invention;
fig. 4 is a block diagram of another UWB-based positioning apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present invention without any creative work belong to the protection scope of the present invention.
The core of the invention is to provide a positioning method, a device and a medium based on UWB, so that the position information of the terminal is in a preset area, the deviation of the positioning information is reduced, and the positioning accuracy of the terminal is improved.
In order that those skilled in the art will better understand the disclosure, reference will now be made in detail to the embodiments of the disclosure as illustrated in the accompanying drawings.
It should be noted that the positioning method based on UWB provided by the present invention can be applied to various positioning electronic devices, such as smart wearable devices such as smart watches, smart bracelets, rings, virtual Reality (VR), augmented Reality (AR), and mobile devices such as positioners and mobile phones.
Fig. 1 is a flowchart of a UWB-based positioning method according to an embodiment of the present invention, and as shown in fig. 1, the method includes:
s11: acquiring position information of each base station, wherein the number of the base stations is at least three;
s12: obtaining distance values between each base station and the terminal through the distance measurement times, the distance measurement algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal;
s13: determining a corresponding positioning strategy according to the relationship between the plurality of positioning information and a preset condition to obtain final position information of the terminal;
the preset condition is that a plurality of positioning information are in a current preset area.
Specifically, position information of each base station is acquired, the base station takes the earth as a horizontal plane coordinate, and the coordinate of the base station may be the position information of the base station. The number of base stations can be determined according to the precision requirement of the UWB positioning technology, and simultaneously, the requirement of dimensionality exists. The UWB positioning technology is suitable for zero-dimensional, one-dimensional, two-dimensional and three-dimensional positioning. In the zero dimension, namely, whether the coverage area exists or not, under the condition, the coverage area is generally considered based on the coverage area of a single base station, the coverage area is generally within a radius of 10-100 meters according to different environmental interference shelters and the like, the precision is generally not emphasized under the dimension of 0, and whether the coverage of a control area is complete or not is mainly observed.
One dimension, namely one direction dimension, is based on the principle that two points form a line, at least 2 base stations are needed, the precision is different according to the environment, the distance can be adjusted, the theory can reach 10cm, and the precision of the general environment can be 30-100 cm; two-dimension, namely positioning in a plane area, and outputting specific X and Y dimensional coordinates, wherein the minimum requirement is 3 base stations according to the technical principle, but the minimum requirement is 4 base stations according to the application effect, the base stations have different far and near deployment distances and have higher requirements on areas based on different environment complexity and different precision requirements, high-quality and high-precision calculation is generally carried out by increasing the density of the base stations, the two-dimensional maximum precision can be 10cm, but the two-dimensional maximum precision belongs to a specific constant environment, and the precision can be 30-50 cm under the normal use environment; three-dimensional, on two-dimentional basis promptly, increase height information, realize stereotactic positioning, the output is three-axis data X, Y, Z, three-dimensional location comprises two not planar positioning of co-altitude in principle, so, basic station quantity generally can double, and less scene can so use at present, because the cost will double the production, and the precision is generally practical about 100cm on the height, is difficult to accomplish extra high accuracy. As a preferred embodiment, the number of base stations is at least three, which can satisfy most application scenarios.
In step S12, the number of ranging times is determined according to the preset number of times, that is, the number of ranging times is the same as the number of positioning information. It can be understood that the number of ranging times is set according to an empirical value, for example, the number of ranging times is 10, which obtains 10 positioning information corresponding to the terminal. Since one obtained positioning information is easy to have contingency or error, a plurality of positioning information are set so as to avoid error or accidental influence on the determination of the final position information of the terminal. A direct relation is determined according to the position information of each base station and the unknown position information of the terminal, and the relation of the sum of squared differences of the position information of each base station and the unknown position information of the terminal is equal to the distance value between each base station and the terminal, and the specific formula is as follows:
wherein the position information of each base station is represented by (x) in the coordinate axis 1 ,y 1 )、(x 2 ,y 2 )、(x 3 ,y 3 ) The unknown position information of the terminal is (x, y), and the distance values thereof respectively correspond to r 1 、r 2 、r 3 . Since the position information of each base station is known, the distance value can be known according to the pulse signal transmission of each base station and the terminal and the ranging algorithm, and then the unknown position information of the terminal, namely the positioning information, can be obtained by reverse-deducing according to the formula. The concrete formula is as follows:
it should be noted that, in the ranging algorithm, since the number of ranging times may be multiple, the ranging algorithm may be the same as or different from the algorithm used in each ranging process. When the distance measurement algorithms are different in the number of times of distance measurement, the positioning information obtained by the distance measurement algorithms is obtained by adopting the same distance measurement algorithm according to different distance measurement algorithms or different moments, and the invention is not particularly limited.
In the Ranging algorithm, toF Single-side Two-Way Ranging (SS-TWR) is generally used for Ranging currently, which has a relatively strict constraint that a transmitting device and a receiving device must be synchronized by clocks. In order to reduce the influence of clock skew, a bilateral Two-Way Ranging (DS-TWR) method is often used in UWB Ranging. The reverse measurement compensation, the module A transmits the pulse signal of the request property at the time of Ta1 on the time stamp, the module B receives the signal at the time of Tb1 on the time stamp, then after certain processing means is applied to the UWB signal, the module B transmits the signal of the response property and the request property at the time of Tb2 and is received by the module A at the time of Ta2 of the time stamp, the response signal is replied at the time of Ta3 after a period of processing and is received by the module B at the time of Tb3 of the time stamp, and the formula is specifically as follows:
the second method solves the problem of clock skew, but the time consumption of ranging increases. Therefore, a ranging algorithm determined as a combination of the two methods, which can consider the purposes of clock frequency shift and time reduction, can also be applied to the embodiment of the present invention. The ranging algorithm may be any one or more of the above mentioned algorithms, and it should be noted that the ranging algorithm of the present invention may also be other ranging algorithms, such as Angle of Arrival ranging (AOA), received Signal Strength indicator Ranging (RSSI), circumference of Arrival positioning (TOA), passive Time Difference positioning (TDOA), etc., and the present invention is not particularly limited as long as the positioning information of the terminal can be obtained.
After the multiple positioning information is obtained in step S12, it determines a corresponding positioning policy according to a relationship between the multiple positioning information and a preset condition, and when the multiple positioning information satisfies the preset condition, it indicates that a deviation between the multiple positioning information is small, and may determine final position information of the terminal according to the multiple positioning information. When the plurality of positioning information do not meet the preset conditions, the fact that the deviation among the plurality of positioning information is large is indicated, the positioning information needs to be reselected, the reselected positioning information needs to be combined with the actual distance of each base station to determine an error mean value so as to obtain current positioning information, the positioning information is updated, whether the current preset conditions are met or not is judged again, and if the current preset conditions are met, the fact that the deviation of the corrected positioning information is small is indicated.
The positioning strategy is based on the location information of the terminal with the common intersection point of the circles of the base stations. In general, circles corresponding to each base station cannot intersect each other or the intersection is not a point but a plurality of points, that is, there are a plurality of pieces of positioning information of the terminal. The embodiment of the invention corrects a plurality of positioning information to be in the current preset area so as to reduce the deviation of the positioning information.
Correspondingly, the preset condition is that the plurality of positioning information are located in the current preset area, the corresponding current preset areas are different due to the fact that the positioning information at each time is different, the preset areas are updated in real time, the positioning deviation is corrected until the deviation meets a certain condition, namely the plurality of current positioning information are located in the current preset areas, and the obtained position information of the terminal is accurate.
The positioning method based on UWB provided by the embodiment of the invention comprises the following steps: acquiring position information of each base station, wherein the number of the base stations is at least three; obtaining distance values between each base station and the terminal through the ranging times, the ranging algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal; and determining a corresponding positioning strategy according to the relationship between the positioning information and a preset condition to obtain the final position information of the terminal, wherein the preset condition is that the positioning information is in a current preset area. The method comprises the steps of obtaining distance values between each base station and a terminal through a ranging algorithm, determining positioning information corresponding to the terminal according to the distance values, determining a corresponding positioning strategy according to the relation between the positioning information and a preset condition, reducing errors of signals transmitted between the base stations and the terminal through the combination of the ranging algorithm and the positioning strategy, and obtaining the positioning information of the terminal with lower error compared with the positioning information obtained by the existing single positioning method; meanwhile, a corresponding positioning strategy is determined according to the relationship between the plurality of positioning information and the preset conditions, so that the position information of the terminal is in a preset area, the deviation of the positioning information is reduced, and the positioning accuracy of the terminal is improved.
On the basis of the above embodiment, the step S12 of obtaining the distance value between each base station and the terminal through the number of ranging times, the ranging algorithm and the location information of each base station to determine a plurality of positioning information corresponding to the terminal includes:
acquiring signal parameters between each corresponding base station and a terminal under the current ranging times;
determining the current distance value corresponding to each base station and the terminal of the current distance measurement times according to the distance measurement algorithm and the signal parameters;
and determining the current positioning information corresponding to the terminal with the current ranging times according to the relationship between the current distance value and the position information of each base station.
Specifically, the signal parameter between each base station and the terminal is obtained according to the current ranging times, and the signal parameter may be timestamp information sent and received by each base station and the terminal corresponding to the transmission signal. And according to the timestamp information, obtaining the current distance value corresponding to each base station and the terminal according to a ranging algorithm.
After the current distance value corresponding to each base station and the terminal is obtained, the position information of each base station is known, and the current positioning information of the terminal can be obtained according to the formula of the unknown position information of the terminal obtained by reverse extrapolation in the above embodiment, so that a plurality of positioning information under the number of ranging times can be obtained.
The ranging algorithm may be an existing ranging algorithm, or may be a combination of multiple ranging algorithms to form a new ranging algorithm, which is not limited herein.
In the process of obtaining the distance values between the base stations and the terminal through the ranging times, the ranging algorithm and the position information of the base stations to determine the plurality of positioning information corresponding to the terminal, the distance values are measured through the signal parameters (the flight time of the pulse signals between the base stations and the terminal) between the base stations and the terminal, so that the positioning information of the terminal can be obtained.
On the basis of the above embodiment, because in each ranging algorithm, clocks between modules are not synchronized, or measurement errors are large, or flight time is long, and a plurality of unidirectionally transmitted timestamp information are simultaneously collected to form a problem of long time consumption, and the like, the problem occurring in each ranging algorithm is combined as a preferred embodiment, and the current distance value corresponding to each base station and terminal of the current ranging times is determined according to the ranging algorithm and signal parameters, including:
acquiring timestamps of pulse signals transmitted between each base station and a terminal, wherein the timestamps at least comprise a group of first timestamps and second timestamps of the pulse signals transmitted to the terminal by each base station, a group of third timestamps and fourth timestamps of the response pulse signals transmitted to each base station by the terminal, and the signal parameters are the transmitted timestamps;
performing difference processing according to the first time stamp and the fourth time stamp to obtain a first difference value;
performing difference processing according to the second timestamp and the third timestamp to obtain a second difference value;
performing difference processing on the first difference value and the second difference value to obtain the bidirectional delay time of each base station and each terminal;
dividing the bidirectional delay time by 2 to obtain a unidirectional delay time;
and determining the current distance value between each base station and the terminal according to the relation between the one-way delay time and the speed.
Specifically, when the base station performs bidirectional transmission with the terminal, a plurality of sets of timestamps can be obtained, wherein at least one set of timestamps is included from the base station to the terminal, one set of timestamps is transmitted from the terminal to the base station, and from a bidirectional transmission, two sets are included, four timestamps (a first timestamp, a second timestamp, a third timestamp and a fourth timestamp) obtained through bidirectional transmission, in a normal case, two transmission directions are included for the base station and the terminal, one transmission direction is that the base station transmits the corresponding first timestamp and the corresponding second timestamp to the terminal, the other transmission direction is that the base station transmits the corresponding third timestamp and the corresponding fourth timestamp to the terminal, the specific third timestamp and the specific fourth timestamp thereof are the timestamps corresponding to the response pulse signals, and the pulse signals and the response pulse signals are associated, so as to obtain more accurate timestamp information.
When viewed from multiple bidirectional transmissions, the data transmission device includes multiple sets of timestamp information, i.e., multiple first timestamps, multiple second timestamps, multiple third timestamps, and multiple fourth timestamps. At present, the timestamp information obtained by a plurality of bidirectional transmissions is more accurate in subsequent calculation of the distance value between the base station and the terminal. Meanwhile, the problem of more time consumption is also solved, in the aspect of engineering implementation, the distance between the base station and the terminal is far, and the base station and the terminal occupy more time through a plurality of bidirectional transmissions, so that the time consumption of the subsequently obtained distance value is increased.
In this embodiment, the timestamp information of the pulse signal transmission record corresponding to the first timestamp and the third timestamp that are transmitted may be a timestamp indicating that the transmission of the entire pulse signal is completed as the first timestamp or the fourth timestamp, or a timestamp indicating that the transmission of the pulse signal is just started as the first timestamp or the fourth timestamp. Similarly, in the received second timestamp and fourth timestamp, the timestamp information recorded from the beginning of the pulse signal from the opposite end is used as the timestamp information, or the timestamp information recorded after the pulse signal is completely received at the local end is used as the timestamp information.
It should be noted that the delay time may be a delay occurring in a transmission protocol, or a delay occurring in self-receiving or self-sending of the local terminal and the opposite terminal, which is not limited herein and may be set in consideration of actual situations. The delay occurring in the transport protocol may be a transport protocol delay occurring from a to B, or a transport protocol delay occurring from B to a. In order to avoid the transmission protocol delay of the unidirectional transmission, the embodiment of the invention considers the bidirectional transmission, namely the bidirectional transmission formed by one time from A to B and one time from B to A.
In order to save time consumption, the terminal includes two sets of timestamp record information, and after each base station transmits the pulse signal to the terminal at time Ta1, the time when the terminal receives the pulse signal is time Tb1, and the transmission process may transmit only the pulse signal, or the pulse signal and the timestamp information at time Ta 1. When the base station transmits only the pulse signal to the terminal, the terminal knows only the pulse signal time received by itself as the Tb1 time (second time stamp). The clock source used by the base station and the terminal is different, so that the terminal needs to send a response signal (response signal) of the pulse signal to the base station again, the time of current sending recorded by the terminal is Tb2 time (third time stamp), the time of receiving the response signal by the base station is Ta2 time (fourth time stamp), and the base station knows the first time stamp of the self sending pulse signal and the fourth time stamp of the self receiving response pulse signal; the terminal knows the third time stamp of its own reception pulse signal and the third time stamp of its own transmission response pulse signal. Therefore, the fourth timestamp-the first timestamp obtains the whole transmission time of the transmission between the base station and the terminal, the third timestamp-the second timestamp obtains the transmission time of the terminal, and the whole transmission time-the transmission time of the terminal are used again to obtain the delay time of the two-way transmission, so that the delay time T of the one-way transmission can be known, and the formula is specifically as follows:
wherein, ta2 is the fourth timestamp, and Ta1 is first timestamp, and Tb2 is the third timestamp, and Tb1 is the fourth timestamp.
After the one-way delay time is obtained, the current distance value between the base station and the terminal is determined according to the relation between time and speed, and the speed is usually the propagation speed of light (3 × 10) 8 m/s), the distance between the terminal and the base station is T C, which is the speed of light. The speed of light refers to the propagation speed of light waves or electromagnetic waves in a vacuum or medium. The speed of light in vacuum is the maximum speed at which a natural object can move as found today. It is independent of the speed of movement of the observer relative to the light source, i.e. the speed of light measured in the inertial system is the same relative to the rest and movement of the light source.
In the embodiment of the present invention, the sending of the pulse signal between the base station and the terminal may be that the terminal sends the pulse signal to the base station, and the base station responds according to the pulse signal to obtain a response signal, and then sends the response signal to the terminal. The distance between the base station and the terminal is not limited as long as the distance can be obtained.
In order to make the signal transmission between the base station and the terminal and the knowledge of the timestamp information, the corresponding transmission timestamp can be carried in the transmission process, so that the opposite terminal can know the current transmission timestamp of the local terminal. As a preferred embodiment, the establishing process of the first time stamp and the second time stamp includes the steps of:
receiving a first time stamp transmitted by each base station to a terminal;
receiving pulse signals sent by each base station, and recording the receiving time of receiving the first time stamp as a second time stamp;
correspondingly, the establishing process of the third timestamp and the fourth timestamp comprises the following steps:
generating a response signal of a response pulse signal according to the pulse signal transmitted by each base station, and recording the transmission time of the response signal as a third timestamp;
and sending the third timestamp and the response signal to each base station so that each base station records the response signal, wherein the receiving time of the third timestamp is a fourth timestamp.
Specifically, the sending time of each base station sending the pulse signal is recorded as a first time stamp, and the first time stamp is sent to the terminal as the sending carrying information of the pulse signal together with the pulse signal, and as the sending time stamp of the pulse signal sent by the base station, the first time stamp information can be seen by the terminal, that is, the sending time stamp of the pulse signal sent by the base station, and the receiving time of the pulse signal and the first time stamp can also be used as a second time stamp. At this time, the delay time of the unidirectional transmission sent by the base station to the terminal can be obtained.
The terminal sends the response signal of the response pulse signal to the base station, the sending time of the response signal sent by the terminal is the third timestamp, the third timestamp and the response signal are simultaneously sent to the base station together, the third timestamp information can be seen by the base station, namely the sending timestamp of the response signal sent by the terminal, and the delay time of the one-way transmission sent by the terminal to the base station can be obtained at the moment.
The two delay times are added to obtain the transmission delay time of the whole transmission process, and it can be understood that the delay times respectively used as the one-way transmission of the local terminal and the opposite terminal can be known through the above description, and whether the delay time from the base station to the terminal is different from the delay time from the terminal to the base station occurs due to the difference between the transmitted pulse signal and the response signal, so as to obtain the more accurate delay time, that is, the formula of the one-way delay time is the same as that mentioned in the embodiment.
In the determining process of the current distance value corresponding to each base station and terminal for determining the current distance measurement times according to the distance measurement algorithm and the signal parameters, provided by the embodiment of the invention, the sending time of the opposite terminal is known through the base station and the terminal, so that the clock synchronization deviation is ensured to be small, and the error is reduced. And the problem of time consumption of distance measurement can be solved through the four timestamps transmitted in two directions, the generation of the problem of time consumption is reduced, and the efficiency and the accuracy of distance measurement are improved.
On the basis of the foregoing embodiment, the determining, in step S13, the corresponding positioning policy according to the relationship between the multiple positioning information and the preset condition to obtain the final position information of the terminal includes:
judging whether the plurality of positioning information meet preset conditions or not;
if not, respectively determining the actual distance value between the base stations at the current moment and the actual measurement distance value between each base station and the terminal according to a distance measurement algorithm;
determining an error mean value according to the relation between each actual distance value and each standard distance value, and determining the position information of the terminal according to the relation between the actual distance value and the error mean value, wherein each standard distance value is the distance value between each base station determined by the position information of each base station;
using the position information of the terminal as new positioning information;
combining the ranging times with the positioning information to select the positioning information corresponding to the approaching ranging times at the current moment to obtain new positioning information, and returning to the step of judging whether the positioning information meets the preset conditions;
and if so, determining the final position information of the terminal according to the relationship among the plurality of positioning information.
It should be noted that, it is determined whether the multiple positioning information satisfies a preset condition, and if so, it indicates that the current multiple positioning information is in the current preset area, and a deviation between the positioning information is small. And determining the final position information of the terminal directly according to the current multiple positioning information without correction. If the current location information does not meet the preset requirement, the fact that several pieces of location information in the current multiple pieces of location information are not located in the current preset area is shown, the deviation between the pieces of location information is large, correction needs to be carried out, and the purpose of the correction is to enable the current multiple pieces of location information to be located in the current preset area.
And under the condition that the preset condition is not met, determining the actual distance value between the base stations and the actual measurement distance value between the base stations and the terminal at the current moment according to a distance measurement algorithm, wherein the actual distance value is the value measured by pulse signal transmission between the base stations through the distance measurement algorithm, and the actual transmission environment (the existence of interference factors) is considered. Since the corresponding distance values at different times are affected according to the current transmission environment, it needs to obtain the distance values measured by the pulse signal transmission between each base station and the terminal at the current time, that is, the actually measured distance values.
And determining an error mean value according to the relation between each actual distance value and each standard distance value, specifically obtaining corresponding real-time errors of each actual distance value and each standard distance value, and averaging each real-time error to obtain the error mean value. The respective standard distance values are distance values between the base stations determined by the position information of the base stations, and there are three base stations, for example, the distance values obtained by the three base stations are the distance between the base station 1 and the base station 2, the distance between the base station 1 and the base station 3, and the distance between the base station 2 and the base station 3. Because the coordinate value of the base station is fixed and the position information is fixed, the distance between the base stations is fixed, the standard distance value is measured in the environment without interference, the error is small, and the error can be ignored. And taking the standard distance value as a standard reference value of ranging positioning.
For example, three base stations, fig. 2 is a schematic diagram of a terminal positioning method according to an embodiment of the present invention, and as shown in fig. 2, a standard distance value ToF between a base station 1 and a base station 2 is shown 1_2 Standard distance value ToF between base station 2 and base station 3 2_3 Standard distance value ToF between base station 1 and base station 3 1_3 . The corresponding actual distance values are respectively ToF' 1_2 ToF' 1_3 、ToF' 2_3 . The specific formula of the error mean value is as follows：
Where Δ t is the mean error value.
And determining the position information of the terminal according to the relation between the actually measured distance value and the error mean value. The measured distance value is the same as the distance value between each base station and the terminal obtained by the distance measurement algorithm, and the corresponding measured distance value (r) 1 、r 2 、r 3 ). Respectively adding error mean values on the basis of the measured distance values to obtain values which are the current corrected local ranging positioning values (r) 1 '、r 2 '、r 3 ') the positional information of the terminal can be obtained by the positioning information formula (see the above-mentioned embodiment).
As a preferred embodiment, determining the location information of the terminal according to the relationship between each measured distance value and the error mean value includes:
respectively carrying out and processing on each measured distance value and the error mean value to obtain a first distance value, a second distance value and a third distance value of the corresponding terminal;
and determining the position information of the terminal according to the relation among the first distance value, the second distance value, the third distance value and the position information of each base station.
In combination with the above example, the sum of each measured distance value and the error mean value is processed to obtain the corresponding first distance value r 1 ', second distance value r 2 ' and a third distance value r 3 '. The concrete formula is as follows:
and obtaining the position information of the terminal by combining the formula for obtaining the unknown position information of the terminal by inverse pushing in the above embodiment according to the first distance value, the second distance value, the third distance value and the position information of each base station.
And taking the current position information as new positioning information, and combining the new positioning information into a plurality of positioning information according to the ranging times. For example, the number of ranging times N =10, the new positioning information is merged and used as the 11 th positioning information, and since the number of the positioning information of each time is only the same as the number of ranging times, when the new positioning information arrives, the original first positioning information is removed, so as to select a plurality of positioning information corresponding to the number of ranging times that is close to the current time to obtain corresponding new positioning information. That is, each time new positioning information appears, the corresponding positioning information needs to be shifted according to the number of ranging times as the current new positioning information.
And continuously judging whether the new positioning information meets the preset condition or not until the corresponding final position information is output after the preset condition is met.
The determining process of determining the corresponding positioning strategy according to the relationship between the plurality of positioning information and the preset condition to obtain the final position information of the terminal provided by the embodiment of the invention determines the final position information of the terminal from the positioning information when the plurality of positioning information meets the preset condition, and needs to correct the positioning strategy of the positioning information to obtain new positioning information when the plurality of positioning information does not meet the preset condition, and judges whether the preset condition is met again until the final position information is obtained after the preset condition is met. When the positioning information is in the preset area, the corresponding positioning strategy is determined, so that the position information of the terminal is in the preset area, the deviation of the positioning information is reduced, and the positioning accuracy of the terminal is improved.
On the basis of the above embodiment, the process of establishing the current preset area in the preset condition specifically includes:
selecting any two pieces of positioning information from the plurality of pieces of positioning information to determine corresponding length values;
selecting a maximum length value from the length values, and taking the maximum length value as a diameter length value;
determining corresponding target positioning information according to the maximum length value;
and dividing the circular area according to the relation between the target positioning information and the diameter length value to determine the current preset area.
Specifically, any two pieces of positioning information are selected from the plurality of pieces of positioning information to determine the length value of the positioning information, every two pieces of positioning information determine one length value, and the maximum length value is continuously selected from the length values to serve as the diameter length of the preset area.
The maximum length value is determined by the positioning information, so that the positioning information of the maximum length value can be determined as two target positioning information, and the diameter length values of the two current target positioning information are used for dividing a circular area to be determined as a current preset area.
It can be understood that, since the selection of the positioning information is different every time, the size and the position of the preset area are changed in real time, so that the final position information of the current positioning information can be determined better according to the multiple positioning information, and the real-time performance and the accuracy are improved.
In addition, the shape of the current preset area may be the circular area, or may be a half-sector area or a rectangular area, and as a preferred embodiment, in order to better determine the preset area according to the positioning information in real time, the circular area determined by the diameter length value is more convenient and faster, so that the time of determining the preset area is shorter.
According to the establishment process of the current preset area of the preset condition, the circular area determined by the diameter length value is more convenient and quicker, so that the time for determining the preset area is shorter.
On the basis of the above embodiment, determining the final position information of the terminal according to the relationship between the plurality of positioning information includes:
judging whether the plurality of positioning information are the same or not;
if the terminal position information is different from the terminal position information, averaging the positioning information to obtain final positioning information which is used as the final position information of the terminal;
and if the terminal position information is the same as the terminal position information, selecting one piece of positioning information from the plurality of pieces of positioning information as the final position information of the terminal.
It can be understood that when the plurality of positioning information satisfy the preset condition, that is, when the plurality of positioning information are in the current preset area, the deviation between the positioning information is small, and whether the plurality of positioning information are the same is continuously determined. If the terminal location information is the same as the terminal location information, it is determined that the plurality of pieces of location information are compared with one point, and it is only required that one piece of location information is selected as the final location information of the terminal.
If the difference is smaller, the deviation of the positioning information is smaller, and the final position information is obtained by averaging a plurality of positioning information. For example, there are 5 pieces of positioning information whose coordinates are (x) respectively 1 ',y 1 ')、(x 2 ',y 2 ')、(x 3 ',y 3 ')、(x 4 ',y 4 ')、(x 5 ',y 5 '). The x' value of the final position information obtained by the corresponding average processing is:
the y' value of the final position information obtained by the averaging process is:
and combining the x 'and the y' to obtain coordinate values (x ', y') of the final position information.
It should be noted that the averaging process provided in the embodiment of the present invention is only one embodiment, and the final position information may also be obtained through standard deviation or other algorithm processes.
The terminal position determining method and the terminal position determining device are used for determining the final position information of the terminal according to the relation among the plurality of positioning information, if the plurality of positioning information are the same, determining one positioning information as the final position information, and if the plurality of positioning information are different, performing mean processing to obtain the final position information. The process of determining the final position information is simple and convenient, and the accuracy is improved.
On the basis of the above detailed description of the various embodiments corresponding to the positioning method based on UWB, the present invention also discloses a positioning device based on UWB corresponding to the above method, and fig. 3 is a structural diagram of a positioning device based on UWB provided by the embodiments of the present invention. As shown in fig. 3, the UWB-based positioning device includes:
an obtaining module 11, configured to obtain location information of each base station, where the number of the base stations is at least three;
a first determining module 12, configured to obtain a distance value between each base station and the terminal through the number of ranging times, a ranging algorithm, and the location information of each base station to determine multiple pieces of positioning information corresponding to the terminal;
the second determining module 13 is configured to determine a corresponding positioning policy according to a relationship between the multiple positioning information and a preset condition to obtain final position information of the terminal, where the preset condition is that the multiple positioning information is in a current preset area.
Since the embodiment of the apparatus portion corresponds to the above-mentioned embodiment, the embodiment of the apparatus portion is described with reference to the embodiment of the method portion, and is not described again here.
For the introduction of the positioning apparatus based on UWB provided by the present invention, please refer to the above method embodiment, which is not described herein again, and has the same beneficial effects as the above positioning method based on UWB.
Fig. 4 is a block diagram of another UWB-based positioning apparatus according to an embodiment of the present invention, as shown in fig. 4, the apparatus includes:
a memory 21 for storing a computer program;
a processor 22 for implementing the steps of the UWB-based positioning method when executing the computer program.
The UWB-based positioning apparatus provided by the embodiment may include, but is not limited to, a wearable device, a locator, a smart phone, a tablet computer, a notebook computer, or a desktop computer, and other mobile devices.
The processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, and so on. The Processor 22 may be implemented in hardware using at least one of a Digital Signal Processor (DSP), a Field-Programmable Gate Array (FPGA), and a Programmable Logic Array (PLA). The processor 22 may also include a main processor and a coprocessor, where the main processor is a processor for Processing data in a wake state, and is also called a Central Processing Unit (CPU); a coprocessor is a low power processor for processing data in a standby state. In some embodiments, the processor 22 may be integrated with a Graphics Processing Unit (GPU) that is responsible for rendering and drawing the content that the display screen needs to display. In some embodiments, processor 22 may also include an Artificial Intelligence (AI) processor for processing computational operations related to machine learning.
Memory 21 may include one or more computer-readable storage media, which may be non-transitory. Memory 21 may also include high speed random access memory, as well as non-volatile memory, such as one or more magnetic disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used for storing the following computer program 211, wherein after being loaded and executed by the processor 22, the computer program can implement the relevant steps of the UWB based positioning method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212, data 213, and the like, and the storage manner may be a transient storage or a permanent storage. Operating system 212 may include Windows, unix, linux, etc., among others. Data 213 may include, but is not limited to, data involved with UWB-based positioning methods, and the like.
In some embodiments, the UWB based positioning device may also include a display screen 23, an input-output interface 24, a communication interface 25, a power supply 26, and a communication bus 27.
Those skilled in the art will appreciate that the architecture shown in fig. 4 does not constitute a limitation of UWB-based positioning apparatus and may include more or fewer components than those shown.
The processor 22 implements the UWB-based positioning method provided by any of the above embodiments by calling instructions stored in the memory 21.
For the introduction of the positioning apparatus based on UWB provided by the present invention, please refer to the above method embodiment, which is not described herein again, and has the same beneficial effects as the above positioning method based on UWB.
Further, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when being executed by the processor 22, carries out the steps of the UWB-based positioning method as described above.
It is to be understood that if the method in the above embodiments is implemented in the form of software functional units and sold or used as a stand-alone product, it can be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and performs all or part of the steps of the methods according to the embodiments of the present invention, or all or part of the technical solution. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
For the introduction of a computer-readable storage medium provided by the present invention, please refer to the above method embodiments, which are not described herein again, and have the same beneficial effects as the above positioning method based on UWB.
The UWB-based positioning method, the UWB-based positioning apparatus, and the medium according to the present invention have been described in detail above. The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed in the embodiment corresponds to the method disclosed in the embodiment, so that the description is simple, and the relevant points can be referred to the description of the method part. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
It should also be noted that, in this specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.
Claims (11)
1. A UWB-based positioning method, comprising:
acquiring position information of each base station, wherein the number of the base stations is at least three;
obtaining a distance value between each base station and a terminal through the ranging times, the ranging algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal;
and determining a corresponding positioning strategy according to the relationship between the plurality of positioning information and a preset condition to obtain the final position information of the terminal, wherein the preset condition is that the plurality of positioning information are in a current preset area.
2. The UWB-based positioning method according to claim 1, wherein the determining a plurality of positioning information corresponding to the terminal by obtaining a distance value between each of the base stations and the terminal through the number of ranging times, a ranging algorithm and position information of each of the base stations comprises:
acquiring signal parameters between each base station and the terminal corresponding to the current ranging times;
determining the current distance value corresponding to each base station and the terminal of the current distance measurement times according to the distance measurement algorithm and the signal parameters;
and determining the current positioning information corresponding to the terminal of the current ranging times according to the current distance value and the relationship of the position information of each base station.
3. The UWB-based positioning method according to claim 2, wherein the determining a current distance value corresponding to the terminal and each of the base stations of the current ranging times according to the ranging algorithm and the signal parameter comprises:
acquiring timestamps of pulse signals transmitted between each base station and the terminal, wherein the timestamps at least comprise a group of first timestamp and second timestamp for transmitting the pulse signals to the terminal by each base station, a group of third timestamps and fourth timestamps for transmitting the pulse signals to each base station by the terminal in response, and the signal parameters are the transmitted timestamps;
performing difference processing according to the first timestamp and the fourth timestamp to obtain a first difference value;
performing difference processing according to the second timestamp and the third timestamp to obtain a second difference value;
performing difference processing on the first difference value and the second difference value to obtain the two-way delay time of each base station and the terminal;
dividing the bidirectional delay time by 2 to obtain a unidirectional delay time;
and determining the current distance value between each base station and the terminal according to the relation between the one-way delay time and the speed.
4. The UWB-based positioning method according to claim 3, wherein the establishing process of the first time stamp and the second time stamp comprises the steps of:
receiving the first time stamp of the pulse signal transmitted to the terminal by each of the base stations;
receiving the pulse signals sent by each base station, and recording the receiving time of receiving the first time stamp as the second time stamp;
correspondingly, the establishing process of the third timestamp and the fourth timestamp comprises the following steps:
generating a response signal for responding to the pulse signal according to the pulse signal sent by each base station, and recording the sending time of the response signal as the third timestamp;
and sending the third timestamp and the response signal to each base station so that each base station can record the response signal and the receiving time of the third timestamp as the fourth timestamp.
5. The UWB-based positioning method according to any one of claims 1 to 4, wherein the determining a corresponding positioning policy according to a relation between a plurality of positioning information and a preset condition to obtain a final position information of the terminal comprises:
judging whether the positioning information meets the preset condition or not;
if not, respectively determining the actual distance value between the base stations at the current moment and the actual distance value between the base stations and the terminal according to the ranging algorithm;
determining an error mean value according to the relation between each actual distance value and each standard distance value, and determining the position information of the terminal according to the relation between the actual distance value and the error mean value, wherein each standard distance value is the distance value between each base station determined by the position information of each base station;
taking the position information of the terminal as new positioning information;
combining the distance measurement times to the positioning information to select the positioning information corresponding to the distance measurement times close to the current moment to obtain a plurality of new positioning information, and returning to the step of judging whether the positioning information meets the preset condition;
and if so, determining the final position information of the terminal according to the relationship among the plurality of positioning information.
6. The UWB-based positioning method according to claim 5, wherein the establishing process of the current preset area specifically comprises:
selecting any two pieces of positioning information from the plurality of pieces of positioning information to determine corresponding length values;
selecting a maximum length value from the length values, and taking the maximum length value as a diameter length value;
determining corresponding target positioning information according to the maximum length value;
and dividing a circular area according to the relation between the target positioning information and the diameter length value to determine the current preset area.
7. The UWB-based positioning method according to claim 6, wherein the determining the position information of the terminal according to the relation between each measured distance value and the error mean value comprises:
respectively carrying out sum processing on each measured distance value and the error mean value to obtain a first distance value, a second distance value and a third distance value of the corresponding terminal;
and determining the position information of the terminal according to the relationship among the first distance value, the second distance value, the third distance value and the position information of each base station.
8. The UWB-based positioning method according to claim 7, wherein the determining final position information of the terminal according to a relationship between a plurality of the positioning information comprises:
judging whether the positioning information is the same or not;
if the terminal position information is different from the terminal position information, averaging the positioning information to obtain final positioning information which is used as the final position information of the terminal;
and if the terminal position information is the same as the terminal position information, selecting one piece of positioning information from the plurality of pieces of positioning information as the final position information of the terminal.
9. A UWB-based positioning device, comprising:
an obtaining module, configured to obtain location information of each base station, where the number of the base stations is at least three;
the first determining module is used for obtaining a distance value between each base station and a terminal through the ranging times, the ranging algorithm and the position information of each base station so as to determine a plurality of positioning information corresponding to the terminal;
and the second determining module is used for determining a corresponding positioning strategy according to the relationship between the plurality of positioning information and a preset condition to obtain the final position information of the terminal, wherein the preset condition is that the plurality of positioning information are in a current preset area.
10. An UWB-based positioning apparatus, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the UWB-based positioning method according to any of claims 1 to 8 when executing said computer program.
11. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the UWB-based positioning method according to any of the claims 1 to 8.
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| CN202211325492.2A CN115665660A (en) | 2022-10-27 | 2022-10-27 | UWB-based positioning method, device and medium |
| PCT/CN2023/126138 WO2024088243A1 (en) | 2022-10-27 | 2023-10-24 | Uwb-based positioning method and device, and medium |
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| WO2024088243A1 (en) * | 2022-10-27 | 2024-05-02 | 歌尔科技有限公司 | Uwb-based positioning method and device, and medium |
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| KR20160056999A (en) * | 2014-11-12 | 2016-05-23 | 조선대학교산학협력단 | System and method for providing service position determination of mobile terminal in wireless mobile communication |
| KR101709411B1 (en) * | 2015-11-18 | 2017-02-24 | 이화여자대학교 산학협력단 | Method for positioning based on weighted triangulation and method for indoor positioning using the same |
| CN110868752B (en) * | 2018-08-28 | 2022-01-11 | 阿里巴巴集团控股有限公司 | Terminal positioning method and device |
| CN113766415B (en) * | 2020-06-02 | 2022-11-11 | Oppo广东移动通信有限公司 | Positioning service method and related device |
| CN115134741B (en) * | 2021-03-24 | 2024-05-10 | 华为技术有限公司 | UWB base station anomaly detection method and electronic equipment |
| CN115665660A (en) * | 2022-10-27 | 2023-01-31 | 歌尔科技有限公司 | UWB-based positioning method, device and medium |
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| WO2024088243A1 (en) * | 2022-10-27 | 2024-05-02 | 歌尔科技有限公司 | Uwb-based positioning method and device, and medium |
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