CN108024329A - A kind of more base station extended methods self-positioning based on UWB labels and equipment - Google Patents
A kind of more base station extended methods self-positioning based on UWB labels and equipment Download PDFInfo
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- CN108024329A CN108024329A CN201711331929.2A CN201711331929A CN108024329A CN 108024329 A CN108024329 A CN 108024329A CN 201711331929 A CN201711331929 A CN 201711331929A CN 108024329 A CN108024329 A CN 108024329A
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- uwb
- base station
- station modules
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- label models
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Abstract
The embodiment of the present invention, which proposes a kind of more base station extended methods self-positioning based on UWB labels and equipment, this method, to be included：The start information stabbed comprising ranging time is sent to each UWB base station modules by UWB label models；Response message of the transmission comprising ranging time stamp gives UWB label models after each UWB base station modules receive start information and carry out the first delay；Wherein, it is different to carry out for the first time being delayed for each UWB base station modules；UWB label models receive response message and send the ending message comprising ranging time stamp to each UWB base station modules after carrying out the second delay；Each UWB base station modules determine each distance with UWB label models after receiving ending message.The response time is determined according to the address of UWB base stations in UWB labels and UWB base station location ranging process, realizes the self-positioning more base stations extension of UWB labels；It is synchronous without base station clock, can be with infinite expanding UWB locating base stations quantity and infinite expanding precision distance measurement orientation range without complicated scheduling controlling.
Description
Technical field
The present invention relates to the information communications field, more particularly to a kind of more base station extended methods self-positioning based on UWB labels
And equipment.
Background technology
UWB (Ultra Wideband) is a kind of no-load communication techniques, the non-sinusoidal waveform using nanosecond to picosecond level
Burst pulse transmits data.By transmitting the signal of extremely low power on wider frequency spectrum, UWB can be real in the range of 10 meters or so
The message transmission rate of existing hundreds of Mbit/s to several Gbit/s.Compared with traditional narrowband systems, have that penetration power is strong, power consumption
It is low, anti-multipath effect is good, safe, system complexity is low, can improve the advantages that being accurately positioned precision, commonly used in interior
The locating and tracking of mobile object or navigation.
UWB alignment systems realize that ranging can only support three base stations, and orientation range is limited, can not extended base station quantity and expansion
Open up precision distance measurement orientation range.
The content of the invention
In view of this, the present invention proposes a kind of more base station extended methods self-positioning based on UWB labels and equipment.
Specifically, the present invention proposes embodiment in detail below：
The embodiment of the present invention proposes a kind of more base station extended methods self-positioning based on UWB labels, applied to including UWB
In the system of label model and at least three UWB base station modules, wherein this method includes：
The start information stabbed comprising ranging time is sent to each UWB base station modules by the UWB label models；
Each UWB base station modules receive the start information and are sent after carrying out the first delay when including the ranging
Between the response message stabbed to the UWB label models；Wherein, each UWB base station modules carried out for the first time being delayed respectively not
Identical, each time is corresponding with the address of each UWB base station modules；
Transmission includes the ranging time after the UWB label models receive the response message and carry out the second delay
The ending message of stamp gives each UWB base station modules；
Each UWB base station modules determine each distance with the UWB label models after receiving the ending message.
In a specific embodiment, the UWB base station modules correspond to different numberings；Wherein when N is no more than default
During value M, the time that each UWB base station modules carry out the first delay is (N × S)；
When N is more than preset value M, the time that each UWB base station modules carry out the first delay is (N%M) × S, wherein N
For the numbering.
In a specific embodiment, the UWB label models receive the response message and carry out the second delay
The ending message comprising ranging time stamp is sent afterwards to each UWB base station modules, including：
The UWB label models receive the response message；
Broadcast includes all UWB base stations after the UWB label models receive the response message of all UWB base station modules
The ending message of the ranging time of module.
In a specific embodiment, the UWB label models receive the response message and carry out the second delay
The ending message comprising ranging time stamp is sent afterwards to each UWB base station modules, including：
The UWB label models receive the response message；
After the UWB label models have waited the response time of all UWB base station modules, broadcast includes all UWB bases
The ending message of the ranging time for module of standing.
In a specific embodiment, described " each UWB base station modules determine each after receiving the ending message
With the distance of the UWB label models " include：
For each UWB base station modules, receive the UWB label models transmission includes each UWB base station modules
Ranging time ending message；
Ranging time in the ending message is extracted by the UWB base station modules, and it is true by the ranging time
Determine itself distance with the UWB label models.
The embodiment of the present invention proposes a kind of more base station expansion equipments self-positioning based on UWB labels, applied to including UWB
In the system of label model and at least three UWB base station modules, wherein the equipment includes：
First sending module, when including ranging for being sent by the UWB label models to each UWB base station modules
Between the start information that stabs；
Second sending module, after receiving the start information and the delay of progress first for each UWB base station modules
The response message comprising ranging time stamp is sent to the UWB label models；Wherein, each UWB base station modules carry out
The time of first delay is different, and each time is corresponding with the address of each UWB base station modules；
3rd sending module, sends out after receiving the response message and the delay of progress second for the UWB label models
The ending message comprising ranging time stamp is sent to each UWB base station modules；
Determining module, received for each UWB base station modules determine after the ending message each with the UWB labels
The distance of module.
In a specific embodiment, the UWB base station modules correspond to different numberings；Wherein when N is no more than default
During value M, the time that each UWB base station modules carry out the first delay is (N × S)；
When N is more than preset value M, the time that each UWB base station modules carry out the first delay is (N%M) × S, wherein N
For the numbering.
In a specific embodiment, the 3rd sending module, is used for：
The UWB label models receive the response message；
Broadcast includes all UWB base stations after the UWB label models receive the response message of all UWB base station modules
The ending message of the ranging time of module.
In a specific embodiment, the 3rd sending module, is used for：The UWB label models receive the sound
Answer information；
After the UWB label models have waited the response time of all UWB base station modules, broadcast includes all UWB bases
The ending message of the ranging time for module of standing.
In a specific embodiment, the determining module, is used for：
For each UWB base station modules, receive the UWB label models transmission includes each UWB base station modules
Ranging time ending message；
Ranging time in the ending message is extracted by the UWB base station modules, and it is true by the ranging time
Determine itself distance with the UWB label models.
With this, the embodiment of the present invention proposes a kind of more base station extended methods self-positioning based on UWB labels and equipment, should
For in the system including UWB label models and at least three UWB base station modules, wherein this method to include：Pass through the UWB
Label model sends the start information for including ranging time stamp to each UWB base station modules；Each UWB base station modules receive
The response message comprising ranging time stamp is sent to the UWB labels mould to the start information and after carrying out the first delay
Block；Wherein, the time of each first delay of UWB base station modules progress is different, each time and each UWB base stations
The address of module is corresponding；Transmission includes institute after the UWB label models receive the response message and carry out the second delay
The ending message of ranging time stamp is stated to each UWB base station modules；After each UWB base station modules receive the ending message
Determine each distance with the UWB label models.According to UWB base stations in UWB labels and UWB base station location ranging process
Address determines the response time, realizes the self-positioning more base stations extension of UWB labels；It is synchronous without base station clock, without complicated tune
Degree control, can be with infinite expanding UWB locating base stations quantity and infinite expanding precision distance measurement orientation range.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is that a kind of flow for more base station extended methods self-positioning based on UWB labels that the embodiment of the present invention proposes is shown
It is intended to；
Fig. 2 is that a kind of flow for more base station extended methods self-positioning based on UWB labels that the embodiment of the present invention proposes is shown
It is intended to；
Fig. 3 is that a kind of more base stations self-positioning based on UWB labels that the embodiment of the present invention proposes extend the structure of check list
Schematic diagram.
Embodiment
Hereinafter, the various embodiments of the disclosure will be described more fully.The disclosure can have various embodiments, and
It can adjust and change wherein.It should be understood, however, that：There is no the various embodiments of the disclosure are limited to spy disclosed herein
Determine the intention of embodiment, but the disclosure should be interpreted as covering in the spirit and scope for the various embodiments for falling into the disclosure
All adjustment, equivalent and/or alternatives.
Hereinafter, disclosed in the term " comprising " that can be used in the various embodiments of the disclosure or " may include " instruction
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.In addition, such as exist
Used in the various embodiments of the disclosure, term " comprising ", " having " and its cognate are meant only to represent special characteristic, number
Word, step, operation, the combination of element, component or foregoing item, and be understood not to exclude first one or more other
Feature, numeral, step, operation, element, component or foregoing item combination presence or one or more features of increase, numeral,
Step, operation, element, component or foregoing item combination possibility.
In the various embodiments of the disclosure, stating "or" or " at least one in A or/and B " includes what is listed file names with
Any combinations of word or all combinations.For example, " A or B " or " at least one in A or/and B " may include A, may include for statement
B may include A and B both.
The statement (" first ", " second " etc.) used in the various embodiments of the disclosure can be modified in various implementations
Various constituent element in example, but respective sets can not be limited into element.For example, presented above be not intended to limit the suitable of the element
Sequence and/or importance.The purpose presented above for being only used for differentiating an element and other elements.For example, the first user fills
Put and indicate different user device with second user device, although the two is all user apparatus.For example, each of the disclosure is not being departed from
In the case of the scope of kind embodiment, the first element is referred to alternatively as the second element, and similarly, the second element is also referred to as first
Element.
It should be noted that：, can be by the first composition member if a constituent element ' attach ' to another constituent element by description
Part is directly connected to the second constituent element, and " connection " the 3rd can be formed between the first constituent element and the second constituent element
Element.On the contrary, when a constituent element " being directly connected to " is arrived another constituent element, it will be appreciated that be in the first constituent element
And second be not present the 3rd constituent element between constituent element.
The term " user " used in the various embodiments of the disclosure, which may indicate that, to be used the people of electronic device or uses electricity
The device (for example, artificial intelligence electronic device) of sub-device.
The term used in the various embodiments of the disclosure is only used for the purpose of description specific embodiment and not anticipates
In the various embodiments of the limitation disclosure.As used herein, singulative is intended to also include plural form, unless context is clear
Chu it is indicated otherwise.Unless otherwise defined, otherwise all terms (including technical term and scientific terminology) used herein have
There is the implication identical with the various normally understood implications of embodiment one skilled in the art of the disclosure.The term
(term such as limited in the dictionary generally used) is to be interpreted as having and situational meaning in the related technical field
Identical implication and the implication of Utopian implication or overly formal will be interpreted as having, unless in the various of the disclosure
It is clearly defined in embodiment.
Embodiment 1
The embodiment of the present invention 1 discloses a kind of more base station extended methods self-positioning based on UWB labels, applied to including
In the system of UWB label models and at least three UWB base station modules, wherein as shown in Figure 1, this method includes：
Step 101, sent to each UWB base station modules by the UWB label models and risen comprising what ranging time stabbed
Beginning information；
Specifically, what is carried out between UWB label models and UWB base station modules is communication distance measuring process used for positioning；
Communication distance measuring process used for positioning, which is carried out, between the UWB label models and UWB base station modules uses one kind
ADS-TWR (Asymmetric two-sided bidirectional ranging) algorithm based on TOF, is a kind of modified version of TWR (bidirectional ranging) algorithm.
Transmission includes institute after step 102, each UWB base station modules receive the start information and carry out the first delay
The response message of ranging time stamp is stated to the UWB label models；Wherein, each UWB base station modules carry out the first delay
Time is different, and each time is corresponding with the address of each UWB base station modules；
Specifically, this method includes two processes：1st, carried out between UWB label models and UWB base station modules used for positioning
Communication distance measuring process；2nd, address of the UWB base station modules according to oneself during communication distance measuring determines the response time.
Different, each time and each UWB with the time that this each described UWB base station module carries out the first delay
The address of base station module is corresponding；Namely realize that address of each UWB base station modules according to oneself during communication distance measuring determines
Response time, so as to fulfill the expansion of UWB base stations.
Step 103, the UWB label models receive the response message and are sent after carrying out the second delay comprising described
The ending message of ranging time stamp gives each UWB base station modules；
Step 104, each UWB base station modules receive determine after the ending message each with the UWB label models
Distance.
In a specific embodiment, the UWB base station modules correspond to different numberings；Wherein when N is no more than default
During value M, the time that each UWB base station modules carry out the first delay is (N × S)；
When N is more than preset value M, the time that each UWB base station modules carry out the first delay is (N%M) × S, wherein N
For the numbering.
In a specific embodiment, the UWB label models receive the response message and carry out the second delay
The ending message comprising ranging time stamp is sent afterwards to each UWB base station modules, including：
The UWB label models receive the response message；
Broadcast includes all UWB base stations after the UWB label models receive the response message of all UWB base station modules
The ending message of the ranging time of module.
In a specific embodiment, the UWB label models receive the response message and carry out the second delay
The ending message comprising ranging time stamp is sent afterwards to each UWB base station modules, including：
The UWB label models receive the response message；
After the UWB label models have waited the response time of all UWB base station modules, broadcast includes all UWB bases
The ending message of the ranging time for module of standing.
In a specific embodiment, described " each UWB base station modules determine each after receiving the ending message
With the distance of the UWB label models " include：
For each UWB base station modules, receive the UWB label models transmission includes each UWB base station modules
Ranging time ending message；
Ranging time in the ending message is extracted by the UWB base station modules, and it is true by the ranging time
Determine itself distance with the UWB label models.
Specifically, in one embodiment, the communication ranging process three times between UWB labels and UWB base stations, as shown in Fig. 2,
It is specific as follows：
(1) label sends Poll (starting) information for including ranging time stamp first；
(2) base station receives Poll (starting) information and the TreplyA that is delayed sends the Resp (response) for including ranging time stamp
Information；
(3) label receives Resp (response) information and the TreplyT that is delayed sends the Final (end) for including ranging time stamp
Information；
(4) base station calculates label to the distance of base station after receiving Final (end) information.
Here it is unknown number there was only TOF, by mathematical knowledge with regard to that can obtain label to the distance of base station.Whole ranging
Delay TreplyA and TreplyT is not required in journey, this provides theoretical foundation for more base station expansion techniques.Complete one
Secondary positioning only needs to measure the distance of neighbouring 3 base stations., may be more than 3 after the extension of base station in view of the radiation scope of label
A base station receives the ranging information of label, but the radiation scope of label is limited, generally in a localization region not over
16 base stations receive the ranging information of label.Following example provides that at most having 16 base stations to participate in positioning in a region surveys
Away from illustrating below in conjunction with the accompanying drawings based on the self-positioning more base station expansion techniques of UWB labels：
(1) No. 0 tag broadcast sends Poll (starting) information for including ranging time stamp, and so all base stations can receive
Poll (starting) information.Then Resp (response) information required time for having received all base stations is calculated, such as base station
Response time is 500us, then most responses for waiting 500*16=8ms to receive base station of label.
(2) No. 0 base stations receive Poll (starting) information will send Resp (response) information, No. 1 base after the 0*500us that is delayed
Resp (response) information will be sent after 1*500us by standing, and similarly, N base stations will be sent after N*500us in same region
Resp (response) information.If label will be greater than 16 in other regions, base station number N, then N base stations will be in (N%16) *
Resp (response) information is sent after 500us.
(3) No. 0 labels broadcast hair after the response of 16 base stations has been received, or after having waited the response time of 16 base stations
Send Final (end) information of the ranging time comprising all base stations.
(4) respective ranging time information calculating distance is taken out in base station after receiving Final (end) information.
Embodiment 2
The embodiment of the present invention 2 also discloses a kind of more base station expansion equipments self-positioning based on UWB labels, applied to including
In the system of UWB label models and at least three UWB base station modules, wherein as shown in figure 3, the equipment includes：
First sending module 201, for being sent by the UWB label models to each UWB base station modules comprising survey
Start information away from timestamp；
Second sending module 202, receives the start information for each UWB base station modules and carries out the first delay
The response message comprising ranging time stamp is sent afterwards to the UWB label models；Wherein, each UWB base station modules into
The time that row first is delayed is different；
3rd sending module 203, after receiving the response message and the delay of progress second for the UWB label models
The ending message comprising ranging time stamp is sent to each UWB base station modules；
Determining module 204, received for each UWB base station modules determine after the ending message each with the UWB
The distance of label model.
In a specific embodiment, the UWB base station modules correspond to different numberings；Wherein when N is no more than default
During value M, the time that each UWB base station modules carry out the first delay is (N × S)；
When N is more than preset value M, the time that each UWB base station modules carry out the first delay is (N%M) × S, wherein N
For the numbering.
In a specific embodiment, the 3rd sending module, is used for：
The UWB label models receive the response message；
Broadcast includes all UWB base stations after the UWB label models receive the response message of all UWB base station modules
The ending message of the ranging time of module.
In a specific embodiment, the 3rd sending module, is used for：The UWB label models receive the sound
Answer information；
After the UWB label models have waited the response time of all UWB base station modules, broadcast includes all UWB bases
The ending message of the ranging time for module of standing.
In a specific embodiment, the determining module, is used for：
For each UWB base station modules, receive the UWB label models transmission includes each UWB base station modules
Ranging time ending message；
Ranging time in the ending message is extracted by the UWB base station modules, and it is true by the ranging time
Determine itself distance with the UWB label models.
With this, the embodiment of the present invention proposes a kind of more base station extended methods self-positioning based on UWB labels and equipment, should
For in the system including UWB label models and at least three UWB base station modules, wherein this method to include：Pass through the UWB
Label model sends the start information for including ranging time stamp to each UWB base station modules；Each UWB base station modules receive
The response message comprising ranging time stamp is sent to the UWB labels mould to the start information and after carrying out the first delay
Block；Wherein, it is different to carry out for the first time being delayed for each UWB base station modules；The UWB label models receive described
The ending message comprising ranging time stamp is sent after response message and the delay of progress second to each UWB base station modules；
Each UWB base station modules determine each distance with the UWB label models after receiving the ending message.In UWB labels
With determining the response time according to the address of UWB base stations in UWB base station location ranging process, the self-positioning more bases of UWB labels are realized
Stand extension；It is synchronous without base station clock, can be with infinite expanding UWB locating base stations quantity and nothing without complicated scheduling controlling
Limit extension precision distance measurement orientation range.
It will be appreciated by those skilled in the art that attached drawing is a schematic diagram for being preferable to carry out scene, module in attached drawing or
Flow is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in device in implement scene can be described according to implement scene into
Row is distributed in the device of implement scene, can also carry out one or more dresses that respective change is disposed other than this implement scene
In putting.The module of above-mentioned implement scene can be merged into a module, can also be further split into multiple submodule.
The invention described above sequence number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only several specific implementation scenes of the present invention, and still, the present invention is not limited to this, Ren Heben
What the technical staff in field can think change should all fall into protection scope of the present invention.
Claims (10)
1. a kind of more base station extended methods self-positioning based on UWB labels, it is characterised in that applied to including UWB label models
And at least three UWB base station modules system in, wherein this method includes：
The start information stabbed comprising ranging time is sent to each UWB base station modules by the UWB label models；
Each UWB base station modules receive the start information and are sent after carrying out the first delay comprising ranging time stamp
Response message give the UWB label models；Wherein, the time of each first delay of UWB base station modules progress is different,
Each time is corresponding with the address of each UWB base station modules；
The UWB label models receive the response message and are sent after carrying out the second delay comprising ranging time stamp
Ending message gives each UWB base station modules；
Each UWB base station modules determine each distance with the UWB label models after receiving the ending message.
2. the method as described in claim 1, it is characterised in that the UWB base station modules correspond to different numberings；Wherein work as N
During no more than preset value M, the time that each UWB base station modules carry out the first delay is (N × S)；
When N is more than preset value M, the time that each UWB base station modules carry out the first delay is (N%M) × S, and wherein N is institute
State numbering.
3. the method as described in claim 1, it is characterised in that the UWB label models receive the response message and go forward side by side
Row second sends the ending message comprising ranging time stamp to each UWB base station modules after being delayed, including：
The UWB label models receive the response message；
Broadcast includes all UWB base station modules after the UWB label models receive the response message of all UWB base station modules
Ranging time ending message.
4. the method as described in claim 1, it is characterised in that the UWB label models receive the response message and go forward side by side
Row second sends the ending message comprising ranging time stamp to each UWB base station modules after being delayed, including：
The UWB label models receive the response message；
After the UWB label models have waited the response time of all UWB base station modules, broadcast includes all UWB base stations mould
The ending message of the ranging time of block.
5. method as described in claim 4 or 5, it is characterised in that described " each UWB base station modules receive the end
Each distance with the UWB label models is determined after information " include：
For each UWB base station modules, the survey for including each UWB base station modules that the UWB label models are sent is received
Ending message away from the time；
Ranging time in the ending message is extracted by the UWB base station modules, and is determined certainly by the ranging time
The distance of body and the UWB label models.
6. a kind of more base station expansion equipments self-positioning based on UWB labels, it is characterised in that applied to including UWB label models
And at least three UWB base station modules system in, wherein the equipment includes：
First sending module, is stabbed for being sent by the UWB label models to each UWB base station modules comprising ranging time
Start information；
Second sending module, sends after receiving the start information and the delay of progress first for each UWB base station modules
Response message comprising ranging time stamp gives the UWB label models；Wherein, each UWB base station modules carry out first
The time of delay is different, and each time is corresponding with the address of each UWB base station modules；
3rd sending module, bag is sent after receiving the response message and the delay of progress second for the UWB label models
The ending message of the stamp containing the ranging time gives each UWB base station modules；
Determining module, received for each UWB base station modules determine after the ending message each with the UWB label models
Distance.
7. equipment as claimed in claim 6, it is characterised in that the UWB base station modules correspond to different numberings；Wherein work as N
During no more than preset value M, the time that each UWB base station modules carry out the first delay is (N × S)；
When N is more than preset value M, the time that each UWB base station modules carry out the first delay is (N%M) × S, and wherein N is institute
State numbering.
8. equipment as claimed in claim 6, it is characterised in that the 3rd sending module, is used for：
The UWB label models receive the response message；
Broadcast includes all UWB base station modules after the UWB label models receive the response message of all UWB base station modules
Ranging time ending message.
9. equipment as claimed in claim 6, it is characterised in that the 3rd sending module, is used for：The UWB label models
Receive the response message；
After the UWB label models have waited the response time of all UWB base station modules, broadcast includes all UWB base stations mould
The ending message of the ranging time of block.
10. equipment as claimed in claim 8 or 9, it is characterised in that the determining module, is used for：
For each UWB base station modules, the survey for including each UWB base station modules that the UWB label models are sent is received
Ending message away from the time；
Ranging time in the ending message is extracted by the UWB base station modules, and is determined certainly by the ranging time
The distance of body and the UWB label models.
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| CN201711331929.2A CN108024329A (en) | 2017-12-13 | 2017-12-13 | A kind of more base station extended methods self-positioning based on UWB labels and equipment |
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| CN109889987A (en) * | 2019-04-19 | 2019-06-14 | 天地（常州）自动化股份有限公司 | Terminal positioning dispatching method based on UWB |
| CN110099440A (en) * | 2019-05-16 | 2019-08-06 | 成都精位科技有限公司 | Position delay calibration method and device |
| CN110650434A (en) * | 2019-11-19 | 2020-01-03 | 南京科远智慧科技集团股份有限公司 | Following positioning method based on UWB technology |
| CN110686681A (en) * | 2019-11-14 | 2020-01-14 | 西安思彼斯信息科技有限公司 | UWB high-precision high-efficiency positioning method |
| CN110992674A (en) * | 2018-09-15 | 2020-04-10 | 北京悠膳信息技术有限公司 | Supervision method, supervision device, positioning system, management system and storage medium |
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| CN110992674A (en) * | 2018-09-15 | 2020-04-10 | 北京悠膳信息技术有限公司 | Supervision method, supervision device, positioning system, management system and storage medium |
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| CN110686681B (en) * | 2019-11-14 | 2023-04-25 | 西安思彼斯信息科技有限公司 | UWB high-precision and high-efficiency positioning method |
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| CN112394346B (en) * | 2020-11-27 | 2023-01-24 | 歌尔科技有限公司 | Distance measurement method and device and terminal equipment |
| CN112394346A (en) * | 2020-11-27 | 2021-02-23 | 歌尔科技有限公司 | Distance measurement method and device and terminal equipment |
| CN112969137B (en) * | 2021-02-02 | 2022-04-08 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| CN112969137A (en) * | 2021-02-02 | 2021-06-15 | 中国科学院合肥物质科学研究院 | UWB base station coordinate automatic calibration method based on UR robot |
| CN113038377A (en) * | 2021-02-25 | 2021-06-25 | 大连易飞扬科技有限公司 | Underground one-dimensional accurate positioning method based on UWB technology C-TWR |
| CN113379192A (en) * | 2021-05-11 | 2021-09-10 | 紫金矿业集团股份有限公司 | Automatic mine ore blending management and scheduling system based on UWB technology |
| CN113570907A (en) * | 2021-09-23 | 2021-10-29 | 深圳华云时空技术有限公司 | UWB-based pedestrian and vehicle anti-collision method and system in tunnel |
| CN113570907B (en) * | 2021-09-23 | 2021-12-17 | 深圳华云时空技术有限公司 | UWB-based pedestrian and vehicle anti-collision method and system in tunnel |
| CN114339612A (en) * | 2021-12-31 | 2022-04-12 | 清华大学深圳国际研究生院 | Multi-base-station multi-label positioning method based on ultra-wideband and readable storage medium |
| CN114339612B (en) * | 2021-12-31 | 2023-05-02 | 清华大学深圳国际研究生院 | Multi-base-station multi-tag positioning method based on ultra-wideband and readable storage medium |
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