CN110730422A - UWB-based positioning method, device, system and terminal equipment - Google Patents

UWB-based positioning method, device, system and terminal equipment Download PDF

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Publication number
CN110730422A
CN110730422A CN201910916971.3A CN201910916971A CN110730422A CN 110730422 A CN110730422 A CN 110730422A CN 201910916971 A CN201910916971 A CN 201910916971A CN 110730422 A CN110730422 A CN 110730422A
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information
base station
uwb
positioning
target
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CN110730422B (en
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杨永辉
吕新和
何廷万
蒙海进
刘宏罡
董余乐
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Skylab M&c Technology Co ltd
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Skylab M&c Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L2101/00—Indexing scheme associated with group H04L61/00
    • H04L2101/60—Types of network addresses
    • H04L2101/618—Details of network addresses
    • H04L2101/622—Layer-2 addresses, e.g. medium access control [MAC] addresses
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L2101/00—Indexing scheme associated with group H04L61/00
    • H04L2101/60—Types of network addresses
    • H04L2101/69—Types of network addresses using geographic information, e.g. room number

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Mobile Radio Communication Systems (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The application is applicable to the technical field of positioning, and provides a positioning method, a device, a system and terminal equipment based on UWB, comprising the following steps: receiving first information of a target positioning tag sent by a first UWB base station, wherein the first information comprises unique identification information of the target positioning tag, equipment identification information of the first UWB base station and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station; determining floor attribution information of the target positioning label according to the unique identification information of the target positioning label; according to the floor attribution information of the target positioning label and the equipment identification information of the first UWB base station, determining a second UWB base station which is positioned on the same floor with the target positioning label from the first UWB base station; and obtaining the position information of the target positioning label according to the signal arrival time information of the signal of the target positioning label arriving at the second UWB base station. The embodiment of the application can improve the accuracy of UWB positioning.

Description

UWB-based positioning method, device, system and terminal equipment
Technical Field
The present application belongs to the field of positioning technology, and in particular, to a positioning method, apparatus, system and terminal device based on UWB.
Background
The Ultra Wide Band (UWB) technology is a wireless carrier communication technology, and has the advantages of low system complexity, low power spectral density of transmitted signals, insensitivity to channel fading, high positioning accuracy and the like, so that the UWB technology is regarded as a better indoor positioning technology.
At present, when positioning is performed by using UWB technology in a multi-floor positioning scene (for example, an indoor positioning scene of a building), UWB base stations are generally deployed in two dimensions in each floor, and the UWB base station of each floor is only responsible for acquiring information of a UWB tag of the floor and transmitting the information to a server to perform two-dimensional positioning calculation, that is, the UWB tag positioning of the floor is participated in by the UWB base station of the floor, thereby completing accurate positioning of the UWB tag.
However, due to the fact that the buildings with multiple floors such as a building may have hollow, staircase, window and other designs, tag signals of each floor cannot be blocked, the UWB base station may acquire information of UWB tags of floors other than the floor, and therefore positioning of one UWB tag may involve acquisition of UWB tags of other floors, and positioning of the UWB tag is inaccurate.
Disclosure of Invention
In view of this, embodiments of the present application provide a positioning method, an apparatus, a system and a terminal device based on UWB, so as to solve the problem in the prior art how to improve the accuracy of the positioning method based on UWB in a multi-floor positioning scenario.
A first aspect of an embodiment of the present application provides a positioning method based on UWB, including:
receiving first information of a target positioning tag sent by a first UWB base station, wherein the first information comprises unique identification information of the target positioning tag, equipment identification information of the first UWB base station and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station;
determining floor attribution information of the target positioning label according to the unique identification information of the target positioning label;
according to the floor attribution information of the target positioning label and the equipment identification information of the first UWB base station, determining a second UWB base station which is positioned on the same floor with the target positioning label from the first UWB base station;
and obtaining the position information of the target positioning label according to the signal arrival time information of the signal of the target positioning label arriving at the second UWB base station.
Optionally, before the receiving the first information of the target location tag sent by the first UWB base station, the method further includes:
receiving second information of a target positioning tag sent by a Bluetooth base station, wherein the second information comprises unique identification information of the target positioning tag and MAC address information of the Bluetooth base station;
inquiring floor information corresponding to the Bluetooth base station according to the MAC address information of the Bluetooth base station;
and setting floor attribution information of the target positioning label according to the unique identification information of the target positioning label and the floor information.
Optionally, the target location tag is composed of a UWB tag and a bluetooth tag, and before the receiving the second information of the target location tag sent by the bluetooth base station, the method further includes:
and setting the transmitting power of the Bluetooth tag in the target positioning tag according to the floor height information.
Optionally, the determining, according to the floor attribution information of the target location tag and the device identification information of the first UWB base station, a second UWB base station located on the same floor as the target location tag from the first UWB base station includes:
inquiring target equipment identification information of a target UWB (ultra Wide band) base station which is positioned on the same floor with the target positioning tag according to the floor attribution information of the target positioning tag, wherein the number of the target equipment identification information is more than or equal to 1;
and if the equipment identification information of the first UWB base station is the same as any target equipment identification information, determining the first UWB base station as a second UWB base station.
Optionally, the obtaining the position information of the target positioning tag according to the information of the arrival time of the signal of the target positioning tag at the second UWB base station includes:
and calculating the position information of the target positioning tag by a TDOA positioning algorithm according to the position information of at least three second UWB base stations and the arrival time information of the target signal, wherein the arrival time information of the target signal is the arrival time information of the signal of the target positioning tag arriving at the second UWB base station.
A second aspect of embodiments of the present application provides a UWB-based positioning apparatus, including:
a first information receiving unit, configured to receive first information of a target positioning tag sent by a first UWB base station, where the first information includes unique identification information of the target positioning tag, device identification information of the first UWB base station, and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station;
the floor attribution information determining unit is used for determining the floor attribution information of the target positioning label according to the unique identification information of the target positioning label;
a second UWB base station determining unit configured to determine, from the first UWB base station, a second UWB base station located on the same floor as the target positioning tag according to floor affiliation information of the target positioning tag and device identification information of the first UWB base station;
and the positioning unit is used for obtaining the position information of the target positioning label according to the signal arrival time information of the signal of the target positioning label arriving at the second UWB base station.
A third aspect of the embodiments of the present application provides a positioning system based on UWB, including UWB base stations and bluetooth base stations arranged on each floor, and a positioning device based on UWB;
the Bluetooth base station is used for acquiring the information of the positioning label and sending second information to the positioning device based on the UWB according to the information of the positioning label;
the UWB base station is used for acquiring the information of the positioning label and sending first information to the UWB-based positioning device according to the information of the positioning label;
the UWB-based positioning apparatus for performing the UWB-based positioning method according to any one of claims 1 to 5.
A fourth aspect of embodiments of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, causes the terminal device to implement the steps of the UWB-based positioning method as described.
A fifth aspect of embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, causes a terminal device to implement the steps of the UWB-based positioning method as described.
A sixth aspect of embodiments of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to perform the steps of the UWB-based positioning method as described.
Compared with the prior art, the embodiment of the application has the advantages that: in the embodiment of the application, after receiving the first information of the target positioning tag sent by the first UWB base station, the floor attribution information of the target positioning tag is determined, and according to the floor attribution information, the second UWB base station on the same floor as the target positioning tag is determined from the first UWB base station, and then the position information of the target positioning tag is obtained only according to the signal arrival time information of the target positioning tag collected by the second UWB base station, that is, only the second UWB base station on the same floor as the target positioning tag is allowed to participate in positioning of the target positioning tag, and the influence of UWB base stations on other floors is eliminated, so that the positioning accuracy of the target positioning tag can be improved, and the accuracy of a positioning scene based on a UWB positioning method on multiple floors is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating an implementation of a first UWB-based positioning method according to an embodiment of the present application;
fig. 2 is a schematic diagram of an application scenario based on UWB positioning according to an embodiment of the present application;
fig. 3 is a schematic flow chart of an implementation of a second UWB-based positioning method provided by an embodiment of the present application;
fig. 4 is a schematic diagram of another application scenario based on UWB positioning according to an embodiment of the present application;
FIG. 5 is a schematic diagram of a UWB based positioning device according to an embodiment of the application;
fig. 6 is a schematic system structure diagram of a UWB-based positioning system according to an embodiment of the present application;
fig. 7 is a schematic diagram of a terminal device provided in an embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
In order to explain the technical solution described in the present application, the following description will be given by way of specific examples.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in the specification of the present application and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".
In addition, in the description of the present application, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
The first embodiment is as follows:
fig. 1 shows a schematic flowchart of a first UWB-based positioning method provided in an embodiment of the present application, and fig. 2 shows a schematic application scenario corresponding to the UWB-based positioning method. As shown in fig. 2, an application scenario of the embodiment of the present application includes UWB base stations 21 and positioning tags disposed on each floor, and terminal devices 22 establishing communication with each UWB base station; the UWB base station 21 collects the information of the positioning label and sends the information to the terminal equipment 22; the terminal device 22 receives the information of the positioning tag sent by the UWB base station and then performs positioning calculation on the positioning tag. The embodiment of the present application further includes a database in which the device identification information of the UWB base station corresponding to each floor and the floor attribution information corresponding to each positioning tag are prestored, and the database may specifically be a local database of the terminal device 22 or a third-party database that establishes a connection with the terminal device 22. The main execution body of the positioning method based on UWB according to the embodiment of the present application is a terminal device, specifically, the terminal device 22 shown in fig. 2, and the positioning method based on UWB shown in fig. 1 is detailed as follows:
in S101, receiving first information of a target positioning tag sent by a first UWB base station, where the first information includes unique identification information of the target positioning tag, device identification information of the first UWB base station, and time of arrival information of a signal of the target positioning tag at the first UWB base station.
The positioning tag in the embodiment of the application is a tag at least comprising a UWB tag, so that a UWB base station can acquire the information of the positioning tag in a UWB mode through the UWB tag in the positioning tag and send the information to a terminal device. Besides UWB tags, the positioning tags may also include bluetooth tags, RFID tags, or the like, that is, the positioning tags may specifically be UWB tags, tags formed by combining UWB tags and bluetooth tags, or tags formed by combining UWB tags and RFID tags. The object positioning tag in the embodiment of the application is an arbitrarily-assigned positioning tag, the first UWB base station is all UWB base stations that detect the object positioning tag and send the first information of the object positioning tag to the terminal device, and the first UWB base station includes a UWB base station located on the same floor as the object positioning tag and may further include a UWB base station located on a different floor from the object positioning tag.
The terminal equipment receives first information of a target positioning tag sent by a first UWB base station, and the first information of the target positioning tag sent by each UWB base station comprises unique identification information of the target positioning tag, equipment identification information of the first UWB base station and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station. Specifically, the unique identification information may be a combination of identification information of all tags included in the target positioning tag, for example, if the target positioning tag specifically includes a UWB tag and a bluetooth tag, the unique identification information of the target positioning tag is specifically identification information combined according to a unique ID number of the UWB tag and a Media Access control address (MAC address) of the bluetooth tag. Specifically, the signal arrival time information of the signal of the target positioning tag arriving at the first UWB base station is the system time information recorded by the first UWB base station when receiving the UWB signal transmitted from the target positioning tag. Optionally, before S101, all UWB base stations of the system are instructed to time, system time synchronization of all UWB base stations is maintained, so that signal arrival time information recorded by each UWB base station has a uniform time reference, thereby improving positioning accuracy.
In S102, the floor attribution information of the target positioning tag is determined according to the unique identification information of the target positioning tag.
And the terminal equipment searches the floor attribution information bound and stored with the unique identification information through a local database or a third-party database according to the received unique identification information of the target positioning label, so as to determine the floor attribution information of the target positioning label. In the embodiment of the application, the local database or the third-party database prestores the unique identification information of the target positioning tag and the corresponding floor attribution information.
In S103, according to the floor attribution information of the target positioning tag and the device identification information of the first UWB base station, a second UWB base station located on the same floor as the target positioning tag is determined from the first UWB base station.
And according to the floor attribution information of the determined target positioning label, determining a second UWB base station which is positioned on the same floor with the target positioning label from the first UWB base station.
Optionally, the step S103 includes:
inquiring target equipment identification information of a target UWB (ultra Wide band) base station which is positioned on the same floor with the target positioning tag according to the floor attribution information of the target positioning tag, wherein the number of the target equipment identification information is more than or equal to 1;
and if the equipment identification information of the first UWB base station is the same as any target equipment identification information, determining the first UWB base station as a second UWB base station.
In the embodiment of the application, the local database of the terminal device or the third-party database establishing communication connection with the terminal device stores the device identification information of the UWB base station corresponding to each floor. And inquiring a local database or a third-party database according to the floor attribution information of the target positioning tag, acquiring the equipment identification information of all UWB base stations positioned on the same floor with the target positioning tag, and for the purpose of distinguishing, calling all UWB base stations positioned on the same floor with the target positioning tag as target UWB base stations and calling the equipment identification information of the UWB base stations as target equipment identification information. There are usually a plurality of target UWB base stations located on the same floor as the target location tag, and there are usually at least three UWB base stations for performing location calculation, so that there are a plurality of target device identification information correspondingly.
And comparing the equipment identification information of each first UWB base station with the identification information of the target equipment, and if the equipment identification information of the first UWB base station is the same as the identification information of any target equipment, determining the first UWB base station as a second UWB base station, wherein the second UWB base station is the UWB base station which is positioned on the same floor with the target positioning tag.
Optionally, the step S103 includes:
inquiring floor information corresponding to the first UWB base station according to the equipment identification information of the first UWB base station;
and if the floor information corresponding to the first UWB base station is consistent with the floor attribution information of the target positioning label, determining the first UWB base station as a second UWB base station.
And inquiring the floor information which is stored in the local database or the third-party database and corresponds to the equipment identification information of the first UWB base station according to the equipment identification information of each first UWB base station, and obtaining the information of the floor where each first UWB base station is located.
And sequentially inquiring the relation between the floor information corresponding to each first UWB base station and the floor attribution information of the target positioning label, and if the floor information corresponding to the first UWB base station is consistent with the floor attribution information of the target positioning label, determining the first UWB base station as a second UWB base station.
In S104, the position information of the target positioning tag is obtained according to the signal arrival time information of the signal of the target positioning tag arriving at the second UWB base station.
And acquiring signal arrival time information of a signal of a target positioning tag reaching the second UWB base station from the first information as target signal arrival time information, and calculating the position information of the target positioning tag according to the target signal arrival time information. Namely, the signal arrival time information of other UWB base stations which are positioned on different floors with the target positioning label is eliminated, only the signal arrival time information of the target positioning label which is sent by a second UWB base station which is positioned on the same floor with the target positioning label and arrives at the second UWB base station is reserved as the target signal arrival time information, and the two-dimensional positioning calculation of the target positioning label is carried out, so that the positioning calculation of the target positioning label is more accurate.
Specifically, the step S104 includes:
and calculating the position information of the target positioning tag by a TDOA positioning algorithm according to the position information of at least three second UWB base stations and the arrival time information of the target signal, wherein the arrival time information of the target signal is the arrival time information of the signal of the target positioning tag arriving at the second UWB base station.
In the embodiment of the present application, the signal arrival time information of a signal of a target positioning tag arriving at a second UWB base station is referred to as the target signal arrival time information of the second UWB base station. And performing high-precision two-dimensional calculation in the horizontal direction by a (Time Difference of Arrival, TDOA) based positioning algorithm according to the position information of at least three second UWB base stations and the Arrival Time information of the target signal to obtain the position information of the target positioning tag.
For example, if the UWB base station 1, the UWB base station 2, and the UWB base station 3 are three second UWB base stations located on the same floor as the target positioning tag, the position information of these three second UWB base stations is (x)1,y1)、(x2,y2)、(x3,y3) The arrival time of the corresponding target signals is t1、t2、t3Then, according to the TDOA location algorithm, we can obtain:
Figure BDA0002216390300000101
wherein, (x, y) is the coordinate of the target positioning label to be calculated, c is the speed of light, and the values of x and y can be obtained by combining the two formulas (1) and (2), thereby obtaining the coordinate position information of the target positioning label.
In the embodiment of the application, after receiving the first information of the target positioning tag sent by the first UWB base station, the floor attribution information of the target positioning tag is determined, and according to the floor attribution information, the second UWB base station on the same floor as the target positioning tag is determined from the first UWB base station, and then the position information of the target positioning tag is obtained only according to the signal arrival time information of the target positioning tag collected by the second UWB base station, that is, only the second UWB base station on the same floor as the target positioning tag is allowed to participate in positioning of the target positioning tag, and the influence of UWB base stations on other floors is eliminated, so that the positioning accuracy of the target positioning tag can be improved, and the accuracy of a positioning scene based on a UWB positioning method on multiple floors is improved.
Example two:
fig. 3 is a schematic flowchart illustrating a second UWB-based positioning method according to an embodiment of the present application, and fig. 4 is a schematic diagram illustrating an application scenario corresponding to the UWB-based positioning method.
As shown in fig. 4, an application scenario of the embodiment of the present application includes UWB base stations 41 and positioning tags disposed on each floor, bluetooth base stations 42 disposed on each floor, and terminal devices 43 establishing communication connection with the UWB base stations 41 and the bluetooth base stations 42; the embodiment of the present application further includes a database, where the database prestores device identification information of the UWB base station corresponding to each floor, MAC address information of the bluetooth base station corresponding to each floor, and floor attribution information corresponding to each positioning tag, and the database may specifically be a local database of the terminal device 43 or a third-party database that establishes a connection with the terminal device 43. The positioning tag in the embodiment of the application is formed by combining the UWB tag and the Bluetooth tag, the UWB base station 41 communicates with the positioning tag through the UWB tag in the positioning tag, and the Bluetooth base station 42 communicates with the positioning tag through the Bluetooth tag in the positioning tag. In this embodiment of the application, the bluetooth base station 42 is specifically disposed at a stairway entrance of each floor or a place where an elevator entrance and an elevator entrance are necessary to pass through, so that after the positioning tag moves to another floor, the bluetooth base station 42 collects information of the positioning tag and sends the information to the terminal device 43, so that the terminal device updates floor attribution information of the positioning tag to the database according to the information. That is, the bluetooth base station 42 is responsible for monitoring the floor change information of the location tag.
The main execution body of the positioning method based on UWB according to the embodiment of the present application is a terminal device, specifically, the terminal device 43 shown in fig. 4, and the positioning method based on UWB shown in fig. 3 is detailed as follows:
in S301, second information of a target location tag sent by a bluetooth base station is received, where the second information includes unique identification information of the target location tag and MAC address information of the bluetooth base station.
In the embodiment of the application, the target positioning tag is formed by combining a UWB tag and a bluetooth tag, and correspondingly, the unique identification information of the target positioning tag is formed by combining a unique ID of the UWB tag and an MAC address of the bluetooth tag. And receiving second information of the target positioning label sent by the Bluetooth base station, wherein the second information comprises the MAC address information of the Bluetooth base station and the unique identification information of the target positioning label acquired by the Bluetooth base station.
Optionally, before the step S301, the method further includes:
and setting the transmitting power of the Bluetooth tag in the target positioning tag according to the floor height information.
In order to prevent mutual interference of Bluetooth signals between different floors, namely to ensure that the Bluetooth base station only detects the signal of the positioning tag positioned on the floor, the transmitting power of the Bluetooth tag in the target positioning tag can be set according to the height information of the floor. Specifically, height information of a floor is obtained, and the transmitting power of the Bluetooth tag is calculated and set according to the floor information. Specifically, the height H of the floor is obtained, and the transmitting power of the bluetooth tag is calculated and adjusted according to a relational formula between the wireless signal received signal strength and the signal transmission distance, where the formula is as follows:
PR＝A-10*nlg r (3)
where PR is the received power (dBm) of the wireless signal, r is the distance between the transceiver units, n is the propagation factor, and the magnitude of PR depends on the propagation environment of the wireless signal. A is the power of the received signal 1m away from the signal transmission, and "+" represents the multiplication sign. In general, when a bluetooth base station detects that a bluetooth signal of a positioning tag is less than-90 dbm, it may be considered that the bluetooth base station does not receive the bluetooth signal, and therefore, PR may be-90 dbm, and r may be H, and a may be obtained by substituting equation (3) according to actually detected n. And then, instructing to adjust the transmitting power of the Bluetooth tag so that the receiving power of the Bluetooth base station meets A.
In S302, the floor information corresponding to the bluetooth base station is queried according to the MAC address information of the bluetooth base station.
And inquiring the floor information corresponding to the Bluetooth base station prestored in the database through a local database or a third-party database according to the MAC address information of the Bluetooth base station contained in the second information.
In S303, the floor attribution information of the target positioning tag is set according to the unique identification information of the target positioning tag and the floor information.
And if the local database or the third-party database does not pre-store the floor attribution information of the target positioning label, taking the floor information as the floor attribution information of the target positioning label, and binding and storing the floor attribution information and the unique identification information of the target positioning label to the local database or the third-party database, thereby finishing the floor attribution information setting of the target positioning label. If the local database or the third-party database pre-stores the floor attribution information of the target positioning label, the pre-stored storage position of the floor attribution information of the target positioning label is inquired according to the unique identification information of the target positioning label, and the floor attribution information is updated to the floor information.
In S304, first information of a target positioning tag sent by a first UWB base station is received, where the first information includes unique identification information of the target positioning tag, device identification information of the first UWB base station, and time of arrival information of a signal of the target positioning tag at the first UWB base station.
In this embodiment, S304 is the same as S101 in the first embodiment, and please refer to the related description of S101 in the first embodiment, which is not repeated herein.
In S305, the floor attribution information of the target positioning tag is determined according to the unique identification information of the target positioning tag.
In this embodiment, S305 is the same as S102 in the first embodiment, and please refer to the related description of S102 in the first embodiment, which is not repeated herein.
In S306, according to the floor attribution information of the target positioning tag and the device identification information of the first UWB base station, a second UWB base station located on the same floor as the target positioning tag is determined from the first UWB base station.
In this embodiment, S306 is the same as S103 in the first embodiment, and please refer to the related description of S103 in the first embodiment, which is not repeated herein.
In S307, the position information of the target positioning tag is obtained according to the arrival time information of the signal of the target positioning tag arriving at the second UWB base station.
In this embodiment, S307 is the same as S104 in the first embodiment, and please refer to the related description of S104 in the first embodiment, which is not repeated herein.
In the embodiment of the application, when the positioning tag moves to other floors, the information of the floor where the positioning tag is located can be accurately determined through the Bluetooth base station, and the floor attribution information of the positioning tag is updated in time, so that the accuracy of a positioning scene based on a UWB positioning method in multiple floors is further improved.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example three:
fig. 5 is a schematic structural diagram of a UWB-based positioning apparatus provided in an embodiment of the present application, and for convenience of description, only parts related to the embodiment of the present application are shown:
the UWB-based positioning device includes: a first information receiving unit 51, a floor attribution information determining unit 52, a second UWB base station determining unit 53, and a positioning unit 54. Wherein:
a first information receiving unit 51, configured to receive first information of a target positioning tag sent by a first UWB base station, where the first information includes unique identification information of the target positioning tag, device identification information of the first UWB base station, and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station.
And a floor attribution information determining unit 52, configured to determine, according to the unique identification information of the target positioning tag, floor attribution information of the target positioning tag.
A second UWB base station determining unit 53, configured to determine, from the first UWB base station, a second UWB base station located on the same floor as the target positioning tag according to floor attribution information of the target positioning tag and device identification information of the first UWB base station;
and a positioning unit 54, configured to obtain position information of the target positioning tag according to information of arrival time of the signal of the target positioning tag at the second UWB base station.
Optionally, the positioning unit 54 is specifically configured to calculate, according to the location information of at least three second UWB base stations and target signal arrival time information, the location information of the target positioning tag through a TDOA positioning algorithm, where the target signal arrival time information is signal arrival time information of a signal of the target positioning tag arriving at the second UWB base station.
Optionally, the positioning device based on UWB further includes a second information receiving unit, a bluetooth base station floor information inquiry unit, and a floor affiliation information setting unit:
the second information receiving unit is used for receiving second information of a target positioning tag sent by a Bluetooth base station, wherein the second information comprises unique identification information of the target positioning tag and MAC address information of the Bluetooth base station;
the Bluetooth base station floor information inquiry unit is used for inquiring floor information corresponding to the Bluetooth base station according to the MAC address information of the Bluetooth base station;
and the floor attribution information setting unit is used for setting the floor attribution information of the target positioning label according to the unique identification information of the target positioning label and the floor information.
Optionally, the UWB-based positioning apparatus further comprises:
and the Bluetooth tag transmitting power setting unit is used for setting the transmitting power of the Bluetooth tag in the target positioning tag according to the floor height information.
In the embodiment of the application, after receiving the first information of the target positioning tag sent by the first UWB base station, the floor attribution information of the target positioning tag is determined, and according to the floor attribution information, the second UWB base station on the same floor as the target positioning tag is determined from the first UWB base station, and then the position information of the target positioning tag is obtained only according to the signal arrival time information of the target positioning tag collected by the second UWB base station, that is, only the second UWB base station on the same floor as the target positioning tag is allowed to participate in positioning of the target positioning tag, and the influence of UWB base stations on other floors is eliminated, so that the positioning accuracy of the target positioning tag can be improved, and the accuracy of a positioning scene based on a UWB positioning method on multiple floors is improved.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
Example four:
fig. 6 is a schematic structural diagram of a UWB-based positioning system provided in an embodiment of the present application, and for convenience of explanation, only parts related to the embodiment of the present application are shown:
the UWB-based positioning system comprises a UWB base station 61, a Bluetooth base station 62 and a UWB-based positioning device 63, wherein the UWB base station 61 and the Bluetooth base station 62 are in communication connection with the UWB-based positioning device 63. The UWB base stations 61 and the bluetooth base stations 62 are arranged on each floor, each floor has at least three UWB base stations (the positioning of one positioning tag needs to be calculated according to the information collected by three different UWB base stations) and at least one bluetooth base station, and the number of the UWB base stations 61 and the number of the bluetooth base stations 62 depend on the number of the floors.
Specifically, each UWB base station 61 is arranged in the horizontal direction at the roof position of the destination floor (the floor where the UWB base station is located), and each bluetooth base station 62 is arranged at the entrance of the destination floor (the floor where the bluetooth base station is located) or the entrance of the elevator.
Because UWB signals can be influenced by the shelters, and the shelters of the roof position of each floor relative to positions such as wall, ground are less, consequently lay UWB base station in the roof position of floor, can reduce signal interference, improve positioning accuracy. Meanwhile, each UWB base station of the same floor is kept at the same horizontal position, so that the precision of two-dimensional positioning calculation can be ensured, and the positioning accuracy is further improved.
In the embodiment of the application, the bluetooth base station is used for monitoring the information of the positioning tag at the floor position, and sending the information of the positioning tag to the positioning device based on the UWB to update the floor attribution information of the positioning tag. Therefore, the Bluetooth base station is arranged at the position which is necessary to pass through when the Bluetooth base station goes up and down the floors such as the stair opening or the elevator opening of the floors, the floor position conversion information of the positioning label can be timely acquired, the floor attribution information of the positioning label is timely updated, and the positioning accuracy is improved.
The positioning tag in the embodiment of the application is a combined tag composed of a UWB tag and a Bluetooth tag, and the information obtained by combining the unique ID of the UWB tag and the MAC address information of the Bluetooth tag is used as the unique identification information of the positioning tag.
The bluetooth base station 61 is configured to collect information of a positioning tag, and send second information to the UWB-based positioning apparatus according to the information of the positioning tag.
When the positioning tag reaches the floor where the bluetooth base station is located through a staircase or an elevator, the bluetooth base station acquires information of the positioning tag, specifically, the bluetooth base station monitors a bluetooth signal sent by the bluetooth tag of the positioning tag, and acquires unique identification information of the positioning tag through the bluetooth tag. And generating second information by combining the MAC address information of the local end of the Bluetooth base station according to the acquired unique identification information of the positioning label, and sending the second information to the positioning device based on the UWB, wherein the second information comprises the unique identification information of the positioning label and the MAC address information of the Bluetooth base station.
The UWB base station 62 is configured to collect information of a positioning tag, and send first information to the UWB-based positioning apparatus according to the information of the positioning tag.
The UWB base station monitors UWB signals of the positioning labels, unique identification information of the positioning labels is obtained through the UWB labels in the positioning labels, and signal arrival time information of the signals of the positioning labels reaching the UWB base station is recorded. And generating first information by combining the UWB base station equipment identification information of the UWB base station local end according to the unique identification information of the positioning label and the signal arrival time information, and basing the first information sending value on the positioning device of the UWB.
The UWB-based positioning device 63 is configured to execute the UWB-based positioning method according to the first embodiment or the second embodiment.
The UWB positioning device is used for receiving second information sent by a Bluetooth base station to set floor attribution information of a positioning label and receiving first information sent by the UWB base station to position the positioning label. The specific implementation actions of the positioning apparatus based on UWB are the positioning method based on UWB described in the first embodiment or the second embodiment, which may specifically refer to the embodiment of the method, and are not described herein again.
In the embodiment of the application, the floor attribution information of the positioning label is timely and accurately determined through the Bluetooth base station, the information of the positioning label is obtained through the UWB base station and is sent to the positioning device based on the UWB for processing and calculation, the information sent by the UWB base station located on the same floor with the positioning label can be accurately screened out through the positioning device based on the UWB, only the UWB base station located on the same floor with the positioning label is allowed to participate in the positioning of the positioning label, the influence of the UWB base stations on other floors is eliminated, therefore, the positioning precision of the positioning label can be improved, and the accuracy based on the UWB positioning method in the positioning scene of multiple floors is improved.
Example five:
fig. 7 is a schematic diagram of a terminal device according to an embodiment of the present application. As shown in fig. 7, the terminal device 7 of this embodiment includes: a processor 70, a memory 71 and a computer program 72, such as a UWB-based positioning program, stored in said memory 71 and executable on said processor 70. The processor 70, when executing the computer program 72, implements the steps in the various UWB-based positioning method embodiments described above, such as steps S101 to S104 shown in fig. 1. Alternatively, the processor 70, when executing the computer program 72, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the units 51 to 54 shown in fig. 5.
Illustratively, the computer program 72 may be partitioned into one or more modules/units that are stored in the memory 71 and executed by the processor 70 to accomplish the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 72 in the terminal device 7. For example, the computer program 72 may be divided into a first information receiving unit, a floor attribution information determining unit, a second UWB base station determining unit, and a positioning unit, and the specific functions of each unit are as follows:
the first information receiving unit is used for receiving first information of a target positioning tag sent by a first UWB base station, wherein the first information comprises unique identification information of the target positioning tag, equipment identification information of the first UWB base station and signal arrival time information of a signal of the target positioning tag reaching the first UWB base station.
And the floor attribution information determining unit is used for determining the floor attribution information of the target positioning label according to the unique identification information of the target positioning label.
And the second UWB base station determining unit is used for determining a second UWB base station which is positioned on the same floor with the target positioning label from the first UWB base station according to the floor attribution information of the target positioning label and the equipment identification information of the first UWB base station.
And the positioning unit is used for obtaining the position information of the target positioning label according to the signal arrival time information of the signal of the target positioning label arriving at the second UWB base station.
The terminal device 7 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 70, a memory 71. It will be appreciated by those skilled in the art that fig. 7 is merely an example of a terminal device 7 and does not constitute a limitation of the terminal device 7 and may comprise more or less components than shown, or some components may be combined, or different components, for example the terminal device may further comprise input output devices, network access devices, buses, etc.
The Processor 70 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may be an internal storage unit of the terminal device 7, such as a hard disk or a memory of the terminal device 7. The memory 71 may also be an external storage device of the terminal device 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the terminal device 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the terminal device 7. The memory 71 is used for storing the computer program and other programs and data required by the terminal device. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer-readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.

Claims (10)

1. A UWB-based positioning method, comprising:
receiving first information of a target positioning tag sent by a first UWB base station, wherein the first information comprises unique identification information of the target positioning tag, equipment identification information of the first UWB base station and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station;
determining floor attribution information of the target positioning label according to the unique identification information of the target positioning label;
according to the floor attribution information of the target positioning label and the equipment identification information of the first UWB base station, determining a second UWB base station which is positioned on the same floor with the target positioning label from the first UWB base station;
and obtaining the position information of the target positioning label according to the signal arrival time information of the signal of the target positioning label arriving at the second UWB base station.
2. The UWB-based positioning method according to claim 1, wherein before the receiving the first information of the object location tag transmitted by the first UWB base station, further comprising:
receiving second information of a target positioning tag sent by a Bluetooth base station, wherein the second information comprises unique identification information of the target positioning tag and MAC address information of the Bluetooth base station;
inquiring floor information corresponding to the Bluetooth base station according to the MAC address information of the Bluetooth base station;
and setting floor attribution information of the target positioning label according to the unique identification information of the target positioning label and the floor information.
3. The UWB-based positioning method according to claim 2, wherein the object positioning tag is composed of a UWB tag and a bluetooth tag, and before the receiving of the second information of the object positioning tag transmitted from the bluetooth base station, the method further comprises:
and setting the transmitting power of the Bluetooth tag in the target positioning tag according to the floor height information.
4. The UWB-based positioning method according to claim 1, wherein the determining a second UWB base station on the same floor as the target positioning tag from the first UWB base station based on the floor attribution information of the target positioning tag and the device identification information of the first UWB base station includes:
inquiring target equipment identification information of a target UWB (ultra Wide band) base station which is positioned on the same floor with the target positioning tag according to the floor attribution information of the target positioning tag, wherein the number of the target equipment identification information is more than or equal to 1;
and if the equipment identification information of the first UWB base station is the same as any target equipment identification information, determining the first UWB base station as a second UWB base station.
5. The UWB-based positioning method according to claim 1, wherein the obtaining the position information of the target positioning tag based on the signal arrival time information of the signal of the target positioning tag at the second UWB base station comprises:
and calculating the position information of the target positioning tag by a TDOA positioning algorithm according to the position information of at least three second UWB base stations and the arrival time information of the target signal, wherein the arrival time information of the target signal is the arrival time information of the signal of the target positioning tag arriving at the second UWB base station.
6. An UWB-based positioning apparatus, comprising:
a first information receiving unit, configured to receive first information of a target positioning tag sent by a first UWB base station, where the first information includes unique identification information of the target positioning tag, device identification information of the first UWB base station, and signal arrival time information of a signal of the target positioning tag arriving at the first UWB base station;
the floor attribution information determining unit is used for determining the floor attribution information of the target positioning label according to the unique identification information of the target positioning label;
a second UWB base station determining unit configured to determine, from the first UWB base station, a second UWB base station located on the same floor as the target positioning tag according to floor affiliation information of the target positioning tag and device identification information of the first UWB base station;
and the positioning unit is used for obtaining the position information of the target positioning label according to the signal arrival time information of the signal of the target positioning label arriving at the second UWB base station.
7. A UWB-based positioning system is characterized in that the UWB-based positioning system comprises UWB base stations and Bluetooth base stations which are arranged on all floors, and a UWB-based positioning device;
the Bluetooth base station is used for acquiring the information of the positioning label and sending second information to the positioning device based on the UWB according to the information of the positioning label;
the UWB base station is used for acquiring the information of the positioning label and sending first information to the UWB-based positioning device according to the information of the positioning label;
the UWB-based positioning apparatus for performing the UWB-based positioning method according to any one of claims 1 to 5.
8. The UWB-based positioning system of claim 7, wherein each of the UWB base stations is arranged in a horizontal direction at a roof position of a target floor; and each Bluetooth base station is respectively arranged at the position of a stair opening or an elevator opening of a target floor.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the computer program, when executed by the processor, causes the terminal device to carry out the steps of the method according to any one of claims 1 to 5.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, causes a terminal device to carry out the steps of the method according to any one of claims 1 to 5.
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CN116723569B (en) * 2023-08-10 2023-11-03 武汉七环电气股份有限公司 Multimode positioning method and system supporting emergency communication
CN116723569A (en) * 2023-08-10 2023-09-08 武汉七环电气股份有限公司 Multimode positioning method and system supporting emergency communication

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