CN112788743A - Positioning method and device based on ultra-wideband technology - Google Patents
Positioning method and device based on ultra-wideband technology Download PDFInfo
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Abstract
The invention discloses a positioning method and device based on an ultra-wideband technology, and relates to the technical field of computers. One embodiment of the method comprises: after a plurality of antennas of the reference node receive the transmitting signals from the positioning tags, determining distance information and angle information between the positioning tags and the reference node according to the time difference between the transmitting signals and the antennas; measuring linear velocity information and angular velocity information of the positioning label, performing distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and performing angle fusion on the angle information and the angular velocity information to obtain an angle estimation value; and calculating the position information of the positioning label in the reference node coordinate system according to the distance estimation value and the angle estimation value. According to the method, the distance estimation value and the angle estimation value are obtained by respectively fusing the distance information and the angle information, so that the position information of the positioning label can be calculated, a reference node does not need to be arranged in advance, and high-precision positioning can be realized.
Description
Technical Field
The invention relates to the field of computers, in particular to a positioning method and a positioning device based on an ultra-wideband technology.
Background
Ultra Wide Band (UWB) is a new wireless communication technology, which is a great advantage in many application fields, such as wireless positioning. In the prior art, there are two implementation manners for positioning based on the UWB technology, where one implementation manner needs to globally arrange base stations, a positioning tag transmits signals to the surroundings, and the position information of the positioning tag is calculated according to the time difference of the transmission signals received by a plurality of base stations; and the second mode is that a plurality of antennas are arranged in one base station, the positioning tag transmits signals to the periphery, and the position information of the positioning tag is calculated according to the time difference of the plurality of antennas receiving the transmitted signals.
In the process of implementing the invention, the inventor finds that at least the following problems exist in the prior art:
(1) in the first mode, base stations need to be arranged in advance, so that the engineering cost is high; the position information of each base station needs to be accurately measured, accurate time synchronization among the base stations needs to be ensured, and the stability is poor;
(2) although the second mode does not need tedious base station layout work, the time difference of receiving the transmitted signals by the multiple antennas is not obvious, the positioning accuracy is poor and the stability is poor due to the fact that the multiple antennas are located in one base station.
Disclosure of Invention
In view of this, embodiments of the present invention provide a positioning method and apparatus based on an ultra-wideband technology, which perform distance fusion and angle fusion processing on distance information and angle information between a positioning tag and a reference node, respectively, to obtain a smooth distance estimation value and angle estimation value, so as to calculate position information of the positioning tag. The method does not need to lay reference nodes in advance, can realize high-precision positioning, and has good stability.
To achieve the above object, according to an aspect of an embodiment of the present invention, there is provided a positioning method based on an ultra wideband technology.
The positioning method based on the ultra-wideband technology comprises the following steps: after a plurality of antennas of a reference node receive a transmitting signal from a positioning tag, determining distance information and angle information between the positioning tag and the reference node according to the time difference between the transmitting signal and the antennas; measuring linear velocity information and angular velocity information of the positioning label, performing distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and performing angle fusion on the angle information and the angular velocity information to obtain an angle estimation value; and calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value.
Optionally, the measuring linear velocity information and angular velocity information of the positioning tag includes: and measuring the linear velocity information of the positioning label by adopting an odometer, and measuring the angular velocity information of the positioning label by adopting an inertia measuring unit or a gyroscope.
Optionally, the distance fusing the distance information and the linear velocity information to obtain a distance estimation value, and the angle fusing the angle information and the angular velocity information to obtain an angle estimation value includes: and performing distance fusion on the distance information and the linear speed information by adopting Kalman filtering to obtain a distance estimation value, and performing angle fusion on the angle information and the angular speed information to obtain an angle estimation value.
Optionally, the calculating the position information of the positioning tag in the reference node coordinate system includes: multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system; and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system.
Optionally, before the step of performing distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and performing angle fusion on the angle information and the angular velocity information to obtain an angle estimation value, the method further includes: performing time synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information through a clock synchronization filter; and carrying out frequency synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information after time synchronization.
Optionally, the method further comprises: calculating position change information between the position information of the positioning labels at two adjacent moments; and comparing the position change information with a preset threshold interval so as to filter the position information corresponding to the position change information falling outside the threshold interval.
To achieve the above object, according to another aspect of the embodiments of the present invention, there is provided a positioning device based on ultra-wideband technology.
The positioning device based on the ultra-wideband technology comprises: the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining distance information and angle information between a positioning label and a reference node according to the time difference between the transmitting signals and the antennas after a plurality of antennas of the reference node receive the transmitting signals from the positioning label; the fusion module is used for measuring linear velocity information and angular velocity information of the positioning label, carrying out distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and carrying out angle fusion on the angle information and the angular velocity information to obtain an angle estimation value; and the calculation module is used for calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value.
Optionally, the fusion module is further configured to: and measuring the linear velocity information of the positioning label by adopting an odometer, and measuring the angular velocity information of the positioning label by adopting an inertia measuring unit or a gyroscope.
Optionally, the fusion module is further configured to: and performing distance fusion on the distance information and the linear speed information by adopting Kalman filtering to obtain a distance estimation value, and performing angle fusion on the angle information and the angular speed information to obtain an angle estimation value.
Optionally, the computing module is further configured to: multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system; and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system.
Optionally, the apparatus further comprises: the synchronization module is used for performing time synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information through a clock synchronization filter; and carrying out frequency synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information after time synchronization.
Optionally, the apparatus further comprises: the filtering module is used for calculating position change information between the position information of the positioning labels at two adjacent moments; and comparing the position change information with a preset threshold interval so as to filter the position information corresponding to the position change information falling outside the threshold interval.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided an electronic apparatus.
An electronic device of an embodiment of the present invention includes: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement a positioning method based on ultra-wideband technology according to an embodiment of the present invention.
To achieve the above object, according to still another aspect of embodiments of the present invention, there is provided a computer-readable medium.
A computer-readable medium of an embodiment of the present invention stores thereon a computer program, which, when executed by a processor, implements a positioning method based on ultra-wideband technology of an embodiment of the present invention.
One embodiment of the above invention has the following advantages or benefits: distance fusion and angle fusion processing are respectively carried out on distance information and angle information between the positioning label and the reference node to obtain a smooth distance estimation value and angle estimation value, so that the position information of the positioning label can be calculated, the reference node does not need to be arranged in advance, high-precision positioning can be realized, and the stability is good; measuring corresponding information by adopting a proper sensor according to data needing to be fused; fusing distance information and linear velocity information in a Kalman filtering mode, and fusing angle information and angular velocity information to obtain a smooth and stable distance estimation value and an angle estimation value; multiplying the smooth and stable distance estimation value by the sine and cosine value of the angle estimation value to obtain the position coordinate of the positioning label relative to the reference node; time synchronization and frequency synchronization processing are carried out on the distance information, the angle information, the linear velocity information and the angular velocity information so as to ensure that data during fusion are in the same time and increase the stability of the data; and filtering the position information to ensure that the change of the position information obtained by resolving at the two moments before and after meets a threshold interval, so that the increment of the position information is continuous and stable.
Further effects of the above-mentioned non-conventional alternatives will be described below in connection with the embodiments.
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The drawings are included to provide a better understanding of the invention and are not to be construed as unduly limiting the invention. Wherein:
fig. 1 is a schematic diagram of the main steps of a positioning method based on ultra-wideband technology according to an embodiment of the invention;
fig. 2 is a schematic view of a positioning principle of a positioning method based on ultra-wideband technology according to an embodiment of the present invention;
fig. 3 is a schematic main flow chart of a positioning method based on ultra-wideband technology according to an embodiment of the invention;
FIG. 4 is a schematic diagram of a principle of calculating location information of a location tag according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of the main modules of an ultra-wideband technology based positioning apparatus according to an embodiment of the present invention;
FIG. 6 is an exemplary system architecture diagram in which embodiments of the present invention may be employed;
FIG. 7 is a schematic diagram of a computer apparatus suitable for use in an electronic device to implement an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present invention are described below with reference to the accompanying drawings, in which various details of embodiments of the invention are included to assist understanding, and which are to be considered as merely exemplary. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the invention. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.
Fig. 1 is a schematic diagram of the main steps of a positioning method based on ultra-wideband technology according to an embodiment of the present invention. As shown in fig. 1, the positioning method based on the ultra-wideband technology of the embodiment of the present invention mainly includes the following steps:
step S101: after a plurality of antennas of the reference node receive a transmitting signal from a positioning tag, distance information and angle information between the positioning tag and the reference node are determined according to the time difference between the transmitting signal and the antennas. The equipment required for realizing the positioning method comprises the following steps: a reference node provided with a plurality of antennas, and a positioning tag provided with a plurality of sensors. The positioning tag transmits signals to the periphery, and after the plurality of antennas of the reference node receive the transmitted signals, the time difference of the transmitted signals reaching each antenna is determined according to the time stamp of the transmitted signals sent from the positioning tag and the time stamp of the transmitted signals reaching each antenna; and then determining distance information and angle information between the positioning label and the reference node by using the time difference.
Step S102: and measuring linear velocity information and angular velocity information of the positioning label, performing distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and performing angle fusion on the angle information and the angular velocity information to obtain an angle estimation value. Measuring linear velocity information and angular velocity information in the moving process of the positioning label through a sensor on the positioning label; inputting the distance information determined in the step S101 and the measured linear velocity information into a Kalman filter, and obtaining a smooth and stable distance estimation value after distance fusion; and inputting the angle information determined in the step S101 and the measured angular velocity information into a Kalman filter, and obtaining a smooth and stable angle estimation value after angle fusion.
Step S103: and calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value. The position information is represented by its horizontal and vertical coordinates in the reference node coordinate system. Multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system; and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system. Through the steps from S101 to S103, the information obtained by UWB point-to-point positioning and the information collected by the sensor are fused, so that the reference node does not need to be arranged in advance, high-precision positioning can be realized, and the stability is good.
Fig. 2 is a schematic diagram of a positioning principle of a positioning method based on ultra-wideband technology according to an embodiment of the present invention. As shown in fig. 2, first, distance information and angle information between a UWB reference node and a positioning tag are determined by a UWB point-to-point positioning technology, linear velocity information of the positioning tag in a motion process is measured by using a odometer, and angular velocity information of the positioning tag in the motion process is measured by using an Inertial Measurement Unit (IMU); then distance fusion processing is carried out on the distance information and the linear velocity information, and angle fusion processing is carried out on the angle information and the angular velocity information; and finally, based on the distance fusion processing result and the angle fusion processing result, the position information of the positioning label can be calculated.
Fig. 3 is a schematic main flow diagram of a positioning method based on ultra-wideband technology according to an embodiment of the present invention. As shown in fig. 3, the positioning method based on the ultra-wideband technology of the embodiment of the present invention mainly includes the following steps:
step S301: after a plurality of antennas of the reference node receive a transmitting signal from a positioning tag, distance information and angle information between the positioning tag and the reference node are determined according to time difference between the transmitting signal and the plurality of antennas. The equipment required for realizing the positioning method comprises the following steps: a base station (i.e., reference node) including multiple antennas, and a location tag provided with multiple sensors. In an embodiment, at least three antennas are arranged in the base station, and the transmission signal is a UWB pulse signal. The positioning tag transmits UWB pulse signals to the periphery, and after the UWB pulse signals are received by the multiple antennas of the base station, the time difference of the UWB pulse signals reaching each antenna is determined according to the time stamp sent by the UWB pulse signals from the positioning tag and the time stamp reaching each antenna; and then determining distance information and angle information between the positioning tag and the base station by using the time difference.
The calculation formula for determining the distance information between the positioning tag and the base station by using the time difference is as follows:
in the formula, x is the abscissa of the positioning label, and y is the ordinate of the positioning label; i ≠ 1, 2, …, M, j ≠ 1, 2, …, M is the number of antennas in the base station, and i ≠ j; x is the number ofiIs the abscissa, y, of the i-th antenna of the base stationiIs the ordinate of the ith antenna of the base station; x is the number ofiIs the abscissa, y, of the jth antenna of the base stationiIs the ordinate of the jth antenna of the base station; c is the speed of light, tiTime stamp for the arrival of the transmitted signal at the ith antenna of the base station, tjIs the time stamp of the transmitted signal arriving at the jth antenna of the base station. The abscissa and ordinate in the formula are coordinates in the base station coordinate system.
The calculation formula for determining the angle information between the positioning tag and the base station by using the time difference is as follows:
l×sinα＝c(ti-tj) Equation 2
In the formula, l is the distance between the ith antenna and the jth antenna of the base station, and α is the angle between the positioning tag and the base station. Note that the angle here is a yaw angle, that is, an angle of rotation about a vertically upward axis.
Step S302: and measuring linear velocity information and angular velocity information of the positioning label in the movement process through a plurality of sensors on the positioning label. The sensor is used for measuring linear velocity information and angular velocity information of the positioning label in the moving process. Options for sensors include, but are not limited to, odometers and IMUs. The odometer can be one or more of a wheel speed meter, a positioning feedback odometer, a visual odometer, a laser odometer and the like, and is used for measuring linear speed information of the positioning label. In an embodiment, the angular velocity information of the positioning tag may be measured with an IMU or a gyroscope.
Step S303: and sequentially performing time synchronization processing and frequency synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information. And synchronizing the time of the distance information, the angle information, the linear velocity information and the angular velocity information through a clock synchronization filter so as to ensure that the data during fusion are in the same time. The realization principle of time synchronization is as follows: when the bottom layer is electrified to trigger the sensor, the collected linear velocity information and the collected angular velocity information are used as time information through a clock of the control panel and are reported to the upper computer together; the control panel is matched with the upper computer in time when being electrified, the electrifying time of the control panel is compared with the clock of the upper computer, and a fixed time difference is calibrated; the time information of the sensor may be synchronized with the time information corresponding to the distance information and the angle information calculated by the upper computer, with the time difference being the same.
Because the frequency of information issued by each sensor is different, for example, the frequency of information issued by the odometer is 50 hertz (Hz), the frequency of information issued by the IMU can reach 200Hz, and the frequency of subsequent fused data can meet the requirement only by 10-20 Hz. Therefore, the high frequency data after time synchronization needs to be filtered to increase the stability of the data while synchronizing the frequency. In the embodiment, assuming that the frequency of the angular velocity information measured by the IMU is 200Hz, a preset number of angular velocity information, for example, 10 angular velocity information, are taken each time to perform analysis to obtain a stable angular velocity value, and at this time, the frequency is adjusted to 20 Hz.
Step S304: and performing distance fusion on the distance information after frequency synchronization and the linear velocity information to obtain a distance estimation value. In the embodiment, distance fusion is realized by adopting a Kalman filtering mode, and the influence of noise is removed to obtain a smooth and stable distance estimation value. In the Kalman filtering process, a predicted value of the current state is calculated through a control quantity and a filtering model, and a measured value of the current state is collected; and then, combining the predicted value and the observed value to calculate the optimal estimated value of the current state, wherein the estimated value is more stable and more accurate than the predicted value and the measured value. Kalman filtering involves two important equations:
the state equation is:
xt＝Axt-1+But+εtequation 3
In the formula, xtIs the state quantity at time t, utIs the control quantity at time t, A is the transmission parameter, B is the control parameter, εtIs state noise.
The observation equation is:
zt＝Cxt+δtequation 4
In the formula, ztIs the measured value at time t, C is the state transition matrix, δtTo measure noise.
The Kalman filtering mode can only make optimal estimation on the state of a target in a linear system in Gaussian distribution to obtain a better tracking effect. However, in this embodiment, the movement of the position tag is accompanied by a change in the pose, making the system non-linear, where x istAnd utThe relationship between the changes is non-linear. Therefore, the state equation and the observation equation need to be reconstructed, specifically:
xt＝g(ut，xt-1)+εtequation 5
zt＝h(xt)+δtEquation 6
In the above two formulae, g (u)t，xt-1) And h (x)t) All can be non-linearA function.
Expanding the reconstructed state equation and observation equation by Taylor series to linearize the equation; the state estimation is then done using kalman filtering. This step is to complete the distance estimation.
Step S305: and carrying out angle fusion on the angle information after frequency synchronization and the angular velocity information to obtain an angle estimation value. The angle information determined in step S301 is likely to change suddenly, which greatly affects the positioning accuracy, and when the transmission signal is interfered, the error of the angle information is higher, which results in that the calculated position information is completely unusable. However, the angle information does not frequently and continuously generate larger errors, so that after frequency reduction, most of errors caused by sudden change can be filtered by limiting the difference of median between the angle information and a plurality of groups of data. The increment of the angular velocity information of two adjacent moments measured by the IMU is relatively stable, and in order to judge whether the increment of the angular velocity information of two adjacent moments is an error or normal movement of a positioning label more reasonably, in the embodiment, a Kalman filtering mode is adopted for angle fusion processing. The specific fusion principle is as follows: and setting an increment threshold of the angular velocity information of two adjacent moments of the IMU, measuring the increment of the angular information in real time by using the increment threshold, and ensuring that the error is within the increment threshold, thereby obtaining a smooth and accurate angle estimation value.
Step S306: and calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value. The concrete realization of this step is: multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system; and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system.
Fig. 4 is a schematic diagram of the principle of calculating the position information of the positioning tag according to the embodiment of the present invention. As shown in fig. 4, the circle center is the position information of the reference node, and the position coordinates of the reference node in the embodiment are (0, 0); d is a distance estimation value, namely the radius of the great circle; theta is an angle estimation value; positioningThe position information of the tag (i.e. the actual position of the positioning tag) in the reference node coordinate system can be represented by the position coordinate (x)Base，yBase) Is shown to be
xBase＝d×cosθ；yBaseD × sin θ equation 7
It should be noted that the calculated position information of the positioning node is a relative position, i.e., position information of a relative reference node.
Step S307: and calculating position change information between the position information of the positioning labels at two adjacent moments. The position information of the positioning tag at the current moment can be calculated through steps S301 to S306, and then the position information corresponding to each moment in the movement process of the positioning tag can be calculated according to the implementation processes of steps S301 to S306. After the position information of the positioning label at each moment in the movement process is obtained, the distance between the position information at the two moments before and after is calculated, and the distance is the position change information between the two position information.
Step S308: judging whether the position change information falls into a preset threshold interval or not, and if the position change information falls into the threshold interval, reserving position information corresponding to the position change information; and if the position change information does not fall into the threshold interval, filtering out the position information corresponding to the position change information. The step is used for filtering the position information with overlarge change, and ensuring that the distance between the position information calculated at two adjacent moments accords with a preset threshold interval, so that the change of the position information at two adjacent moments is continuous and stable. The concrete implementation is as follows: comparing the position change information with a preset threshold interval, reserving the position information corresponding to the position change information falling into the threshold interval, and filtering the position information corresponding to the position change information falling out of the threshold interval. In an embodiment, the threshold interval is adjusted by manual setting.
According to the positioning method based on the ultra-wideband technology, the distance fusion and the angle fusion are respectively carried out on the distance information and the angle information between the positioning label and the reference node to obtain the smooth distance estimation value and angle estimation value, so that the position information of the positioning label can be calculated, the reference node does not need to be arranged in advance, high-precision positioning can be realized, and the stability is good; measuring corresponding information by adopting a proper sensor according to data needing to be fused; fusing distance information and linear velocity information in a Kalman filtering mode, and fusing angle information and angular velocity information to obtain a smooth and stable distance estimation value and an angle estimation value; multiplying the smooth and stable distance estimation value by the sine and cosine value of the angle estimation value to obtain the position coordinate of the positioning label relative to the reference node; time synchronization and frequency synchronization processing are carried out on the distance information, the angle information, the linear velocity information and the angular velocity information so as to ensure that data during fusion are in the same time and increase the stability of the data; and filtering the position information to ensure that the change of the position information obtained by resolving at the two moments before and after meets a threshold interval, so that the increment of the position information is continuous and stable.
Fig. 5 is a schematic diagram of the main modules of a positioning device based on ultra-wideband technology according to an embodiment of the invention. As shown in fig. 5, a positioning apparatus 500 based on ultra-wideband technology according to an embodiment of the present invention mainly includes:
a determining module 501, configured to determine distance information and angle information between a positioning tag and a reference node according to a time difference between arrival of a transmission signal at antennas after multiple antennas of the reference node receive the transmission signal from the positioning tag. The equipment required for realizing the positioning method comprises the following steps: a reference node provided with a plurality of antennas, and a positioning tag provided with a plurality of sensors. The positioning tag transmits signals to the periphery, and after the plurality of antennas of the reference node receive the transmitted signals, the time difference of the transmitted signals reaching each antenna is determined according to the time stamp of the transmitted signals sent from the positioning tag and the time stamp of the transmitted signals reaching each antenna; and then determining distance information and angle information between the positioning label and the reference node by using the time difference.
The fusion module 502 is configured to measure linear velocity information and angular velocity information of the positioning tag, perform distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and perform angle fusion on the angle information and the angular velocity information to obtain an angle estimation value. Measuring linear velocity information and angular velocity information in the moving process of the positioning label through a sensor on the positioning label; then, inputting the distance information determined in the determination module 501 and the measured linear velocity information into a Kalman filter, and obtaining a smooth and stable distance estimation value after distance fusion; the angle information determined in the determination module 501 and the measured angular velocity information are input into a kalman filter, and a smooth and stable angle estimation value is obtained after angle fusion.
A calculating module 503, configured to calculate, according to the distance estimation value and the angle estimation value, position information of the positioning tag in a reference node coordinate system. The position information is represented by its horizontal and vertical coordinates in the reference node coordinate system. Multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system; and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system. Through the three modules, information obtained by UWB point-to-point positioning and information collected by the sensor are fused, a reference node does not need to be arranged in advance, high-precision positioning can be realized, and stability is good.
In addition, the positioning apparatus 500 based on the ultra-wideband technology according to the embodiment of the present invention may further include: a synchronization module and a filtering module (not shown in fig. 5). The synchronization module is configured to perform time synchronization processing on the distance information, the angle information, the linear velocity information, and the angular velocity information through a clock synchronization filter; and carrying out frequency synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information after time synchronization. The filtering module is used for calculating position change information between the position information of the positioning labels at two adjacent moments; and comparing the position change information with a preset threshold interval so as to filter the position information corresponding to the position change information falling outside the threshold interval.
As can be seen from the above description, distance fusion and angle fusion processing are performed on distance information and angle information between the positioning tag and the reference node, respectively, to obtain a smooth distance estimation value and angle estimation value, so that the position information of the positioning tag can be calculated, the reference node does not need to be arranged in advance, high-precision positioning can be realized, and the stability is good; measuring corresponding information by adopting a proper sensor according to data needing to be fused; fusing distance information and linear velocity information in a Kalman filtering mode, and fusing angle information and angular velocity information to obtain a smooth and stable distance estimation value and an angle estimation value; multiplying the smooth and stable distance estimation value by the sine and cosine value of the angle estimation value to obtain the position coordinate of the positioning label relative to the reference node; time synchronization and frequency synchronization processing are carried out on the distance information, the angle information, the linear velocity information and the angular velocity information so as to ensure that data during fusion are in the same time and increase the stability of the data; and filtering the position information to ensure that the change of the position information obtained by resolving at the two moments before and after meets a threshold interval, so that the increment of the position information is continuous and stable.
Fig. 6 illustrates an exemplary system architecture 600 of an ultra-wideband technology based positioning method or an ultra-wideband technology based positioning apparatus to which embodiments of the invention may be applied.
As shown in fig. 6, the system architecture 600 may include terminal devices 601, 602, 603, a network 604, and a server 605. The network 604 serves to provide a medium for communication links between the terminal devices 601, 602, 603 and the server 605. Network 604 may include various types of connections, such as wire, wireless communication links, or fiber optic cables, to name a few.
A user may use the terminal devices 601, 602, 603 to interact with the server 605 via the network 604 to receive or send messages or the like. Various communication client applications, such as shopping applications, web browser applications, search applications, instant messaging tools, mailbox clients, social platform software, and the like, may be installed on the terminal devices 601, 602, and 603.
The terminal devices 601, 602, 603 may be various electronic devices having a display screen and supporting web browsing, including but not limited to smart phones, tablet computers, laptop portable computers, desktop computers, and the like.
The server 605 may be a server that provides various services, such as a background management server that supports the time difference between the arrival of the transmission signal at the plurality of antennas, the linear velocity information and the angular velocity information of the positioning tag, which are acquired by the user using the terminal devices 601, 602, 603. The background management server can perform processing such as resolving and fusing on the time difference, the linear velocity information and the angular velocity information, and calculate the position information of the positioning tag according to a fusion processing result (for example, a distance estimation value and an angle estimation value).
It should be noted that the positioning method based on the ultra-wideband technology provided in the embodiment of the present application is generally executed by the server 605, and accordingly, the positioning apparatus based on the ultra-wideband technology is generally disposed in the server 605.
It should be understood that the number of terminal devices, networks, and servers in fig. 6 is merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
The invention also provides an electronic device and a computer readable medium according to the embodiment of the invention.
The electronic device of the present invention includes: one or more processors; a storage device for storing one or more programs, which when executed by the one or more processors, cause the one or more processors to implement a positioning method based on ultra-wideband technology according to an embodiment of the present invention.
The computer readable medium of the present invention has stored thereon a computer program which, when executed by a processor, implements an ultra-wideband technology based positioning method of an embodiment of the present invention.
Referring now to FIG. 7, shown is a block diagram of a computer system 700 suitable for use with an electronic device implementing an embodiment of the present invention. The electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU)701, which can perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the RAM 703, various programs and data necessary for the operation of the computer system 700 are also stored. The CPU 701, the ROM 702, and the RAM 703 are connected to each other via a bus 704. An input/output (I/O) interface 705 is also connected to bus 704.
The following components are connected to the I/O interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a LAN card, a modem, or the like. The communication section 709 performs communication processing via a network such as the internet. A drive 710 is also connected to the I/O interface 705 as needed. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, the processes described above with respect to the main step diagrams may be implemented as computer software programs, according to embodiments of the present disclosure. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program containing program code for performing the method illustrated in the main step diagram. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program performs the above-described functions defined in the system of the present invention when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The modules described in the embodiments of the present invention may be implemented by software or hardware. The described modules may also be provided in a processor, which may be described as: a processor includes a determination module, a fusion module, and a calculation module. The names of these modules do not limit the modules themselves in some cases, for example, the determining module may also be described as a module that determines distance information and angle information between a positioning tag and a reference node according to a time difference between arrival of a transmission signal at an antenna after the transmission signal from the positioning tag is received by multiple antennas of the reference node.
As another aspect, the present invention also provides a computer-readable medium that may be contained in the apparatus described in the above embodiments; or may be separate and not incorporated into the device. The computer readable medium carries one or more programs which, when executed by a device, cause the device to comprise: after a plurality of antennas of a reference node receive a transmitting signal from a positioning tag, determining distance information and angle information between the positioning tag and the reference node according to a time difference between the transmitting signal and the antennas; measuring linear velocity information and angular velocity information of the positioning label, performing distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and performing angle fusion on the angle information and the angular velocity information to obtain an angle estimation value; and calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value.
As can be seen from the above description, distance fusion and angle fusion processing are performed on distance information and angle information between the positioning tag and the reference node, respectively, to obtain a smooth distance estimation value and angle estimation value, so that the position information of the positioning tag can be calculated, the reference node does not need to be arranged in advance, high-precision positioning can be realized, and the stability is good; measuring corresponding information by adopting a proper sensor according to data needing to be fused; fusing distance information and linear velocity information in a Kalman filtering mode, and fusing angle information and angular velocity information to obtain a smooth and stable distance estimation value and an angle estimation value; multiplying the smooth and stable distance estimation value by the sine and cosine value of the angle estimation value to obtain the position coordinate of the positioning label relative to the reference node; time synchronization and frequency synchronization processing are carried out on the distance information, the angle information, the linear velocity information and the angular velocity information so as to ensure that data during fusion are in the same time and increase the stability of the data; and filtering the position information to ensure that the change of the position information obtained by resolving at the two moments before and after meets a threshold interval, so that the increment of the position information is continuous and stable.
The product can execute the method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in this embodiment, reference may be made to the method provided by the embodiment of the present invention.
The above-described embodiments should not be construed as limiting the scope of the invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions can occur, depending on design requirements and other factors. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (14)
1. A positioning method based on ultra-wideband technology is characterized by comprising the following steps:
after a plurality of antennas of a reference node receive a transmitting signal from a positioning tag, determining distance information and angle information between the positioning tag and the reference node according to the time difference between the transmitting signal and the antennas;
measuring linear velocity information and angular velocity information of the positioning label, performing distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and performing angle fusion on the angle information and the angular velocity information to obtain an angle estimation value;
and calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value.
2. The method of claim 1, wherein said measuring linear velocity information and angular velocity information of said positioning tag comprises:
and measuring the linear velocity information of the positioning label by adopting an odometer, and measuring the angular velocity information of the positioning label by adopting an inertia measuring unit or a gyroscope.
3. The method of claim 1, wherein the distance fusing the distance information and the linear velocity information to obtain a distance estimation value, and the angle fusing the angle information and the angular velocity information to obtain an angle estimation value comprises:
and performing distance fusion on the distance information and the linear speed information by adopting Kalman filtering to obtain a distance estimation value, and performing angle fusion on the angle information and the angular speed information to obtain an angle estimation value.
4. The method of claim 1, wherein said calculating the position information of the positioning tag in the reference node coordinate system comprises:
multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system;
and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system.
5. The method according to claim 1, wherein before the step of distance fusing the distance information and the linear velocity information to obtain a distance estimation value and angle fusing the angle information and the angular velocity information to obtain an angle estimation value, the method further comprises:
performing time synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information through a clock synchronization filter;
and carrying out frequency synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information after time synchronization.
6. The method according to any one of claims 1 to 5, further comprising:
calculating position change information between the position information of the positioning labels at two adjacent moments;
and comparing the position change information with a preset threshold interval so as to filter the position information corresponding to the position change information falling outside the threshold interval.
7. A positioning device based on ultra-wideband technology, comprising:
the device comprises a determining module, a judging module and a judging module, wherein the determining module is used for determining distance information and angle information between a positioning label and a reference node according to the time difference between the transmitting signals and the antennas after a plurality of antennas of the reference node receive the transmitting signals from the positioning label;
the fusion module is used for measuring linear velocity information and angular velocity information of the positioning label, carrying out distance fusion on the distance information and the linear velocity information to obtain a distance estimation value, and carrying out angle fusion on the angle information and the angular velocity information to obtain an angle estimation value;
and the calculation module is used for calculating the position information of the positioning label in a reference node coordinate system according to the distance estimation value and the angle estimation value.
8. The apparatus of claim 7, wherein the fusion module is further configured to:
and measuring the linear velocity information of the positioning label by adopting an odometer, and measuring the angular velocity information of the positioning label by adopting an inertia measuring unit or a gyroscope.
9. The apparatus of claim 7, wherein the fusion module is further configured to:
and performing distance fusion on the distance information and the linear speed information by adopting Kalman filtering to obtain a distance estimation value, and performing angle fusion on the angle information and the angular speed information to obtain an angle estimation value.
10. The apparatus of claim 7, wherein the computing module is further configured to:
multiplying the distance estimation value by the cosine value of the angle estimation value to obtain the abscissa of the positioning label in a reference node coordinate system; and
and multiplying the distance estimation value by the sine value of the angle estimation value to obtain the vertical coordinate of the positioning label in the reference node coordinate system.
11. The apparatus of claim 7, further comprising: a synchronization module for
Performing time synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information through a clock synchronization filter; and
and carrying out frequency synchronization processing on the distance information, the angle information, the linear velocity information and the angular velocity information after time synchronization.
12. The apparatus of any of claims 7 to 11, further comprising: a filter module for
Calculating position change information between the position information of the positioning labels at two adjacent moments; and
and comparing the position change information with a preset threshold interval so as to filter the position information corresponding to the position change information falling outside the threshold interval.
13. An electronic device, comprising:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-6.
14. A computer-readable medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1-6.
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