CN112996109A - Positioning method based on fusion of UWB (ultra Wide band) and Bluetooth technologies, mobile device and target device - Google Patents
Positioning method based on fusion of UWB (ultra Wide band) and Bluetooth technologies, mobile device and target device Download PDFInfo
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- CN112996109A CN112996109A CN202110431873.8A CN202110431873A CN112996109A CN 112996109 A CN112996109 A CN 112996109A CN 202110431873 A CN202110431873 A CN 202110431873A CN 112996109 A CN112996109 A CN 112996109A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/06—Selective distribution of broadcast services, e.g. multimedia broadcast multicast service [MBMS]; Services to user groups; One-way selective calling services
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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
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention provides a positioning method based on the fusion of UWB and Bluetooth technologies, a mobile device and a target device, wherein the mobile device used for positioning the target device receives a Bluetooth broadcast signal sent by the target device in a Bluetooth mode and obtains Bluetooth positioning information of the target device relative to the mobile device; based on the Bluetooth positioning information, judging whether the target device is in the UWB action range of the mobile device; when the target device is in the UWB action range of the mobile device, the UWB connection is established with the target device in the form of the combination of the Bluetooth mode and the UWB mode so as to obtain the accurate positioning information of the target device, and the switching between the Bluetooth mode and the UWB mode is realized so as to perform accurate positioning; the invention can not only obtain the characteristic of low power consumption and long distance by using the Beacon mode of Bluetooth, but also utilize the advantage of UWB short distance accurate positioning, so that the whole object searching system achieves the optimal consumption and precision, and can realize better positioning effect under the condition of searching for fixed target equipment by mobile equipment.
Description
Technical Field
The present application relates to the field of communications technologies, and in particular, to a positioning method, a mobile device, and a target device based on the fusion of UWB and bluetooth technologies.
Background
The UWB has the advantage of obtaining irreplaceable positioning accuracy in the aspect of short-distance positioning by virtue of its ultra-wideband characteristics. However, the transient power consumption is large, so that the continuous operation of the battery brings large power consumption, and the battery is not suitable for the condition of small battery power supply. The Beacon broadcast packet of the low power consumption Bluetooth technology can judge the approximate distance of the Beacon broadcast packet by judging the received energy. Meanwhile, when the Bluetooth 5.1 version is adopted, the AOA mode is provided to judge the angle, and the possibility is brought to short-distance accurate determination. However, bluetooth is difficult to implement in reality due to its narrowband characteristics. The low power consumption Bluetooth technology has a complete data connection protocol, and achieves the best data connectivity and compatibility in the ecology of the Internet of things, particularly in the ecology of a mobile phone. And the data exchange between objects can be realized.
In order to combine and utilize the advantages of UWB and bluetooth, there is a method in the prior art for obtaining positioning information based on simultaneous determination of signals of BLE and UWB, but this method does not only make full use of AoA and data interaction characteristics of BLE itself from a mechanism, so that the efficiency of the whole system cannot be improved, and a situation that a fixed target device is found by a mobile device cannot be realized.
Content of application
In view of the above drawbacks of the prior art, the present application aims to provide a positioning method, a mobile device and a target device based on the fusion of UWB and bluetooth technologies, so as to solve the problems that the positioning method in the prior art cannot simultaneously utilize the advantages of UWB and bluetooth, or the combination of UWB and bluetooth does not mechanically fully utilize the AoA and data interaction characteristics of BLE, and thus cannot improve the performance of the whole system, and cannot realize the situation of searching for a fixed target device through a mobile device.
To achieve the above and other related objects, the present application provides a positioning method based on fusion of UWB and bluetooth technologies, comprising: a mobile device for locating a target device, comprising: receiving a Bluetooth broadcast signal transmitted by the target device in a Bluetooth mode and obtaining Bluetooth positioning information of the target device relative to the mobile device; determining whether the target device is within a UWB range of the mobile device based on the Bluetooth positioning information; when the target device is within the UWB action range of the mobile device, a UWB connection is established with the target device through a combination of a Bluetooth mode and a UWB mode so as to obtain accurate positioning information of the target device.
In an embodiment of the present application, the receiving a bluetooth broadcast signal transmitted by a target device and obtaining bluetooth positioning information of the target device includes: receiving a bluetooth broadcast signal containing AoA information transmitted by a target device in a bluetooth mode; and obtaining a relative angle value and a distance value between the target device and the mobile device according to the AoA information and the RSSI information obtained by detecting the energy of the Bluetooth broadcast signal.
In an embodiment of the present application, said determining whether said target device is within UWB range of said mobile device based on said bluetooth location information comprises: comparing the distance value in the Bluetooth positioning information with a UWB action distance value corresponding to a UWB action range of the mobile device; if the distance value is smaller than the UWB action distance value, the target device is judged to be in the UWB action range of the mobile device; and if the distance value is not smaller than the UWB action distance value, judging that the target device is not in the UWB action range of the mobile device.
In an embodiment of the present application, the establishing a UWB connection with the target device in a form of combining a bluetooth mode and a UWB mode to obtain accurate positioning information of the target device includes: transmitting an activation UWB signal informing the target device of activation of a UWB mode to the target device in a Bluetooth mode; starting a self UWB mode to establish a UWB connection with a target device while transmitting the start UWB signal; exchanging timestamps with the target device in the UWB mode and calculating precise positioning information for the target device based on a TOF positioning algorithm.
In an embodiment of the present application, the method further includes: generating a navigation route based on the Bluetooth positioning information to navigate the mobile device to move to the target device when the target device is not within a UWB range of the mobile device; obtaining Bluetooth positioning information of the target device relative to the mobile device in real time based on the Bluetooth broadcast signal until Bluetooth positioning information that the target device is judged to be in the UWB action range of the mobile device is obtained; and establishing UWB connection with the target device in a mode of combining the Bluetooth mode and the UWB mode so as to obtain accurate positioning information of the target device.
To achieve the above and other related objects, there is provided a mobile device including: the method comprises the following steps: the Bluetooth module and the UWB module are connected with the Bluetooth module; wherein, bluetooth module includes: a bluetooth receiving unit for receiving a bluetooth broadcast signal containing AoA information transmitted by the target device in a bluetooth mode; a positioning information calculation unit connected to the bluetooth receiving unit and configured to obtain bluetooth positioning information of the target device relative to the mobile device according to the AoA information and RSSI information obtained by detecting energy of the bluetooth broadcast signal; the judging unit is connected with the positioning information calculating unit and used for judging whether the target device is in the UWB action range of the mobile device or not based on the Bluetooth positioning information; a bluetooth transmitting unit for transmitting a start UWB signal for informing the target device of starting a UWB mode to the target device through a bluetooth mode and simultaneously transmitting a UWB mode start signal; the UWB module includes: a UWB mode starting unit for starting a UWB mode when receiving the UWB mode starting signal; a UWB mode communication unit for exchanging a time stamp with the target device in the UWB mode; a location calculation unit for calculating accurate location information of the target device based on a TOF location algorithm.
In an embodiment of the present application, the bluetooth positioning information includes: relative angle values and distance values.
In an embodiment of the present application, said determining whether said target device is within UWB range of said mobile device based on said bluetooth location information comprises: comparing the distance value in the Bluetooth positioning information with a UWB action distance value corresponding to a UWB action range of the mobile device; if the distance value is smaller than the UWB action distance value, the target device is judged to be in the UWB action range of the mobile device; and if the distance value is not smaller than the UWB action distance value, judging that the target device is not in the UWB action range of the mobile device.
In an embodiment of the present application, the mobile device further includes:
the navigation route module is connected with the Bluetooth module and the UWB module and used for generating a navigation route based on the Bluetooth positioning information when the target device is not in the UWB action range of the mobile device so as to navigate the mobile device to move to the target device; the Bluetooth module is further configured to obtain Bluetooth positioning information of the target device relative to the mobile device in real time based on the Bluetooth broadcast signal until the Bluetooth positioning information that the target device is within the UWB action range of the mobile device is obtained.
To achieve the above and other related objects, the present application provides a target apparatus comprising: the method comprises the following steps: the Bluetooth communication module and the UWB communication module are in communication connection with the mobile device; the Bluetooth communication module is used for sending Bluetooth broadcast signals and receiving start UWB signals; the UWB communication module is connected with the Bluetooth communication module and used for starting a UWB communication mode when receiving a start UWB signal so as to exchange a time stamp with the mobile device.
As described above, the positioning method, the mobile device and the target device based on the fusion of UWB and bluetooth technologies according to the present application have the following advantages: the invention receives a Bluetooth broadcast signal sent by a target device in a Bluetooth mode through a mobile device for positioning the target device, and obtains Bluetooth positioning information of the target device relative to the mobile device; determining whether the target device is within a UWB range of the mobile device based on the Bluetooth positioning information; when the target device is within the UWB action range of the mobile device, establishing UWB connection with the target device in a mode of combining a Bluetooth mode and a UWB mode to obtain accurate positioning information of the target device, so that switching between Bluetooth and UWB is realized to perform accurate positioning; the invention can not only obtain the characteristic of low power consumption and long distance by using the Beacon mode of Bluetooth, but also utilize the advantage of UWB short distance accurate positioning, so that the whole object searching system achieves the optimal power consumption and precision, and can realize better positioning effect under the condition of searching for fixed target equipment by mobile equipment.
Drawings
Fig. 1 is a schematic structural diagram of a communication system according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating a positioning method based on the fusion of UWB and bluetooth technologies according to an embodiment of the present application.
Fig. 3 is a flowchart illustrating a positioning method based on the fusion of UWB and bluetooth technologies according to an embodiment of the present application.
Fig. 4 is a schematic structural diagram of a mobile device according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a target device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It is noted that in the following description, reference is made to the accompanying drawings which illustrate several embodiments of the present application. It is to be understood that other embodiments may be utilized and that mechanical, structural, electrical, and operational changes may be made without departing from the spirit and scope of the present application. The following detailed description is not to be taken in a limiting sense, and the scope of embodiments of the present application is defined only by the claims of the issued patent. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. Spatially relative terms, such as "upper," "lower," "left," "right," "lower," "below," "lower," "over," "upper," and the like, may be used herein to facilitate describing one element or feature's relationship to another element or feature as illustrated in the figures.
Also, as used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context indicates otherwise. It will be further understood that the terms "comprises," "comprising," and/or "comprising," when used in this specification, specify the presence of stated features, operations, elements, components, items, species, and/or groups, but do not preclude the presence, or addition of one or more other features, operations, elements, components, items, species, and/or groups thereof. The terms "or" and/or "as used herein are to be construed as inclusive or meaning any one or any combination. Thus, "A, B or C" or "A, B and/or C" means "any of the following: a; b; c; a and B; a and C; b and C; A. b and C ". An exception to this definition will occur only when a combination of elements, functions or operations are inherently mutually exclusive in some way.
The application provides a positioning method based on the fusion of UWB and Bluetooth technologies, a mobile device used for positioning a target device receives a Bluetooth broadcast signal sent by the target device in a Bluetooth mode, and obtains Bluetooth positioning information of the target device relative to the mobile device; determining whether the target device is within a UWB range of the mobile device based on the Bluetooth positioning information; when the target device is within the UWB action range of the mobile device, establishing UWB connection with the target device in a mode of combining a Bluetooth mode and a UWB mode to obtain accurate positioning information of the target device, so that switching between Bluetooth and UWB is realized to perform accurate positioning; the invention can not only obtain the characteristic of low power consumption and long distance by using the Beacon mode of Bluetooth, but also utilize the advantage of UWB short distance accurate positioning, so that the whole object searching system achieves the optimal power consumption and precision, and can realize better positioning effect under the condition of searching for fixed target equipment by mobile equipment.
The following detailed description of the embodiments of the present application will be made with reference to fig. 1 so that those skilled in the art described in the present application can easily implement the embodiments. The present application may be embodied in many different forms and is not limited to the embodiments described herein.
As shown in fig. 1, a schematic diagram of an apparatus connection structure of a communication system for implementing positioning based on fusion of UWB and bluetooth technologies in an embodiment of the present invention is shown, and as shown in the figure, the system includes a mobile device 101 and a target device 102 having a bluetooth communication function and a UWB communication function.
When the mobile device 101 and the target device 102 are within the range of the Bluetooth communication distance, performing communication connection through Bluetooth; when the mobile device 101 moves to be within the bluetooth communication range and the UWB communication range with the target device 102, the UWB communication connection is started through bluetooth communication.
In one embodiment, the mobile device 101 may be implemented based on a processing device, and at a hardware level, the mobile device includes a microprocessor, such as a processor chip with an architecture of ARM, MIPS, PowerPC, or the like; memories such as Cache, main memory (ROM type NOR Flash, EPROM, PROM, and the like, RAM type SRAM, DRAM, SDRAM, and the like), and other auxiliary memories; the universal device interface 1013 includes, for example, an a/D (analog/digital conversion interface) and a D/a (digital/analog conversion interface), and the I/O interface includes an RS-232 interface (serial communication interface), an Ethernet interface (Ethernet interface, wireless Ethernet interface), a USB (universal serial bus interface), an audio interface, a VGA video output interface, I2C (field bus), an SPI (serial peripheral device interface), an IrDA (infrared ray interface), and an I/O interface.
In an embodiment, the target device 102 may be implemented as a device having a processing function, may be implemented in the form of an electronic tag, or may be any object attached with the electronic tag. Wherein, at a hardware level, the target device 102 includes a microprocessor, such as a processor chip with an architecture of ARM, MIPS, PowerPC, etc.; memories such as Cache, main memory (ROM type NOR Flash, EPROM, PROM, etc., RAM type SRAM, DRAM, SDRAM, etc.), and other auxiliary memories, etc.
In an embodiment of the present invention, the mobile device 101 is, for example, a computer, and may also be, for example, a mobile terminal such as a mobile phone and a tablet computer.
As shown in fig. 2, the mobile device applies an embodiment of a positioning method based on fusion of UWB and bluetooth technologies to locate a target device, the method comprising:
step S201: and receiving a Bluetooth broadcast signal transmitted by the target device in a Bluetooth mode, and obtaining Bluetooth positioning information of the target device relative to the mobile device.
Optionally, the bluetooth mode is turned on, and a bluetooth broadcast signal sent by the target device is detected when the target device is within a bluetooth communication range, and bluetooth positioning information of the target device relative to the mobile device is obtained according to the bluetooth broadcast signal. The bluetooth location information may provide approximate location information of the target device, provide an approximate direction of movement and distance reference for the mobile device to find the target device, and may find the target device as soon as possible for UWB connectivity without UWB connectivity. Wherein the bluetooth broadcast signal may be implemented by a bluetooth broadcast packet.
Optionally, receiving a bluetooth broadcast signal containing AoA information sent by the target device in a bluetooth mode; and testing the Bluetooth broadcast signal sent by the target device to determine the signal energy so as to obtain RSSI information, and then obtaining the relative angle value and the distance value between the target device and the mobile device according to the current azimuth information, the AoA information and the RSSI information obtained by detecting the Bluetooth broadcast signal energy. Wherein the current orientation information includes: current location information and direction information of the mobile device. Preferably, the bluetooth broadcast signal includes AoA information of more than bluetooth version 5.1. It should be noted that AoA information described in this application is obtained based on Bluetooth AoA technology, which is referred to as AoA technology of Bluetooth 5.1, and the technology has high positioning accuracy and low cost.
Optionally, the bluetooth broadcast signal is sent by the target device at regular time.
Optionally, the bluetooth broadcast signal is a bluetooth low energy signal.
Step S202: based on the Bluetooth positioning information, determining whether the target device is within a UWB range of the mobile device.
Optionally, comparing the distance value in the bluetooth positioning information with a UWB range value corresponding to a UWB range of action of the mobile device; if the distance value is smaller than the UWB action distance value, the target device is judged to be in the UWB action range of the mobile device; and if the distance value is not smaller than the UWB action distance value, judging that the target device is not in the UWB action range of the mobile device. Wherein, the radius of the UWB action range is a UWB action distance value.
Step S203: when the target device is within the UWB action range of the mobile device, a UWB connection is established with the target device through a combination of a Bluetooth mode and a UWB mode so as to obtain accurate positioning information of the target device.
Optionally, when it is determined that the target device is within the UWB range of the mobile device, it may be determined that the target device may be more accurately located through UWB communication, and thus, the target device is notified through a bluetooth mode to turn on UWB to connect with the mobile device for UWB, thereby obtaining accurate location information of the target device.
Optionally, sending an enable UWB signal to the target device in the bluetooth mode to inform the target device to enable the UWB mode, so as to enable the target device to turn on the UWB mode; starting a self UWB mode to establish a UWB connection with a target device while transmitting the start UWB signal; and exchanging a time stamp with the target device in the UWB mode, and calculating TOF time by using a TOF positioning algorithm according to the received time stamp information so as to obtain accurate positioning information of the target device.
Optionally, a start UWB signal for informing the target device of starting the UWB mode is sent to the target device in the bluetooth mode, so that the target device starts the UWB mode, and key information and timestamp information are sent to the target device, a key and a timestamp are exchanged with the target device to verify a user identity, and UWB communication is performed under the condition of user identity verification, thereby ensuring safer communication.
In this embodiment, the time and/or user identity information is encrypted by using symmetric encryption, that is, the same key is used for encryption and decryption. In another embodiment, the packets are encrypted using asymmetric encryption, i.e., encryption and decryption use two different keys: a public key and a private key. The user may select a specific encryption method according to actual requirements, and the like, which is not limited herein.
Optionally, the method further includes:
step S204: generating a navigation route based on the Bluetooth positioning information to navigate the mobile device to move to the target device when the target device is not within a UWB range of the mobile device; wherein the navigation can be active navigation or passive navigation; the active navigation is that the mobile device automatically moves towards the target device according to the generated navigation route; the passive navigation is that the user moves towards the target device by taking the navigation route as a reference. This step may make the positioning faster and provide a preliminary position reference to the target device using bluetooth positioning information.
Step S205: and acquiring the Bluetooth positioning information of the target device relative to the mobile device in real time based on the Bluetooth broadcast signal until the Bluetooth positioning information which judges that the target device is in the UWB action range of the mobile device is acquired. Specifically, Bluetooth positioning information is obtained according to mobile device position information acquired in real time in the moving process and an obtained Bluetooth broadcast signal, whether the target device is in the UWB action range of the mobile device is judged in real time according to the Bluetooth positioning information, and if the target device is in the UWB action range of the mobile device, the next step is carried out; if not, the mobile device continues to move and obtains the Bluetooth positioning information of the current position again until the Bluetooth positioning information that the target device is judged to be in the UWB action range of the mobile device is obtained, which indicates that the target device has moved to the UWB action range, and the next step can be carried out.
Step S206: and establishing UWB connection with the target device in a mode of combining the Bluetooth mode and the UWB mode so as to obtain accurate positioning information of the target device. It should be noted that the specific connection establishing manner and the process of obtaining the accurate positioning are described above, and therefore are not described in detail.
Optionally, in order to achieve a better positioning effect, or in a case that the target device needs to be tracked, the method further includes:
continuously moving to the target device according to the obtained accurate positioning information of the target device, judging whether the target device is still in a Bluetooth connection state in the moving process, if not, if the target device is out of the Bluetooth connection range, closing UWB of both sides, and waiting for the target device to resend the broadcast packet;
if the Bluetooth device is in the connection state, calculating an RSSI value of the target device and a distance value in the current accurate positioning information (UWB) of the target device, judging whether the distance value is greater than the distance (obtained by the RSSI value) from the target device, and if the distance value is greater than the distance, continuously moving to judge whether the Bluetooth is in the connection state; if the value is less than the preset value, the positioning is finished.
In order to better describe the positioning method based on the fusion of the UWB technology and the Bluetooth technology, a specific embodiment is provided;
example 1: the positioning method based on the fusion of UWB and Bluetooth technologies is characterized in that the main device is a mobile device, and the target device is a fixed device. Fig. 3 is a schematic flow chart of a positioning method based on the fusion of UWB and bluetooth technologies.
The method comprises the following steps:
the target equipment sends connectable broadcast packets containing AoA information at fixed time;
the main equipment detects that the target device can be connected with a Bluetooth broadcast packet, and after screening, the relative angle and distance of the target device are judged through AoA information and RSSI information;
based on the relative angle and distance of the target equipment, the main equipment moves, the RSSI information of the current target equipment is calculated in the process, whether the RSSI information is out of the UWB action distance range is judged, and if the RSSI information is out of the UWB action distance range, the broadcast packet is continuously detected;
if the main device judges that the RSSI information is within the UWB action distance range, the main device and the target device establish Bluetooth connection, exchange secret keys and timestamp information, and both sides start the UWB;
the master device calculates the position information of the target device by using a UWB positioning algorithm;
the main device moves based on the position information of the target device, and judges whether the Bluetooth is in a connection state or not based on the distance (threshold value 1) that the Bluetooth device and the UWB device can establish connection, if the UWB devices are not in the connection state, the target device retransmits a broadcast packet;
if the Bluetooth connection state exists, the main device calculates the RSSI value of the target device and the distance D (accurate position) of UWB positioning, judges whether the distance is greater than the distance (threshold value 2) from the target device, and if the distance is greater than the distance, continuously moves to judge whether the Bluetooth is in the connection state; if the value is less than the preset value, positioning is finished.
Similar in principle to the above-described embodiments, the present invention provides a mobile device.
Specific embodiments are provided below in conjunction with the attached figures:
fig. 4 shows a schematic structural diagram of a mobile device in an embodiment of the invention.
The system comprises: a bluetooth module 41 and a UWB module 42 connected to the bluetooth module; wherein, the bluetooth module 41 includes: a bluetooth receiving unit 411 for receiving a bluetooth broadcast signal containing AoA information transmitted by the target device in a bluetooth mode; a positioning information calculating unit 412, connected to the bluetooth receiving unit 411, configured to obtain bluetooth positioning information of the target device relative to the mobile device according to the AoA information and RSSI information obtained by detecting energy of the bluetooth broadcast signal; a determining unit 413, connected to the positioning information calculating unit 412, for determining whether the target device is within the UWB range of the mobile device based on the bluetooth positioning information; a bluetooth transmitting unit 414, connected to the determining unit 413, for transmitting a start UWB signal for informing the target device of starting the UWB mode to the target device through the bluetooth mode, and simultaneously transmitting a UWB mode start signal;
the UWB module 42 includes:
a UWB mode turning-on unit 421 configured to turn on a UWB mode when receiving the UWB mode turning-on signal; a UWB mode communication unit 422 for exchanging a time stamp with the target device in the UWB mode; a positioning calculation unit 423 for calculating accurate positioning information of the target device based on a TOF positioning algorithm.
It should be noted that the division of the units in each unit in the system embodiment of fig. 4 is only a division of logical functions, and all or part of the actual implementation may be integrated into one physical entity, or may be physically separated. And these units can be implemented entirely in software, invoked by a processing element; or may be implemented entirely in hardware; part of the units can be realized in a software calling mode through a processing element, and part of the units can be realized in a hardware mode;
for example, the units may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors (DSPs), or one or more Field Programmable Gate Arrays (FPGAs), among others. For another example, when one of the above units is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these units may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Optionally, the mobile device further includes: the navigation route module is connected with the Bluetooth module and the UWB module and used for generating a navigation route based on the Bluetooth positioning information when the target device is not in the UWB action range of the mobile device so as to navigate the mobile device to move to the target device; the Bluetooth module is further configured to obtain Bluetooth positioning information of the target device relative to the mobile device in real time based on the Bluetooth broadcast signal until the Bluetooth positioning information that the target device is within the UWB action range of the mobile device is obtained.
Optionally, the system further includes: the identity authentication module is used for carrying out identity authentication on the received timestamp information; specifically, the user identity of the received time stamp information is verified based on the exchange of the key and the time stamp information with the target device, and UWB communication is performed under the condition of user identity verification, so that safer communication can be ensured.
Optionally, the manner of determining, by the determining unit 413, whether the target device is within the UWB range of the mobile device based on the bluetooth positioning information includes: comparing the distance value in the Bluetooth positioning information with a UWB action distance value corresponding to a UWB action range of the mobile device; if the distance value is smaller than the UWB action distance value, the target device is judged to be in the UWB action range of the mobile device; and if the distance value is not smaller than the UWB action distance value, judging that the target device is not in the UWB action range of the mobile device.
As shown in fig. 5, a schematic structural diagram of a target device in the embodiment of the present application is shown.
The target device includes: a bluetooth communication module 51 and a UWB communication module 52 which are communicatively connected to the mobile device;
the bluetooth communication module 51 is configured to send a bluetooth broadcast signal and receive a start UWB signal; the UWB communication module 52 is connected to the bluetooth communication module 51, and configured to turn on a UWB communication mode when receiving a start UWB signal, so as to exchange a timestamp with the mobile device.
Optionally, the target device further includes: the identity authentication module is used for performing identity authentication on the received key and the received timestamp information, specifically, decrypting the received key and the received timestamp information to authenticate the identity of the received timestamp information, and performing UWB communication under the condition of performing user identity authentication, so that safer communication can be ensured.
In summary, the positioning method, the mobile device and the target device based on the fusion of the UWB and the bluetooth technology receive the bluetooth broadcast signal sent by the target device in the bluetooth mode through the mobile device for positioning the target device, and obtain the bluetooth positioning information of the target device relative to the mobile device; determining whether the target device is within a UWB range of the mobile device based on the Bluetooth positioning information; when the target device is within the UWB action range of the mobile device, establishing UWB connection with the target device in a mode of combining a Bluetooth mode and a UWB mode to obtain accurate positioning information of the target device, so that switching between Bluetooth and UWB is realized to perform accurate positioning; the invention can not only obtain the characteristic of low power consumption and long distance by using the Beacon mode of Bluetooth, but also utilize the advantage of UWB short distance accurate positioning, so that the whole object searching system achieves the optimal power consumption and precision, and can realize better positioning effect under the condition of searching for fixed target equipment by mobile equipment. Therefore, the application effectively overcomes various defects in the prior art and has high industrial utilization value.
The above embodiments are merely illustrative of the principles and utilities of the present application and are not intended to limit the application. Any person skilled in the art can modify or change the above-described embodiments without departing from the spirit and scope of the present application. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical concepts disclosed in the present application shall be covered by the claims of the present application.
Claims (10)
1. A positioning method based on fusion of UWB and Bluetooth technologies, characterized in that, a mobile device for positioning a target device comprises:
receiving a Bluetooth broadcast signal transmitted by the target device in a Bluetooth mode and obtaining Bluetooth positioning information of the target device relative to the mobile device;
determining whether the target device is within a UWB range of the mobile device based on the Bluetooth positioning information;
when the target device is within the UWB action range of the mobile device, a UWB connection is established with the target device through a combination of a Bluetooth mode and a UWB mode so as to obtain accurate positioning information of the target device.
2. The fused UWB and bluetooth technology based positioning method according to claim 1, wherein the receiving a bluetooth broadcast signal transmitted by a target device and obtaining bluetooth positioning information of the target device comprises:
receiving a bluetooth broadcast signal containing AoA information transmitted by a target device in a bluetooth mode;
and obtaining a relative angle value and a distance value between the target device and the mobile device according to the AoA information and the RSSI information obtained by detecting the energy of the Bluetooth broadcast signal.
3. The UWB and bluetooth technology fusion based positioning method according to claim 2, wherein the determining whether the target device is within the UWB range of the mobile device based on the bluetooth positioning information comprises:
comparing the distance value in the Bluetooth positioning information with a UWB action distance value corresponding to a UWB action range of the mobile device;
if the distance value is smaller than the UWB action distance value, the target device is judged to be in the UWB action range of the mobile device;
and if the distance value is not smaller than the UWB action distance value, judging that the target device is not in the UWB action range of the mobile device.
4. The method of claim 1, wherein establishing a UWB connection with the target device in a form of combining a bluetooth mode and a UWB mode to obtain precise positioning information of the target device comprises:
transmitting an activation UWB signal informing the target device of activation of a UWB mode to the target device in a Bluetooth mode;
starting a self UWB mode to establish a UWB connection with a target device while transmitting the start UWB signal;
exchanging timestamps with the target device in the UWB mode and calculating precise positioning information for the target device based on a TOF positioning algorithm.
5. The converged UWB and bluetooth technology-based positioning method according to claim 1, further comprising:
generating a navigation route based on the Bluetooth positioning information to navigate the mobile device to move to the target device when the target device is not within a UWB range of the mobile device;
obtaining Bluetooth positioning information of the target device relative to the mobile device in real time based on the Bluetooth broadcast signal until Bluetooth positioning information that the target device is judged to be in the UWB action range of the mobile device is obtained;
and establishing UWB connection with the target device in a mode of combining the Bluetooth mode and the UWB mode so as to obtain accurate positioning information of the target device.
6. A mobile device, comprising: the Bluetooth module and the UWB module are connected with the Bluetooth module;
wherein, bluetooth module includes:
a bluetooth receiving unit for receiving a bluetooth broadcast signal containing AoA information transmitted by the target device in a bluetooth mode;
a positioning information calculation unit connected to the bluetooth receiving unit and configured to obtain bluetooth positioning information of the target device relative to the mobile device according to the AoA information and RSSI information obtained by detecting energy of the bluetooth broadcast signal;
the judging unit is connected with the positioning information calculating unit and used for judging whether the target device is in the UWB action range of the mobile device or not based on the Bluetooth positioning information;
a bluetooth transmitting unit for transmitting a start UWB signal for informing the target device of starting a UWB mode to the target device through a bluetooth mode and simultaneously transmitting a UWB mode start signal;
the UWB module includes:
a UWB mode starting unit for starting a UWB mode when receiving the UWB mode starting signal;
a UWB mode communication unit for exchanging a time stamp with the target device in the UWB mode;
a location calculation unit for calculating accurate location information of the target device based on a TOF location algorithm.
7. The mobile device of claim 6, wherein the Bluetooth positioning information comprises: relative angle values and distance values.
8. The mobile device of claim 6, wherein said determining whether the target device is within UWB coverage of the mobile device based on the Bluetooth positioning information comprises:
comparing the distance value in the Bluetooth positioning information with a UWB action distance value corresponding to a UWB action range of the mobile device;
if the distance value is smaller than the UWB action distance value, the target device is judged to be in the UWB action range of the mobile device;
and if the distance value is not smaller than the UWB action distance value, judging that the target device is not in the UWB action range of the mobile device.
9. The mobile device of claim 6, further comprising:
the navigation route module is connected with the Bluetooth module and the UWB module and used for generating a navigation route based on the Bluetooth positioning information when the target device is not in the UWB action range of the mobile device so as to navigate the mobile device to move to the target device;
the Bluetooth module is further configured to obtain Bluetooth positioning information of the target device relative to the mobile device in real time based on the Bluetooth broadcast signal until the Bluetooth positioning information that the target device is within the UWB action range of the mobile device is obtained.
10. A target device, comprising: the Bluetooth communication module and the UWB communication module are in communication connection with the mobile device;
the Bluetooth communication module is used for sending Bluetooth broadcast signals and receiving start UWB signals;
the UWB communication module is connected with the Bluetooth communication module and used for starting a UWB communication mode when receiving a start UWB signal so as to exchange a time stamp with the mobile device.
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