CN113551670A - UWB-based three-dimensional object searching method and device - Google Patents

UWB-based three-dimensional object searching method and device Download PDF

Info

Publication number
CN113551670A
CN113551670A CN202110864430.8A CN202110864430A CN113551670A CN 113551670 A CN113551670 A CN 113551670A CN 202110864430 A CN202110864430 A CN 202110864430A CN 113551670 A CN113551670 A CN 113551670A
Authority
CN
China
Prior art keywords
uwb
base station
virtual base
searched
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
CN202110864430.8A
Other languages
Chinese (zh)
Inventor
庄园
曹晓祥
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhiwei Space Intelligent Technology Suzhou Co ltd
Original Assignee
Zhiwei Space Intelligent Technology Suzhou Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhiwei Space Intelligent Technology Suzhou Co ltd filed Critical Zhiwei Space Intelligent Technology Suzhou Co ltd
Priority to CN202110864430.8A priority Critical patent/CN113551670A/en
Publication of CN113551670A publication Critical patent/CN113551670A/en
Withdrawn legal-status Critical Current

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0257—Hybrid positioning
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

The invention discloses a UWB-based three-dimensional object searching method and device. The method comprises the following steps: determining coordinate information of the intelligent terminal on different detection positions, and taking at least four detection positions with adjacent distances larger than a distance threshold as the establishment positions of the virtual base station; determining the distance between each virtual base station and an article to be searched according to the pulse signals of the UWB tags received and transmitted by the UWB positioning unit; and determining the three-dimensional position information of the object to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched. According to the technical scheme, the position of the object to be searched relative to the mobile terminal is solved by establishing the local small positioning network in the virtual base station establishing mode, so that not only can the distance be judged, but also the object can be judged to be in front or back or up or down compared with the terminal, and accurate angle output is provided for the upper and lower parts and the front and back parts so as to help a user to carry out accurate position judgment.

Description

UWB-based three-dimensional object searching method and device
Technical Field
The embodiment of the invention relates to the technical field of article positioning, in particular to a UWB-based three-dimensional positioning method and device.
Background
Currently, there are two typical approaches for finding objects in an intelligent terminal (mainly a smart phone), one is to perform an object finding operation based on whether a signal is received or the strength of the received signal by using bluetooth low energy, and the other is to determine the position information of an object to be found based on a Phase Difference of Arrival (PDOA) by using an Ultra-Wide Bandwidth (UWB) dual antenna approach.
However, bluetooth low energy can only perform presence detection, and cannot perform ranging (RSS ranging is inaccurate, ranging accuracy depends on model parameters) and angle measurement; the UWB dual-antenna can only measure an angle in a small range, once the angle exceeds the range, the angle measurement precision is reduced sharply, the specific direction of an object to be searched, including the angles in two directions of a horizontal plane and a longitudinal section, cannot be marked, and the front and back positions and the up and down positions of the object cannot be distinguished.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a UWB-based three-dimensional object searching method and device, so as to determine the accurate three-dimensional position information of an object to be searched.
In a first aspect, an embodiment of the present invention provides a three-dimensional object finding method based on UWB, which is executed by a controller of a three-dimensional object finding system, where the three-dimensional object finding system includes an accelerometer, a gyroscope, a UWB positioning unit and a UWB tag, the accelerometer and the gyroscope are disposed in an intelligent terminal, the accelerometer and the gyroscope are used for measuring position information of the intelligent terminal, the UWB positioning unit is communicatively connected to the UWB tag and is used for transmitting a UWB pulse signal and receiving the pulse signal transmitted by the UWB tag, and the method includes:
determining coordinate information of the intelligent terminal on different detection positions, and taking at least four detection positions with adjacent distances larger than a distance threshold as the establishment positions of the virtual base station;
determining the distance between each virtual base station and an article to be searched according to the pulse signals of the UWB tags received and transmitted by the UWB positioning unit;
and determining the three-dimensional position information of the object to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched.
Optionally, determining coordinate information of the intelligent terminal at different detection positions includes:
the inertial navigation system performs constraint correction on the position information of the intelligent terminal measured by the accelerometer and the gyroscope by adopting zero-speed correction and a short-time displacement threshold value so as to determine the coordinate information of the intelligent terminal on different detection positions.
Optionally, determining the distance between each virtual base station and the object to be searched according to the pulse signal of the UWB tag received and transmitted by the UWB locating unit includes:
and based on a bilateral two-way ranging mode, determining the distance between each virtual base station and the object to be searched according to the pulse signals of the UWB tags received and transmitted by the UWB positioning unit.
Optionally, determining three-dimensional position information of the item to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the item to be searched, where the determining includes:
and calculating the three-dimensional position information of the object to be searched by adopting a residual error correction method according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched based on the signal arrival time difference positioning algorithm.
Optionally, the calculation formula of the positioning algorithm of the signal time difference of arrival TDOA is:
Figure BDA0003186831520000021
wherein, (x, y, z), (xi, yi, zi) are the coordinate of the item to be searched and the coordinate of each virtual base station, respectively, and di represents the distance between the ith virtual base station and the item to be searched.
In a second aspect, a UWB-based three-dimensional object finding device is configured in a controller of a three-dimensional object finding system, the three-dimensional object finding system includes an accelerometer, a gyroscope, a UWB locating unit and a UWB tag, the accelerometer and the gyroscope are disposed in an intelligent terminal, the accelerometer and the gyroscope are used for measuring position information of the intelligent terminal, the UWB locating unit is communicatively connected with the UWB tag and is used for transmitting UWB pulse signals and receiving the pulse signals transmitted by the UWB tag, the device includes:
the intelligent terminal position determining module is used for determining coordinate information of the intelligent terminal on different detection positions, and at least four detection positions with adjacent distances larger than a distance threshold are used as the establishment positions of the virtual base station;
the distance determining module is used for determining the distance between each virtual base station and the object to be searched according to the pulse signals of the UWB tags received and transmitted by the UWB positioning unit;
and the position information determining module of the object to be searched is used for determining the three-dimensional position information of the object to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched.
The invention has the beneficial effects that: the method comprises the steps that a local small positioning network is established in a virtual base station establishing mode to solve the position of an object to be searched relative to a mobile terminal, and when coordinate information of an intelligent terminal on different detection positions is solved, zero-speed correction and short-time displacement threshold control are added to limit large calculation errors; in addition, aiming at the problem of positioning and resolving of the small positioning network with poor network shape, accurate resolving is carried out in a residual error correction mode so as to determine accurate three-dimensional position information of the object to be searched.
Drawings
FIG. 1 is a flow chart of a UWB-based three-dimensional object finding method according to an embodiment of the invention;
fig. 2 is a flowchart for estimating the track of the intelligent terminal by the inertial navigation system according to the embodiment of the present invention;
FIG. 3 is a basic schematic diagram of a UWB-based three-dimensional object finding method according to an embodiment of the invention;
fig. 4 is a schematic diagram of a measurement based on a bilateral bidirectional measurement mode according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a three-dimensional object finding device based on UWB according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Examples
Fig. 1 is a flowchart of a UWB-based three-dimensional object finding method according to an embodiment of the present invention, where the embodiment is applicable to a case where an object is located by a mobile terminal, and the method may be executed by a controller of a three-dimensional object finding system, where the three-dimensional object finding system includes an accelerometer, a gyroscope, a UWB locating unit and a UWB tag, the accelerometer and the gyroscope are disposed in an intelligent terminal, the accelerometer and the gyroscope are used for measuring position information of the intelligent terminal, and the UWB locating unit is communicatively connected to the UWB tag and is used for transmitting a UWB pulse signal and receiving a pulse signal sent by the UWB tag. The UWB positioning unit in this embodiment is a UWB single antenna structure, and may be replaced with other devices having a positioning function, such as bluetooth, visible light, and the like.
The method specifically comprises the following steps:
s110, determining coordinate information of the intelligent terminal on different detection positions, and taking at least four detection positions with adjacent distances larger than a distance threshold value as the establishment positions of the virtual base station.
The intelligent terminal comprises but is not limited to intelligent equipment such as a smart phone, a mobile computer and a tablet computer.
Specifically, the accelerometer and the gyroscope in this embodiment are built in a Micro-Electro-Mechanical System (MEMS) of the intelligent terminal, and the MEMS System may further include a magnetometer for measuring an included angle between the intelligent device and four directions, namely, south, east, west, and north.
And the object to be searched is correspondingly provided with a UWB tag which is used for sending a pulse signal to a UWB positioning unit arranged in the intelligent terminal.
In this embodiment, when the object-finding operation is performed, the intelligent terminal may be used to remind the user to stay at more than 4 detection positions for a period of time, and the detection positions of the stay are not on the same plane as much as possible, and the stay positions may change back and forth with respect to the plane of the terminal.
Setting the initial position of the intelligent terminal as 0 to establish a relative coordinate System of a three-dimensional space, wherein coordinates of the staying detection positions can be deduced according to an Inertial Navigation System (INS), and during the deduction process, Zero velocity correction (ZUPT) and a short-time displacement threshold value are adopted to carry out position calculation on the intelligent terminal information measured by the accelerometer and the gyroscope so as to determine the coordinate information of the intelligent terminal on different detection positions.
In the moving process, because the stopping is carried out on certain detection positions, the speed is approximately 0 when the stopping is carried out, and the condition constraint speed can be used for solving the accumulated error in the speed in the process. In addition, due to the short-time movement, the position variation is always in a small interval, and a large displacement error can occur by utilizing the control.
Referring to fig. 2 in detail, fig. 2 is a flowchart of estimating the track of the intelligent terminal by the inertial navigation system. Firstly, error compensation and correction are carried out on acceleration information of the intelligent terminal detected by an accelerometer, proportional factor error correction is carried out on attitude information of the intelligent terminal detected by a gyroscope, attitude calculation and speed calculation are carried out on corrected data, and ZUPT correction and short-time displacement threshold control are added in the position calculation process to limit larger calculation errors. After the position is calculated to obtain the corresponding position information, since the obtained position information is the position of inertial navigation derived by the inertial navigation system, the difference between the MEMS and UWB installation positions needs to be corrected by fixed position deviation correction. I.e. some offset in coordinates needs to be added to translate the resulting position information into the position of the UWB unit. Referring to fig. 3, after the coordinates of the detection positions are determined, at least four detection positions in the trajectory where the distance between every two detection positions is greater than the distance threshold are extracted as the establishment positions of the virtual base station. A, B, C, D in FIG. 3 represents the detected position of the stay during the movement of the smart terminal.
And S120, determining the distance between each virtual base station and the object to be searched according to the pulse signal of the UWB tag received and transmitted by the UWB positioning unit.
In this embodiment, the UWB positioning unit may directly obtain the distance between each virtual base station and the object to be searched according to the received pulse signal sent by the UWB tag. In order to improve the accuracy of distance measurement, the present embodiment adopts a bilateral two-way ranging mode to determine the distance between each virtual base station and the object to be searched, so as to eliminate the error caused by asynchronous time.
The detailed measurement schematic diagram based on the bilateral bidirectional measurement mode is shown in fig. 4, the dashed line in fig. 4 represents the signal transmission trend, and the calculation formula of the distance between each detection position and the object to be searched is as follows:
Figure BDA0003186831520000051
where c represents the speed of light.
S130, determining three-dimensional position information of the object to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched.
In this embodiment, a positioning algorithm based on a signal arrival time difference calculates three-dimensional position information of the item to be searched by using a residual error correction method according to coordinate information of each virtual base station and a distance between each virtual base station and the item to be searched.
The calculation formula of the signal arrival time difference positioning algorithm is as follows:
Figure BDA0003186831520000052
wherein, (x, y, z), (xi, yi, zi) are the coordinates of the item to be searched and the coordinates of each virtual base station, respectively, and di represents the distance between the ith virtual base station and the item to be searched.
Furthermore, due to the fact that the distance between the established virtual base stations is small, the network structure formed by the base stations and the labels is poor, namely the above solving equation set is a typical ill-conditioned equation set, and compared with a conventional solving method, some iterative operations can be carried out to guarantee solving accuracy. Illustratively, the embodiment of the present invention uses a residual error correction method to calculate:
the above formula can be further simplified to:
Figure BDA0003186831520000053
further simplification:
Y＝F·X
step 1: directly solving for Y ═ F.X to obtain an approximate solution X of the first step1。
Step 2: to obtain a residual error Δ1＝Y-F·X1Solving for F.DELTA X1＝Δ1Correction of X2＝X1+ΔX1。
And step 3: to obtain a residual error Δ2＝Y-F·X2Solving for F.DELTA X2＝Δ2Correction of X3＝X2+ΔX2。
And 4, step 4: and (6) iteration.
And 5: up to deltanLess than a certain threshold, the final output result X is Xn+ΔXn。
The possible problem of singular space can be avoided by requiring the user terminal to move so that the stop positions are not in the same plane. Through the calculation process, the finally solved vector result is the three-dimensional space coordinate of the object to be searched, the distance can be judged through the obtained three-dimensional coordinate, meanwhile, whether the object is in front or back or in the upper or lower position compared with the terminal can be judged, and accurate angle output is provided for helping a user to carry out accurate position judgment aiming at the upper, lower, front and back.
Referring to fig. 5, an embodiment of the present invention further provides a UWB-based three-dimensional object finding device configured in a controller of a three-dimensional object finding system, where the three-dimensional object finding system includes an accelerometer, a gyroscope, a UWB positioning unit and a UWB tag disposed on an object to be searched, the accelerometer and the gyroscope are used for measuring position information of the intelligent terminal, and the UWB positioning unit is communicatively connected to the UWB tag and is used for transmitting a UWB pulse signal and receiving a pulse signal transmitted by the UWB tag, where the device includes:
an intelligent terminal position determining module 210, configured to determine coordinate information of the intelligent terminal at different detection positions, and use at least four detection positions with adjacent distances larger than a distance threshold as establishment positions of a virtual base station;
a distance determining module 220, configured to determine, according to a pulse signal of the UWB tag received and transmitted by the UWB positioning unit, a distance between each virtual base station and the article to be searched;
the module 230 for determining location information of an article to be searched is configured to determine three-dimensional location information of the article to be searched according to the coordinate information of each virtual base station and a distance between each virtual base station and the article to be searched.
The intelligent terminal position determining module 210 is specifically configured to: the inertial navigation system performs constrained correction on the position information of the intelligent terminal measured by the accelerometer and the gyroscope by adopting zero-speed correction and a short-time displacement threshold value so as to determine the coordinate information of the intelligent terminal on different detection positions.
The distance determining module 220 is configured to determine, based on a bilateral bidirectional ranging mode, a distance between each virtual base station and the object to be searched according to a pulse signal of the UWB tag received and transmitted by the UWB positioning unit.
The module 230 for determining location information of an item to be searched is specifically configured to: and calculating the three-dimensional position information of the object to be searched by adopting a residual error correction method according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched based on a positioning algorithm of the signal arrival time difference.
Wherein, the calculation formula of the signal arrival time difference positioning algorithm is as follows:
Figure BDA0003186831520000061
wherein, (x, y, z), (xi, yi, zi) are the coordinates of the item to be searched and the coordinates of each virtual base station, respectively, and di represents the distance between the ith virtual base station and the item to be searched.
The UWB-based three-dimensional object searching device provided by the embodiment of the invention can execute the UWB-based three-dimensional object searching method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (6)

1. A three-dimensional object finding method based on UWB, characterized in that the method is executed by a controller of a three-dimensional object finding system, the three-dimensional object finding system comprises an accelerometer, a gyroscope, a UWB positioning unit and a UWB tag, the accelerometer and the gyroscope are arranged in an intelligent terminal, the accelerometer and the gyroscope are used for measuring the position information of the intelligent terminal, the UWB positioning unit is connected with the UWB tag in a communication mode and is used for transmitting UWB pulse signals and receiving the pulse signals transmitted by the UWB tag, the method comprises the following steps:
determining coordinate information of the intelligent terminal on different detection positions, and taking at least four detection positions with adjacent distances larger than a distance threshold as the establishment positions of the virtual base station;
determining the distance between each virtual base station and the object to be searched according to the pulse signal of the UWB tag received and transmitted by the UWB positioning unit;
and determining the three-dimensional position information of the object to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched.
2. The method of claim 1, wherein determining coordinate information of the intelligent terminal at different detection positions comprises:
the inertial navigation system performs constrained correction on the position information of the intelligent terminal measured by the accelerometer and the gyroscope by adopting zero-speed correction and a short-time displacement threshold value so as to determine the coordinate information of the intelligent terminal on different detection positions.
3. The method according to claim 1, wherein determining the distance between each virtual base station and the object to be searched according to the pulse signal of the UWB tag received and transmitted by the UWB positioning unit comprises:
and based on a bilateral two-way ranging mode, determining the distance between each virtual base station and the article to be searched according to pulse signals of the UWB tags received and transmitted by the UWB positioning unit.
4. The method of claim 1, wherein determining the three-dimensional position information of the item to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the item to be searched comprises:
and calculating the three-dimensional position information of the object to be searched by adopting a residual error correction method according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched based on a positioning algorithm of the signal arrival time difference.
5. The method of claim 4, wherein the signal time difference of arrival location algorithm is calculated by the formula:
Figure FDA0003186831510000011
wherein, (x, y, z), (xi, yi, zi) are the coordinates of the item to be searched and the coordinates of each virtual base station, respectively, and di represents the distance between the ith virtual base station and the item to be searched.
6. A UWB-based three-dimensional object finding device configured in a controller of a three-dimensional object finding system, wherein the three-dimensional object finding system includes an accelerometer, a gyroscope, a UWB locating unit and a UWB tag, the accelerometer and the gyroscope are disposed in an intelligent terminal, the accelerometer and the gyroscope are configured to measure position information of the intelligent terminal, the UWB locating unit is communicatively connected to the UWB tag and configured to transmit UWB pulse signals and receive pulse signals transmitted by the UWB tag, the device comprises:
the intelligent terminal position determining module is used for determining coordinate information of the intelligent terminal on different detection positions, and at least four detection positions with adjacent distances larger than a distance threshold are used as the establishment positions of the virtual base station;
the distance determining module is used for determining the distance between each virtual base station and the article to be searched according to the pulse signals of the UWB tags received and transmitted by the UWB positioning unit;
and the position information determining module of the object to be searched is used for determining the three-dimensional position information of the object to be searched according to the coordinate information of each virtual base station and the distance between each virtual base station and the object to be searched.
CN202110864430.8A 2021-07-29 2021-07-29 UWB-based three-dimensional object searching method and device Withdrawn CN113551670A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202110864430.8A CN113551670A (en) 2021-07-29 2021-07-29 UWB-based three-dimensional object searching method and device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202110864430.8A CN113551670A (en) 2021-07-29 2021-07-29 UWB-based three-dimensional object searching method and device

Publications (1)

Publication Number Publication Date
CN113551670A true CN113551670A (en) 2021-10-26

Family

ID=78104892

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202110864430.8A Withdrawn CN113551670A (en) 2021-07-29 2021-07-29 UWB-based three-dimensional object searching method and device

Country Status (1)

Country Link
CN (1) CN113551670A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114173412A (en) * 2021-11-30 2022-03-11 广州致远电子有限公司 Vehicle positioning method and device based on UWB vehicle-mounted key
WO2023093313A1 (en) * 2021-11-23 2023-06-01 Oppo广东移动通信有限公司 Device positioning method and apparatus, electronic device, storage medium, and program product
WO2023225962A1 (en) * 2022-05-26 2023-11-30 华为技术有限公司 Distance measurement method and related apparatus

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023093313A1 (en) * 2021-11-23 2023-06-01 Oppo广东移动通信有限公司 Device positioning method and apparatus, electronic device, storage medium, and program product
CN114173412A (en) * 2021-11-30 2022-03-11 广州致远电子有限公司 Vehicle positioning method and device based on UWB vehicle-mounted key
CN114173412B (en) * 2021-11-30 2023-05-12 广州致远电子股份有限公司 Vehicle positioning method and device based on UWB vehicle-mounted key
WO2023225962A1 (en) * 2022-05-26 2023-11-30 华为技术有限公司 Distance measurement method and related apparatus

Similar Documents

Publication Publication Date Title
CN113551670A (en) UWB-based three-dimensional object searching method and device
CN107817469B (en) Indoor positioning method based on ultra-wideband ranging in non-line-of-sight environment
EP3430419B1 (en) Estimating locations of mobile devices in a wireless tracking system
CN106123895B (en) Inertial navigation origin positioning method and system based on UWB ranging
CN102419180B (en) Indoor positioning method based on inertial navigation system and WIFI (wireless fidelity)
CN113108791B (en) Navigation positioning method and navigation positioning equipment
CN109855621B (en) Combined indoor pedestrian navigation system and method based on UWB and SINS
EP3047304B1 (en) Method and apparatus for determination of misalignment between device and vessel using acceleration/deceleration
CN110026993B (en) Human body following robot based on UWB and pyroelectric infrared sensor
CN103197279A (en) Cooperative location system and location method for moving target
CN103207383A (en) Method for performing two-dimensional wireless positioning on stationary node based on single mobile node
CN109974694B (en) Indoor pedestrian 3D positioning method based on UWB/IMU/barometer
US9788142B2 (en) System of location push notification service, user mobile device, and method of location push notification service
US10527424B2 (en) Estimated-azimuth-angle assessment device, mobile terminal device, computer-readable storage medium, control method for estimated-azimuth-angle assessment device, and positioning device
CN113865584B (en) UWB three-dimensional object searching method and device based on visual inertial odometer
KR20160092611A (en) Searching apparatus position of beacon using of one device and method of the same
KR101576424B1 (en) Automatic calibration method of magnetometer for indoor positioning
CN114739400A (en) Indoor positioning method based on UWB and IMU information fusion
CN114501300A (en) Distributed positioning algorithm based on space environment error model
CN103399337A (en) Mobile terminal with GPS positioning and calibration function and method
KR101135201B1 (en) A rssi based location measurement method and system using acceleration location information in the wireless network
CN116086448A (en) UWB, IMU, GNSS fusion-based multi-scene seamless positioning method for unmanned equipment
CN206876184U (en) A kind of indoor positioning device based on RSSI and inertial navigation
CN112540345A (en) Dual-model positioning method and system for detecting UWB quality based on Gaussian distribution
CN202837553U (en) Position estimation device for distance and direction correction

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WW01 Invention patent application withdrawn after publication
WW01 Invention patent application withdrawn after publication

Application publication date: 20211026