CN117412372A - UWB positioning equipment and UWB positioning method - Google Patents

UWB positioning equipment and UWB positioning method Download PDF

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Publication number
CN117412372A
CN117412372A CN202311257081.9A CN202311257081A CN117412372A CN 117412372 A CN117412372 A CN 117412372A CN 202311257081 A CN202311257081 A CN 202311257081A CN 117412372 A CN117412372 A CN 117412372A
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China
Prior art keywords
uwb
frequency band
antenna
target
center
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CN202311257081.9A
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Chinese (zh)
Inventor
王德信
张伟
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Goertek Microelectronics Inc
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Goertek Microelectronics Inc
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Priority to CN202311257081.9A priority Critical patent/CN117412372A/en
Publication of CN117412372A publication Critical patent/CN117412372A/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/025—Services making use of location information using location based information parameters

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)

Abstract

The present disclosure relates to the field of communication technology, and more particularly, to a UWB positioning apparatus and a UWB positioning method. The UWB positioning device comprises a first UWB antenna combination and a first adjusting mechanism, wherein the first UWB antenna combination comprises a first UWB antenna and a second UWB antenna; the first adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the second UWB antenna.

Description

UWB positioning equipment and UWB positioning method
Technical Field
The embodiment of the disclosure relates to the technical field of communication, in particular to UWB positioning equipment and a UWB positioning method.
Background
UWB (Ultra Wide Band) devices are increasingly being used in consumer products and automobiles, and UWB products typically have multiple receiving antennas because of the need to support ranging and angle measurement functions. The existing UWB products adopt multiple paths of antennas when the angle measurement function is realized.
The UWB product realizes the locate function and can be realized through range finding and angle measurement, and when the UWB product is in angle measurement, different working frequency ranges have different requirements on the center distance of two antennas, and only under the condition that the center distance is proper, the angle measurement function and the precision of the UWB product can be ensured. Therefore, in order to realize the angle measurement function of the UWB product in different frequency bands, the UWB product is generally provided with a plurality of groups of antennas with different pitches. Resulting in an inability to reduce the volume and cost of UWB products.
Disclosure of Invention
The embodiment of the disclosure provides UWB positioning equipment and a UWB positioning method. Under the condition of ensuring the angle measurement function of the UWB positioning equipment, devices are saved, and the volume and cost of UWB products are reduced.
In a first aspect, the present embodiment provides a UWB positioning device comprising: the UWB positioning device comprises a first UWB antenna combination and a first adjusting mechanism, wherein the first UWB antenna combination comprises a first UWB antenna and a second UWB antenna; the first adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the second UWB antenna.
Optionally, the UWB positioning device includes a second UWB antenna combination and a second adjustment mechanism, the second UWB antenna combination including a first UWB antenna and a third UWB antenna; the second adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the third UWB antenna, wherein the position of the first UWB antenna in the UWB positioning device is fixed.
Optionally, the included angle between the first UWB antenna combination and the second UWB antenna combination is greater than 0 degrees and less than 180 degrees; the first UWB antenna combination is used for measuring an included angle between the target UWB device and the UWB positioning device in a first direction; the second UWB antenna combination is used for measuring an included angle between the target UWB device and the UWB positioning device in a second direction.
Optionally, the included angle between the first UWB antenna combination and the second UWB antenna combination is 90 degrees.
In a second aspect, an embodiment of the present application provides a UWB positioning method based on the UWB positioning device of any one of the first aspect, the method comprising: determining a first operating frequency band of the UWB positioning equipment; determining a first target distance according to the first working frequency band; controlling the first adjusting mechanism to set the center-to-center distance of the first UWB antenna and the second UWB antenna to the first target distance; and positioning the target UWB equipment through the first working frequency band.
Optionally, the determining the first operating frequency band of the UWB positioning device includes: determining candidate working frequency bands supported by the UWB positioning equipment; and taking the frequency band with the lowest center frequency of the candidate working frequency bands as a first working frequency band of the UWB positioning equipment.
Optionally, the determining the first target distance according to the first operating frequency band includes: determining the wavelength of the UWB signal of the first working frequency band; and determining the first target distance, wherein the target distance is the product of a preset parameter and half of the wavelength.
Optionally, after determining the first target distance according to the first operating frequency band, the method further includes: and controlling the second adjusting mechanism to set the center-to-center distance between the first UWB antenna and the third UWB antenna to the first target distance.
Optionally, the positioning the target UWB device through the first operating frequency band includes: and in the first working frequency band, measuring an included angle between the target UWB device and the UWB positioning device in a first direction through the first UWB antenna combination, measuring an included angle between the target UWB device and the UWB positioning device in a second direction through the second UWB antenna combination, and measuring a distance between the target UWB device and the UWB positioning device through at least one of the first UWB antenna, the second UWB antenna and the third UWB antenna.
Optionally, the method further comprises: switching the working frequency band of the UWB positioning equipment to a second working frequency band; determining a second target distance according to the second working frequency band; controlling the first and second adjusting mechanisms such that a center-to-center distance of the first and second UWB antennas is set to the second target distance, and a center-to-center distance of the first and third UWB antennas is set to the second target distance; and continuing to locate the target UWB device through the second operating frequency band.
Optionally, the switching the operating frequency band of the UWB positioning device to the second operating frequency band includes: under the condition that the distance between the UWB positioning equipment and the target UWB equipment is larger than or equal to a preset distance threshold value, switching the working frequency band of the UWB positioning equipment into a working frequency band with lower center frequency; and under the condition that interference occurs when the target UWB equipment is positioned, switching the working frequency band of the UWB positioning equipment into the working frequency band with higher center frequency.
The embodiment of the disclosure provides a UWB positioning device, which comprises a first UWB antenna combination and a first adjusting mechanism, wherein the first UWB antenna combination comprises a first UWB antenna and a second UWB antenna, and the first adjusting mechanism can adjust the center-to-center distance between the first UWB antenna and the second UWB antenna. According to the UWB positioning equipment, when working in different frequency bands, the central distances between the first UWB antenna and the second UWB antenna can be adjusted through the first adjusting mechanism, so that the angle measurement precision and the angle measurement function of the UWB positioning equipment in different frequency bands can be achieved, multiple groups of antennas can be saved, and the volume and the cost of the UWB positioning equipment are reduced.
Other features of the disclosed embodiments and their advantages will become apparent from the following detailed description of exemplary embodiments of the disclosure, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the disclosure and together with the description, serve to explain the principles of the embodiments of the disclosure.
Fig. 1 shows a block diagram of a UWB positioning device of an embodiment of the present disclosure.
Fig. 2 shows a block diagram of a UWB positioning device of an embodiment of the present disclosure.
Fig. 3 shows a flowchart of a UWB positioning method of an embodiment of the present disclosure.
Fig. 4 shows a flowchart of an example of a UWB positioning method according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The embodiment of the application discloses UWB positioning equipment, which comprises a first UWB antenna combination and a first adjusting mechanism, wherein the first UWB antenna combination comprises a first UWB antenna and a second UWB antenna; the first adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the second UWB antenna.
In the embodiments of the present application, the UWB antenna may be any type and any structure of UWB antenna, for example, a flat plate antenna with a rectangular structure, a dual coupling half-wave antenna, or a circularly polarized antenna. UWB positioning devices can support multiple operating frequency bands.
In one example of this embodiment, the first UWB antenna may be fixed on the UWB positioning device, and the first adjusting mechanism may adjust the center-to-center distance between the first UWB antenna and the second UWB antenna by adjusting the position of the second UWB antenna, where in one example, as shown in fig. 1, the first adjusting mechanism may drive the second UWB antenna to approach or separate from the first UWB antenna in the arrow direction within the range of the dotted line. Thereby adjusting the center-to-center spacing of the first UWB antenna and the second UWB antenna.
In one example of this embodiment, the first adjustment mechanism may be any type of adjustment mechanism, for example, the first adjustment mechanism may include a screw mechanism, the base of the second UWB antenna being disposed to nest on the screw, the second UWB antenna being moved closer to or farther from the first UWB antenna by rotating the screw. The first adjusting mechanism can also be a simple gear transmission mechanism, and the position of the second UWB antenna is adjusted through gear transmission, so that the second UWB antenna is close to or far away from the first UWB antenna, and the center-to-center distance between the first UWB antenna and the second UWB antenna is adjusted. It should be noted that the above examples of the adjusting mechanism are only examples, and those skilled in the art will understand that the present disclosure is not limited thereto, and those skilled in the art may flexibly set the specific structure and type of the adjusting mechanism according to actual situations or needs, such as gear transmission, screw adjustment, or adjusting mechanism using a crank shaft or a spring plate, etc
In one example, the center-to-center spacing of the first UWB antenna and the second UWB antenna may be a spacing of a phase center of the first UWB antenna from a phase center of the second UWB antenna.
In this embodiment, there is provided a UWB positioning apparatus including a first UWB antenna combination including a first UWB antenna and a second UWB antenna, and a first adjustment mechanism that can adjust a center-to-center distance of the first UWB antenna and the second UWB antenna. According to the UWB positioning equipment, when working in different frequency bands, the central distances between the first UWB antenna and the second UWB antenna can be adjusted through the first adjusting mechanism, so that the angle measurement precision and the angle measurement function of the UWB positioning equipment in different frequency bands can be achieved, multiple groups of antennas can be saved, and the volume and the cost of the UWB positioning equipment are reduced.
In one example of the present embodiment, the UWB positioning device may further include a second UWB antenna combination including a first UWB antenna and a third UWB antenna, and a second adjustment mechanism; the second adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the third UWB antenna, wherein the position of the first UWB antenna in the UWB positioning device is fixed.
In one example, as shown in fig. 2, the UWB positioning device may further include a second UWB antenna combination in which a first UWB antenna of the first UWB antenna combination may be multiplexed. In addition, the second adjusting mechanism may also adjust the center-to-center distance of the first UWB antenna and the third UWB antenna, as in the first adjusting mechanism.
In one example, the first UWB antenna may be fixed to the UWB positioning device and the second adjustment mechanism may adjust the spacing of the first UWB antenna from the third UWB antenna by adjusting the position of the third UWB antenna.
In one example of this embodiment, the first UWB antenna combination and the second UWB antenna combination have an included angle greater than 0 degrees and less than 180 degrees; the first UWB antenna combination is used for measuring an included angle between the target UWB device and the UWB positioning device in a first direction; the second UWB antenna combination is for measuring an angle of the target UWB device with the UWB positioning device in a second direction.
In one example of this embodiment, a UWB positioning device typically requires angular measurements in two different directions or dimensions when positioning a target UWB device. Therefore, only when the included angle between the first UWB antenna combination and the second UWB antenna combination is not 0 degrees or 180 degrees, the first UWB antenna combination and the second UWB antenna combination can be made to perform angle measurements of different directions or dimensions.
In one example, the angle between the first UWB antenna combination and the second UWB antenna combination may be determined according to the angle between a first straight line and a second straight line, where the first straight line is a straight line where the phase center of the first UWB antenna and the phase center of the second UWB antenna are located, and the second straight line is a straight line where the phase center of the first UWB antenna and the phase center of the third UWB antenna are located.
In one example of this embodiment, the first UWB antenna combination may be at an angle of 90 degrees to the second UWB antenna combination. In this case, the angles of the target UWB device in the horizontal direction and the vertical direction may be measured with the first UWB antenna combination and the second UWB antenna combination, respectively.
In this embodiment, a UWB positioning device is provided, further comprising a second UWB antenna combination and a second adjustment mechanism, so that the UWB positioning device can measure the angle of the target UWB device in different dimensions and directions. And obtaining a more accurate positioning result. Meanwhile, when working on different frequency bands, the central distance between the first UWB antenna and the second UWB antenna can be adjusted through the first adjusting mechanism, so that the angle measurement precision and the function of the UWB positioning equipment on different frequency bands can be realized, multiple groups of antennas can be saved for the UWB positioning equipment, and the volume and the cost of the UWB positioning equipment are reduced.
The embodiment of the application discloses a ranging method of UWB, which can be applied to any positioning device in any embodiment of UWB positioning devices, as shown in FIG. 3, and comprises steps S11 to S14.
Step S11, a first working frequency band of the UWB positioning equipment is determined.
In one example of this embodiment, determining a first operating band of a UWB positioning device includes: determining candidate working frequency bands supported by UWB positioning equipment; and taking the frequency band with the lowest center frequency of the candidate working frequency bands as a first working frequency band of the UWB positioning equipment.
In one example, the candidate operating bands for the UWB positioning device are all operating bands supported by the UWB positioning device that are capable of operating. Under the condition that other relevant parameters are the same, the lower the center frequency of the working frequency band is, the farther the theoretical distance measurement distance of the UWB positioning equipment is, therefore, before the UWB positioning equipment performs positioning, the frequency band with the lowest center frequency can be selected in advance as the working frequency band, so that the distance measurement range which is farther is obtained.
In this embodiment, since the frequency bands that can be supported by the UWB positioning device in different regions are different, the positioning position of the UWB positioning device may be obtained in advance, and all the frequency bands that can be supported by the UWB positioning device in the region and used for working are determined, and then the first working frequency band of the UWB positioning device is further determined.
Step S12, determining a first target distance according to the first working frequency band.
In one example of this embodiment, determining the first target distance according to the first operating frequency band includes: and determining the wavelength of the UWB signal of the first working frequency band, and determining the first target distance, wherein the target distance is the product of a preset parameter and half of the wavelength.
In one example, the UWB positioning device is required to measure angles with a center-to-center distance between the two antennas that is less than one-half wavelength and close to one-half wavelength to enable the two antennas to detect a larger range of phase differences for better angle measurement accuracy. The first target distance d may be determined according to the following equation.
Wherein a is a preset parameter, and lambda is the wavelength of the UWB signal in the first working frequency band. In this embodiment, the preset parameter a may be a parameter greater than 0.5 and less than 1. The wavelength of the UWB signal emitted by the UWB positioning device may be determined according to the center frequency of the operating frequency band in which it is located.
In one example, the preset parameter a may be 0.9, and in the case that the preset parameter is 0.9, the first target distance between the first UWB antenna and the second UWB antenna is 0.45 times of the wavelength, and under the distance, the range of the phase difference detected by the first UWB antenna and the second UWB antenna is close to-180 ° to 180 °, so that the accuracy of the measurement angle is better.
Step S13, controlling the first adjusting mechanism to set the center-to-center distance between the first UWB antenna and the second UWB antenna as a first target distance.
After the first target distance is determined, a first adjusting mechanism in the UWB positioning equipment can be controlled to adjust the center distance between the first UWB antenna and the second UWB antenna, so that the center distance is more matched with the working frequency band of the UWB positioning equipment, and a better positioning effect is obtained.
In one example, where the UWB positioning device further includes a second UWB antenna combination and a second adjustment mechanism, the second adjustment mechanism may also be controlled simultaneously to adjust the center-to-center spacing of the first UWB antenna and the third UWB antenna.
And S14, positioning the target UWB equipment through the first working frequency band.
In one example of this embodiment, locating a target UWB device over a first operating frequency band includes: and in a first working frequency band, measuring an included angle between the target UWB device and the UWB positioning device in a first direction through a first UWB antenna combination, and measuring the distance between the target UWB device and the UWB positioning device through at least one of the first UWB antenna, the second UWB antenna and the third UWB antenna.
In this embodiment, locating the target UWB device may include both ranging and angulation. Specifically, when ranging a target UWB device, a TOF (Time of Flight) method, for example, a one-sided two-way ranging method or a two-sided two-way ranging method may be used for measurement. When the angle of the target UWB equipment is measured, the phase difference of UWB signals can be read through the first UWB antenna and the second UWB antenna, and the included angle between the target UWB equipment and the UWB positioning equipment is determined according to the phase difference.
Specifically, the angle between the target UWB device and the UWB positioning device may be determined according to the following equation.
Wherein alpha is the included angle between the target UWB device and the UWB positioning device, lambda is the wavelength of the first working frequency band, d is the center-to-center distance between the first UWB antenna and the second UWB antenna, and PDOA is the phase difference of signals received by the first UWB antenna and the second UWB antenna.
In one example, where a second UWB antenna combination is also included in the UWB positioning device, the angle of the target UWB device with the UWB positioning device in a second direction different from the first direction may also be measured by the second UWB antenna combination.
In one example of this embodiment, the method further comprises: switching the working frequency band of the UWB positioning equipment to a second working frequency band; determining a second target distance according to the second working frequency band; controlling the first and second adjusting mechanisms such that the center-to-center distances of the first and second UWB antennas are set to a second target distance, and the center-to-center distances of the first and third UWB antennas are set to the second target distance; and continuing to locate the target UWB device through the second operating frequency band.
In one example of this embodiment, switching the operating frequency band of the UWB positioning device to a second operating frequency band includes: under the condition that the distance between the UWB positioning equipment and the target UWB equipment is larger than or equal to a preset distance threshold value, switching the working frequency band of the UWB positioning equipment into a working frequency band with lower center frequency; and under the condition that interference occurs when the target UWB equipment is positioned, switching the working frequency band of the UWB positioning equipment into the working frequency band with higher frequency.
In one example, after the target UWB device is located through the first operating frequency band, it may further be determined whether the operating frequency band of the UWB locating device needs to be switched, and specifically, when the distance between the UWB locating device and the target UWB device is greater than or equal to the distance threshold, the operating frequency band may be switched to the operating frequency band with a lower center frequency, so as to obtain a further measurement range.
In this embodiment, the preset distance threshold value of each working frequency band may be different from each other, and specifically, the preset distance threshold value of each working frequency band may be determined according to an attenuation model of electromagnetic waves in air.
In one example, in general, since other signals such as 5G, WIFI are mainly distributed in the low frequency band of UWB, the UWB device will suffer more interference in the corresponding low frequency band, so when locating the target UWB device, if other signal interference occurs, the operating frequency band of the UWB locating device can be switched to the higher frequency band, so as to avoid the problem that the UWB locating device is interfered, resulting in inaccurate locating result.
After the working frequency band of the UWB positioning device is switched, the target distance between the antennas of the switched working frequency band may be determined and adjusted according to the manner of the foregoing embodiment, and after the center distance of the antennas is adjusted, the positioning of the target UWB device is continued.
In this example, the working frequency band of the UWB positioning device can be flexibly switched according to the situation when the target UWB device is positioned, and the antenna spacing of the corresponding antenna is adjusted by the adjusting mechanism to adapt to the corresponding working frequency band, so as to ensure the positioning capability of the UWB positioning device.
In an example of this embodiment, as shown in fig. 4, the positioning process of the UWB device may first turn on the positioning function of the UWB device, then detect a candidate operating frequency band supported by the UWB device, directly take the frequency band as the operating frequency band if the candidate operating frequency band is one, and set a frequency band with the lowest center frequency among the plurality of candidate operating frequency bands to perform ranging if the candidate operating frequency band is a plurality of. After the working frequency band of the UWB equipment is set, a first target distance is determined according to the first working frequency band, a first adjusting mechanism and a second adjusting mechanism are adjusted, the center distances of the first UWB antenna, the second UWB antenna and the first UWB antenna and the third UWB antenna are adjusted to be the first target distance, and the positioning is performed after the optimal positioning effect is obtained. And then determining whether the working frequency band of the UWB positioning equipment needs to be switched to a second working frequency band, specifically, switching to a working frequency band with lower center frequency when the distance between the working frequency band and the target UWB equipment is larger than or equal to a preset distance threshold value, or switching to a working frequency band with higher center frequency when interference occurs, determining a second target distance, adjusting a first adjusting mechanism and a second adjusting mechanism, adjusting the center distances of the first UWB antenna, the second UWB antenna and the first UWB antenna and the third UWB antenna to the second target distance, and positioning after the optimal positioning effect of the second working frequency band is obtained. In addition, in the process of UWB positioning, the working frequency band of the UWB positioning equipment can be dynamically adjusted according to the conditions.
The various embodiments in this disclosure are described in a progressive manner, and identical and similar parts of the various embodiments are all referred to each other, and each embodiment is mainly described as different from other embodiments. In particular, for the apparatus, device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, as relevant to see the section description of the method embodiments.
The foregoing has described certain embodiments of the present disclosure. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
Embodiments of the present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of embodiments of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of embodiments of the present disclosure may be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of embodiments of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which may execute the computer readable program instructions.
Various aspects of embodiments of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts 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 disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are all equivalent.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.

Claims (11)

1. A UWB positioning device, wherein the UWB positioning device comprises a first UWB antenna combination and a first adjustment mechanism, the first UWB antenna combination comprising a first UWB antenna and a second UWB antenna;
the first adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the second UWB antenna.
2. The device of claim 1, wherein the UWB positioning device further comprises a second UWB antenna combination and a second adjustment mechanism, the second UWB antenna combination comprising a first UWB antenna and a third UWB antenna;
the second adjusting mechanism is used for adjusting the center-to-center distance between the first UWB antenna and the third UWB antenna, wherein the position of the first UWB antenna in the UWB positioning device is fixed.
3. The apparatus of claim 2, wherein the first UWB antenna combination and the second UWB antenna combination have an included angle of greater than 0 degrees and less than 180 degrees;
the first UWB antenna combination is used for measuring an included angle between the target UWB device and the UWB positioning device in a first direction;
the second UWB antenna combination is used for measuring an included angle between the target UWB device and the UWB positioning device in a second direction.
4. The apparatus of claim 2, wherein the first UWB antenna combination is angled 90 degrees from the second UWB antenna combination.
5. A UWB positioning method based on a UWB positioning device according to any of the claims 1-4, characterized in that the method comprises:
determining a first operating frequency band of the UWB positioning equipment;
determining a first target distance according to the first working frequency band;
controlling the first adjusting mechanism to set the center-to-center distance of the first UWB antenna and the second UWB antenna to the first target distance;
and positioning the target UWB equipment through the first working frequency band.
6. The method of claim 5, wherein said determining a first operating band of said UWB positioning device comprises:
determining candidate working frequency bands supported by the UWB positioning equipment;
and taking the frequency band with the lowest center frequency of the candidate working frequency bands as a first working frequency band of the UWB positioning equipment.
7. The method of claim 5, wherein determining a first target distance from the first operating frequency band comprises:
determining the wavelength of the UWB signal of the first working frequency band;
and determining the first target distance, wherein the target distance is the product of a preset parameter and half of the wavelength.
8. The method of claim 5, wherein after determining a first target spacing from the first operating frequency band, the method further comprises:
and controlling the second adjusting mechanism to set the center-to-center distance between the first UWB antenna and the third UWB antenna to the first target distance.
9. The method of claim 8, wherein said locating a target UWB device through said first operating frequency band comprises:
and in the first working frequency band, measuring an included angle between the target UWB device and the UWB positioning device in a first direction through the first UWB antenna combination, measuring an included angle between the target UWB device and the UWB positioning device in a second direction through the second UWB antenna combination, and measuring a distance between the target UWB device and the UWB positioning device through at least one of the first UWB antenna, the second UWB antenna and the third UWB antenna.
10. The method of claim 5, wherein the method further comprises:
switching the working frequency band of the UWB positioning equipment to a second working frequency band;
determining a second target distance according to the second working frequency band;
controlling the first and second adjusting mechanisms such that a center-to-center distance of the first and second UWB antennas is set to the second target distance, and a center-to-center distance of the first and third UWB antennas is set to the second target distance;
and continuing to locate the target UWB device through the second operating frequency band.
11. The method of claim 10, wherein said switching the operating band of the UWB positioning device to a second operating band comprises:
under the condition that the distance between the UWB positioning equipment and the target UWB equipment is larger than or equal to a preset distance threshold value, switching the working frequency band of the UWB positioning equipment into a working frequency band with lower center frequency;
and under the condition that interference occurs when the target UWB equipment is positioned, switching the working frequency band of the UWB positioning equipment into the working frequency band with higher center frequency.
CN202311257081.9A 2023-09-26 2023-09-26 UWB positioning equipment and UWB positioning method Pending CN117412372A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311257081.9A CN117412372A (en) 2023-09-26 2023-09-26 UWB positioning equipment and UWB positioning method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311257081.9A CN117412372A (en) 2023-09-26 2023-09-26 UWB positioning equipment and UWB positioning method

Publications (1)

Publication Number Publication Date
CN117412372A true CN117412372A (en) 2024-01-16

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311257081.9A Pending CN117412372A (en) 2023-09-26 2023-09-26 UWB positioning equipment and UWB positioning method

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Country Link
CN (1) CN117412372A (en)

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