WO2023116645A1 - Procédé et appareil de positionnement de terminal mobile, dispositif et support d'enregistrement - Google Patents

Procédé et appareil de positionnement de terminal mobile, dispositif et support d'enregistrement Download PDF

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Publication number
WO2023116645A1
WO2023116645A1 PCT/CN2022/140145 CN2022140145W WO2023116645A1 WO 2023116645 A1 WO2023116645 A1 WO 2023116645A1 CN 2022140145 W CN2022140145 W CN 2022140145W WO 2023116645 A1 WO2023116645 A1 WO 2023116645A1
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WIPO (PCT)
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mobile terminal
base station
current period
uwb base
position coordinates
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PCT/CN2022/140145
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English (en)
Chinese (zh)
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纪铮
张嘉铭
蒙越
宁昀鹏
李修璋
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北京罗克维尔斯科技有限公司
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Publication of WO2023116645A1 publication Critical patent/WO2023116645A1/fr

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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
    • H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
    • 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
    • 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
    • G01S5/0278—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 involving statistical or probabilistic considerations
    • 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
    • G01S5/14—Determining absolute distances from a plurality of spaced points of known location
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C9/00—Individual registration on entry or exit
    • G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
    • G07C9/00896—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys specially adapted for particular uses
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/08—Access point devices
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

Definitions

  • the present disclosure relates to the field of positioning technology, and in particular to a positioning method, device, equipment and storage medium for a mobile terminal.
  • Ultra Wideband (UWB) technology obtains ranging distance by propagating nanosecond or microsecond narrow pulses, which has the advantage of high time resolution.
  • UWB Ultra Wideband
  • ultra-wideband technology has been applied in vehicle scenarios to realize the positioning of mobile terminals such as vehicle keys.
  • the installation height of UWB base stations is limited by the height of the vehicle body.
  • Some UWB base stations have serious non-line-of-sight propagation problems when communicating with mobile terminals, making the corresponding ranging The distance is inaccurate, and the position coordinates of the mobile terminal calculated according to the aforementioned ranging distance have serious errors relative to the actual coordinates.
  • the present disclosure provides a positioning method, device, device and storage medium for a mobile terminal.
  • an embodiment of the present disclosure provides a positioning method for a mobile terminal, including:
  • the method further includes: acquiring confidence levels corresponding to each of the target base stations;
  • the calculating the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal includes:
  • the calculating the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal, and the confidence degree corresponding to each target base station includes:
  • the position coordinates of the mobile terminal in the current period are calculated according to the corrected ranging distance corresponding to each target base station and the position coordinates of each target base station.
  • the determining the target base station corresponding to the current period according to the ranging distances corresponding to the multiple UWB base stations includes:
  • the ranging distance corresponding to the plurality of UWB base stations determine the target area where the mobile terminal is located in the current period in a plurality of preset areas
  • the target base station corresponding to the current period is determined according to the target area where the mobile terminal is located in the current period.
  • determining the target area where the mobile terminal is located in the current period in multiple preset areas according to the ranging distances corresponding to the multiple UWB base stations includes:
  • the boundary marking data includes the calibration distance from the boundary marking point to each UWB base station
  • the absolute value of the first difference with the corresponding ranging distance is greater than the set value, and the target area of the mobile terminal in the previous cycle is used as the target area of the current cycle. target area.
  • the boundary calibration data also includes the reference distance between the orientation reference point on one side of each boundary calibration point and each UWB base station, and the second difference between the calibration distance between the corresponding boundary calibration point and the corresponding UWB base station value;
  • the determining the target area where the mobile terminal is located in the current period in a plurality of preset areas according to the ranging distance corresponding to the plurality of UWB base stations also includes:
  • a preset area on the other side of the boundary marking point that does not include the orientation reference point is used as a target area of the mobile terminal in a current period.
  • the method before determining the target area where the mobile terminal is located in the current period, the method further includes:
  • N is an integer greater than or equal to 1;
  • the boundary calibration data includes the calibration distance from the boundary calibration point to each UWB base station;
  • determining the target area where the mobile terminal is located in the current period in a plurality of preset areas includes:
  • each boundary calibration point to each UWB base station, and the corresponding ranging distance of each UWB base station in the current period, determine the target area of the mobile terminal in the current period.
  • calculating the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal includes:
  • the set constraint condition includes whether the height coordinate is within the set height coordinate range, and/or whether the horizontal coordinate is within the set horizontal coordinate range;
  • the method further includes: taking the position coordinates of the mobile terminal in a previous period as the position coordinates of the current period in response to the first position coordinates not satisfying a preset constraint condition.
  • the number of the plurality of UWB base stations is at least five, and the number of the target base stations is at least four.
  • an embodiment of the present disclosure provides a positioning device for a mobile terminal, including:
  • a ranging distance acquisition unit configured to acquire the ranging distance between the mobile terminal and multiple UWB base stations in the current period
  • a target base station selection unit configured to determine the target base station corresponding to the current period according to the ranging distances corresponding to a plurality of UWB base stations;
  • a position coordinate calculation unit configured to calculate the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal.
  • an embodiment of the present disclosure provides a computer device, including: a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the preceding item can be realized.
  • the positioning method of the mobile terminal including: a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the preceding item can be realized.
  • an embodiment of the present disclosure provides a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the positioning of the mobile terminal as described in the preceding item is realized method.
  • the target base station after obtaining the ranging distances between multiple UWB base stations and mobile terminals in the current period, determine the target base station corresponding to the current period according to the ranging distances, and then determine the target base station corresponding to the current period according to the distance between the target base station and the mobile terminal. Calculate the position coordinates of the mobile terminal in the current cycle. Because the target base station is a UWB base station with a small degree of non-line-of-sight propagation of the UWB signal transmitted between the mobile terminal, the position coordinates of the mobile terminal calculated by using the ranging distance corresponding to the target base station are more accurate.
  • FIG. 1 is a flowchart of a positioning method for a mobile terminal provided by some embodiments of the present disclosure
  • FIG. 2 is a schematic diagram of a UWB base station layout and area division provided by an embodiment of the present disclosure
  • Fig. 3 is a schematic structural diagram of a positioning device for a mobile terminal provided by some embodiments of the present disclosure
  • Fig. 4 is a schematic structural diagram of a computer device provided by an embodiment of the present disclosure.
  • the term “comprise” and its variations are open-ended, ie “including but not limited to”.
  • the term “based on” is “based at least in part on”.
  • the term “one embodiment” means “at least one embodiment”; the term “another embodiment” means “at least one further embodiment”; the term “some embodiments” means “at least some embodiments.”
  • Relevant definitions of other terms will be given in the description below. It should be noted that concepts such as “first” and “second” mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the sequence of functions performed by these devices, modules or units or interdependence.
  • An embodiment of the present disclosure provides a positioning method for a mobile terminal.
  • the positioning method can be applied in application scenarios such as vehicles and smart houses to realize positioning of mobile terminals such as smart keys.
  • the positioning method of the mobile terminal provided by the embodiments of the present disclosure will be described below by taking a vehicle use scene as an example.
  • Fig. 1 is a flowchart of a positioning method for a mobile terminal provided by some embodiments of the present disclosure. As shown in FIG. 1 , the positioning method for a mobile terminal provided by an embodiment of the present disclosure includes steps S101-S103.
  • the mobile terminal positioning method provided by the embodiments of the present disclosure can be executed by a mobile terminal equipped with a UWB module, such as a vehicle remote control key, or by a vehicle or a smart house installed with a UWB base station (specifically, by a vehicle in a vehicle). Computing devices with data processing capabilities, such as HU, etc., and central control devices in smart houses).
  • a mobile terminal equipped with a UWB module, such as a vehicle remote control key, or by a vehicle or a smart house installed with a UWB base station (specifically, by a vehicle in a vehicle).
  • Computing devices with data processing capabilities such as HU, etc., and central control devices in smart houses.
  • Step S101 Obtain the ranging distances between multiple UWB base stations and the mobile terminal in the current period.
  • a UWB module is installed in the mobile terminal, and the UWB module periodically performs UWB communication with multiple UWB base stations deployed in the vehicle, and determines the distance between the mobile terminal and the UWB base station based on the time stamp information transmitted during mutual communication. The ranging distance between.
  • the aforementioned multiple UWB base stations are at least 5 UWB base stations.
  • a non-bilateral ranging algorithm may be used to determine the ranging distance between the mobile terminal and the UWB base station of the vehicle.
  • UWB base station A UWB base station A
  • the method for the mobile terminal to determine the ranging distance with the UWB base station A by using an asymmetric bilateral ranging algorithm is as follows.
  • the UWB module in the mobile terminal sends a Pos1 message to the UWB base station A, and records the sending time stamp of sending the Pos1 message.
  • the UWB base station A After receiving the Pos1 message matching its own address, the UWB base station A records the receiving time stamp of receiving the Pos1 message. After a delay for a period of time, UWB base station A sends a response message RespA to the mobile terminal, and records the sending time stamp of sending RespA. According to the receiving time stamp of receiving the Pos1 message and the sending time stamp of sending RespA, the time period TreplyA between UWB base station A receiving the Pos1 message and sending the response message can be calculated.
  • the mobile terminal After the mobile terminal receives the response message RespA from UWB base station A, it records the receiving time stamp of the response message RespA, and delays Trepl2A for a period of time to send the Final message to UWB base station A.
  • the final message includes the mobile terminal and UWB base station A Various time stamp information recorded at the time of communication. According to the receiving timestamp of receiving the response message RespA and the sending timestamp of sending the Pos1 message, the time period Tround1A from sending the Pos1 message to receiving the response message RespA by the mobile terminal can be calculated.
  • UWB base station A After receiving the Final message, UWB base station A records the receiving time stamp of receiving the Final message. According to the receiving timestamp of receiving the Final message and the sending timestamp of sending RespA, the time period Tround2A between UWB base station A sending RespA and receiving the Final message can be calculated.
  • UWB base station A calculates Tround1A, TreplyA, Treply2A and Tround2A according to the aforementioned various timestamps, and uses the following formula (Tround1A ⁇ Tround2A-TreplyA ⁇ Treply2A)/(Tround1A+TreplyA+Treply2A+Tround2A) to obtain the message in Time-of-flight TOFA of mobile terminal and UWB base station A.
  • the UWB base station A can calculate the ranging distance between the mobile terminal and the UWB base station A. After the ranging distance is calculated, the UWB base station A may send the ranging distance to the mobile terminal, so as to obtain the ranging distance between the mobile terminal and the UWB base station A.
  • UWB base station A may also send various timestamps to the mobile terminal, so that the mobile terminal calculates the aforementioned Tround1A, TreplyA, Treply2A and Tround2A, and According to the aforementioned four time periods, (Tround1A ⁇ Tround2A-TreplyA ⁇ Treply2A)/(Tround1A+TreplyA+Treply2A+Tround2A) is used to calculate the time-of-flight TOFA, and according to the time-of-flight TOFA and electromagnetic signal propagation speed, the mobile terminal and UWB base station A The ranging distance between.
  • the mobile terminal in one ranging period, can communicate with multiple UWB base stations. According to the aforementioned method, the embodiment of the present application can also obtain the ranging distance between the mobile terminal and other UWB base stations in the current cycle.
  • asymmetric bilateral ranging algorithm can compensate the clock offset between the mobile terminal and each UWB base station, ensuring a high accuracy of the ranging distance.
  • a unilateral ranging algorithm may also be used to determine the ranging distance between the mobile terminal and each UWB base station.
  • Step S102 Determine the target base station corresponding to the current cycle according to the ranging distances corresponding to the multiple UWB base stations.
  • the ranging distance corresponding to the target base station has high reliability, and the UWB base station does not have non-line-of-sight propagation of the UWB signal during UWB communication with the mobile terminal, or a UWB base station that has a small degree of non-line-of-sight propagation.
  • determining the target base station corresponding to the current period according to the ranging distances corresponding to the multiple UWB base stations may include steps S1021-S1022.
  • Step S1021 According to the ranging distances corresponding to multiple UWB base stations, determine the target area where the mobile terminal is located in the current period in multiple preset areas.
  • Step S1022 According to the target area where the mobile terminal is located in the current period, determine the target base station corresponding to the current period.
  • the applicant of this application considers that the distance between the mobile terminal and the UWB base station at a large number of locations can be measured based on the layout of the UWB base station in the vehicle, and mathematical statistics are performed on the accuracy of the distance measurement. Based on the results of mathematical statistics The vehicle's interior space and exterior space are divided into regions, and the relationship between each region and the UWB base station is established. Among them, establishing the association relationship between each area and the UWB base station is to determine which UWB base stations the mobile terminal communicates with when the ranging distance is credible (that is, the non-line-of-sight propagation occurs to a lesser extent) when it is in a certain area. That is to say, when the mobile terminal is located in a certain area, which UWB base stations can be used to calculate the location coordinates of the mobile terminal using the ranging distances measured by them.
  • Fig. 2 is a schematic diagram of a UWB base station layout and area division provided by an embodiment of the present disclosure.
  • six UWB base stations are installed in the vehicle, of which two UWB base stations (No. 1 UWB base station and No. 2 UWB base station) are respectively located on the upper side of the two headlights, Two UWB base stations (No. 3 UWB base station and No. 4 UWB base station) are located on the upper side of the rear headlights, and one UWB base station (No. 5 UWB base station) is located in the central area of the car roof (roughly in the middle of the rear seat) , a UWB base station (No. 6 UWB base station) is located at the interior rearview mirror.
  • the inventor measured the ranging distance between the mobile terminal and the UWB base station at a large number of locations, and performed mathematical statistics on the accuracy of the ranging distance. Based on the mathematical statistical results Both the interior space and the exterior space of the vehicle are divided into regions, and the relationship between each division region and the UWB base station is established.
  • the area outside the vehicle is divided into six sub-areas.
  • the sub-areas outside the vehicle are respectively the front area outside the vehicle, the rear area outside the vehicle, the left front area outside the vehicle, the left rear area outside the vehicle, the right front area outside the vehicle, and the right rear area outside the vehicle, corresponding to Figure 2 in turn
  • the front area outside the vehicle and the left front area outside the vehicle, the front area outside the vehicle and the right front area outside the vehicle are bounded by the connection line between UWB base station 1 and UWB base station 2, and the left front area outside the vehicle and the front area outside the vehicle
  • the left rear area, the right front area outside the vehicle, and the right rear area outside the vehicle are bounded by the plane where the B-pillar of the vehicle is located, and the rear area outside the vehicle, the left rear area outside the vehicle, and the right rear area outside the vehicle are bounded by UWB base station 3
  • the connection with the UWB base station 4 is the boundary.
  • the vehicle interior area is divided into four word areas.
  • the sub-areas in the car are the left front area in the car, the right front area in the car, the left rear area in the car, and the right rear area in the car, which correspond to the interior area 1, the interior area 2, the interior area 3 and the interior area in Figure 2. area 4.
  • the in-vehicle area 1 and the in-vehicle area 2, the in-vehicle area 3 and the in-vehicle area 4 are bounded by the vertical plane where the connection line of the UWB base station 5 and the UWB base station 6 is located, the in-vehicle area 1 and the in-vehicle area 3, the in-vehicle area Area 2 and interior area 4 are bounded by the plane where the B-pillar of the vehicle is located.
  • Table 1 is a table of association relationship between divided areas and UWB base stations.
  • ⁇ indicates that an area in a certain row has an association relationship with a UWB base station in a certain column.
  • the in-vehicle area and the out-of-vehicle area may also be divided by other area division methods, and the corresponding association relationship also needs to be determined according to mathematical statistics.
  • Step S103 Calculate the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal.
  • the ranging distance from the target base station to the mobile terminal can be queried, and then the position coordinates of the mobile terminal in the current period can be calculated according to the ranging distance.
  • the position coordinates of the current cycle may be calculated by using a trilateration least squares fitting method. Assuming that the target area is the area outside the vehicle, the position coordinates of UWB base station 1 are (x 1 , y 1 , z 1 ), the ranging distance from the mobile terminal to UWB base station 1 is d 1 , and the position coordinates of UWB base station 2 are (x 2 , y 2 , z 2 ), the distance from the mobile terminal to the UWB base station 2 is d 2 , the position coordinates of the UWB base station 5 are (x 5 , y 5 , z 5 ), the distance from the mobile terminal to the UWB base station 5 is The distance is d 5 , the position coordinates of the UWB base station 6 are (x 6 , y 6 , z 6 ), and the ranging distance from the mobile terminal to the UWB base station 6 is d 6 , then the following equations can be constructed.
  • the positioning method of the mobile terminal After obtaining the ranging distances between multiple UWB base stations and the mobile terminal in the current period, determine the target base station corresponding to the current period according to the ranging distance, and then determine the target base station corresponding to the current period according to the distance between the target base station and the mobile terminal. Calculate the position coordinates of the mobile terminal in the current cycle. Because the target base station is a UWB base station with a small degree of non-line-of-sight propagation of the UWB signal transmitted between the mobile terminal, the position coordinates of the mobile terminal calculated by using the ranging distance corresponding to the target base station are more accurate.
  • step S1021 in order to determine the target base station corresponding to the mobile terminal in the current period, it is necessary to first determine the target area where the mobile terminal is located in the current period.
  • step S1021 according to the ranging distances corresponding to multiple UWB base stations, determining the target area where the mobile terminal is located in the current period in multiple preset areas may include steps S1021A-S1021F.
  • Step S1021A According to the location coordinates of the mobile terminal in the previous period, determine the boundary marking data of the area where the mobile terminal was located in the previous period.
  • the boundary calibration data includes calibration distances from boundary calibration points to each UWB base station.
  • the mobile terminal determines the boundary calibration data of the area in the previous cycle according to the position coordinates of the previous cycle, including the following steps: firstly, according to the position coordinates of the previous cycle, the area in the previous cycle is determined, and then according to the previous cycle Select corresponding calibration data from all the boundary calibration data for the area where the mobile terminal is located in the previous period as the boundary calibration data for the area where the mobile terminal is located in the previous period.
  • Step S1021B Determine the relationship between the absolute value of the first difference between the calibration distance from the boundary calibration point to the corresponding UWB base station and the corresponding ranging distance, and the set value.
  • step S1021C is executed.
  • step S1021D is executed.
  • Step S1021C take the area where the mobile terminal was located in the previous cycle as the target area.
  • the difference between the ranging distance between the mobile terminal and any UWB base station in the current period and the calibration distance from the boundary calibration point to the corresponding UWB base station is greater than the set value, it indicates that the mobile terminal is still in the current period. If it has not moved to the vicinity of the area boundary of the area where it was located in the previous period, then it indicates that the mobile terminal is still located in the area where the mobile terminal was located in the previous period in the current period, so the area where the mobile terminal was located in the previous period is taken as the target area where the mobile terminal is located in the current period.
  • Step S1021D Determine whether the first difference value and the second difference value corresponding to a certain boundary calibration point have the same relationship with the zero value; if they are the same, execute step S1021E; if not, execute step S1021F.
  • the boundary marking data in addition to the ranging distances from the boundary marking points to a plurality of UWB base stations, also includes the reference distance between the orientation reference point on one side of each boundary marking point and each UWB base station and the corresponding A second difference in ranging distance between the boundary calibration point and the corresponding UWB base station.
  • Judging whether the magnitude relationship between the first difference and the second difference and the zero value is the same is to judge whether the first difference and the second difference are both positive or negative.
  • step S1021D is executed in the embodiment of the present disclosure.
  • the first difference is the difference between the ranging distance between the mobile terminal and a certain UWB base station and the measurement distance between the aforementioned certain boundary calibration point and the corresponding UWB base station
  • the second difference is the boundary calibration point The difference between the ranging distance from one side azimuth reference point to each UWB and the ranging distance from the corresponding boundary marking point to the corresponding UWB base station. If the magnitude relationship between the first difference and the second difference is the same with the zero value, it proves that the mobile terminal in the current period is located in the same area as the orientation reference point, so step S1021E is executed.
  • step S1021F is executed.
  • Step S1021E Take the area where the orientation reference point is located as the target area.
  • Step S1021F Take the area on the other side of the boundary marking point that does not include the orientation reference point as the target area.
  • the mobile terminal needs to determine the target area in the previous cycle according to the location coordinates in the previous cycle, and determine the target area in the current cycle according to the target area in the previous cycle.
  • the mobile terminal may also use other methods to determine the target area where the current cycle is located.
  • steps S104-S107 may also be performed.
  • Step S104 Obtain ranging distances between a plurality of UWB base stations and the mobile terminal within a preset previous time, where the preset previous time includes multiple periods.
  • the preset previous time is the set time when the mobile terminal is just powered on, or the set time when the mobile terminal moves from far away to approach the vehicle and can communicate with all UWB base stations in the vehicle. It should be noted that the preset previous time includes a plurality of UWB communication cycles. In one embodiment of the present disclosure, the preset previous time is set to 1 s, and the UWB communication cycle is 50 ms, so the preset previous time includes 20 UWB communication cycles.
  • the mobile terminal can determine the preset ranging distance with multiple UWB base stations in the previous time according to the non-bilateral ranging algorithm in step S101, or can use the unilateral ranging algorithm to determine the preset ranging distance.
  • the ranging distance between multiple UWB base stations in the previous time will not be repeated here.
  • Step S105 Calculate the mean value and variance of the ranging distances corresponding to each UWB base station in the preset previous time respectively.
  • the mobile terminal after obtaining a plurality of ranging distances corresponding to each UWB base station in the preset previous time, calculates the corresponding mean value and variance based on the ranging distance corresponding to each UWB base station.
  • UWB base station 1 For example, for the aforementioned UWB base station 1, 20 ranging distances are obtained The mean value corresponding to UWB base station 1 can be obtained as The corresponding variance is Similarly, the mean value corresponding to UWB base station 2 is The corresponding variance is
  • Step S106 Select the mean values corresponding to at least N UWB base stations with the smallest variances, and calculate the estimated position coordinates of the mobile terminal.
  • the mobile terminal After calculating the mean value and variance of the test distances corresponding to each UWB base station in the preset period of time, the mobile terminal will compare the variances corresponding to each UWB base station to determine at least N UWB base stations with the smallest variance, and based on the aforementioned UWB The average value of the ranging distance corresponding to the base station is used to calculate the estimated position coordinates of the mobile terminal. wherein N is at least 4.
  • the possibility is smaller, and the reliability of the mean value of the ranging distance corresponding to the UWB base station for calculating the estimated position coordinates of the mobile terminal is higher.
  • the mobile terminal selects the average value of the ranging distances corresponding to the four UWB base stations with the smallest variance, and calculates the estimated position coordinates of the mobile terminal.
  • the mobile terminal may also select the mean value of the ranging distances corresponding to the UWB base stations whose variance is smaller than the set threshold, and calculate the estimated position coordinates of the mobile terminal.
  • Step S107 According to the estimated position coordinates, determine the preset area corresponding to the estimated position coordinates, and the boundary calibration data of the preset area, the boundary calibration data includes the calibration distance from the boundary calibration point to each UWB base station.
  • step S1021 may be executed to determine the target area where the mobile terminal is located in the current period in multiple preset areas according to multiple ranging distances. Specifically, step S1021 may use the aforementioned steps S1021B-S1021F to determine the target area where the mobile terminal is located in the current period.
  • the initial area where the mobile terminal is located can be determined, and then steps S101-S103 can be performed to determine the location coordinates of the mobile terminal in subsequent periods.
  • step S102 when the electronic device executes step S102 to select a target base station corresponding to the target area among multiple UWB base stations, it may also execute step S108.
  • Step S108 Obtain the confidence of each target base station corresponding to the target area.
  • the confidence relationship table between the divided areas and the corresponding areas can also be obtained.
  • Table 2 is a table of the relationship between the divided area and the confidence degree of the UWB base station.
  • Table 2 The relationship between the divided area and the confidence degree of the UWB base station
  • step S103 calculates the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal, specifically step S1031.
  • Step S1031 Calculate the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal, and the confidence of each target base station corresponding to the target area.
  • the corrected ranging distance between the target base station and the mobile terminal may be calculated first according to the ranging distance between the target base station and the mobile terminal, and the confidence degree of the target base station corresponding to the target area; specifically , the ranging distance can be multiplied by the corresponding confidence level to obtain the corresponding corrected ranging distance. Subsequently, the position coordinates of the mobile terminal in the current period are calculated according to the corrected ranging distances corresponding to each target base station and the position coordinates of each target base station.
  • the position coordinates of the current period may be calculated by using a trilateration positioning least squares method fitting solution. Assuming that the target area is the area outside the vehicle, the position coordinates of UWB base station 1 are (x 1 , y 1 , z 1 ), the ranging distance from the mobile terminal to UWB base station 1 is d 1 , and the position coordinates of UWB base station 2 are (x 2 , y 2 , z 2 ), the distance from the mobile terminal to the UWB base station 2 is d 2 , the position coordinates of the UWB base station 5 are (x 5 , y 5 , z 5 ), the distance from the mobile terminal to the UWB base station 5 is The distance is d 5 , the position coordinates of UWB base station 6 are (x 6 , y 6 , z 6 ), and the ranging distance from the mobile terminal to UWB base station 6 is d 6 . According to Table 2, UWB base station 1 and UW
  • the UWB signal has non-line-of-sight propagation, its propagation distance is larger than that of straight-line propagation. And if the non-line-of-sight propagation of the UWB signal is more serious, the confidence of the corresponding ranging distance is lower.
  • the corrected ranging distance is obtained by correcting the ranging distance with the confidence degree, and then the position coordinates (x, y, z) are calculated by using the corrected ranging distance, thereby improving the accuracy of calculating the position coordinates.
  • the mobile terminal may further include steps S1032-S1033 when performing the aforementioned step S103.
  • Step S1032 Calculate the first position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal.
  • Step S1033 In response to the first location coordinate meeting the preset constraints, use the first location coordinate as the location coordinate of the mobile terminal in the current period.
  • the mobile terminal may use the trilateration least squares fitting method mentioned above to calculate the first position coordinates according to the ranging distance between the target UWB base station and the mobile terminal.
  • the calculated first position coordinates are contrary to the actual situation. For example, it may happen that the height coordinate in the calculated first position coordinate is smaller than the ground height, or the horizontal direction coordinate exceeds the UWB communication radius. If the aforementioned first position coordinates contrary to the actual situation are used as the position coordinates of the mobile terminal in the current period, a huge error will be introduced.
  • the mobile terminal after obtaining the first location coordinates, the mobile terminal further judges whether the first location coordinates satisfy a preset constraint condition. If the first position coordinates satisfy the preset constraint condition, the first position coordinates may be used as the position coordinates of the mobile terminal in the current period.
  • the aforementioned preset constraints may include whether the z value data of the location coordinate is greater than 0, and whether the x and y data are greater than the upper limit of the recognition distance in the UWB module of the mobile terminal.
  • the position coordinates of the mobile terminal calculated by the mobile terminal in the previous period may also be used as the position coordinates of the current period.
  • the number of UWB base stations deployed in the vehicle is six, and the number of target base stations is four.
  • the number of UWB base stations can also be other numbers, and the number of target base stations can also be other numbers, but it should be ensured that the number of UWB base stations is at least five, and the number of target base stations is at least four, so that It is ensured that at least four UWB base stations can be selected as target UWB base stations among at least five UWB base stations, and the location coordinates of the mobile terminal can be obtained through settlement of at least four target UWB base stations.
  • Fig. 3 is a schematic structural diagram of a positioning device for a mobile terminal provided by some embodiments of the present disclosure.
  • the positioning device of the mobile terminal can be understood as a part of the functional modules of the above-mentioned vehicle controller.
  • a positioning device 300 for a mobile terminal provided by the present disclosure includes a ranging distance acquiring unit 301 , a target UWB base station selecting unit 302 and a location coordinate calculating unit 303 .
  • the ranging distance acquiring unit 301 is configured to acquire ranging distances between the mobile terminal and multiple UWB base stations in the current period.
  • the target UWB base station selection unit 302 is configured to determine the target UWB base station corresponding to the current cycle according to the ranging distances corresponding to the multiple UWB base stations.
  • the position coordinate calculation unit 303 is configured to calculate the position coordinates of the mobile terminal in the current period according to the ranging distance between the target UWB base station and the mobile terminal.
  • the mobile device locating device 300 further includes a confidence degree acquiring unit.
  • the confidence acquisition unit is configured to acquire the confidence of each target base station corresponding to the target area.
  • the position coordinate calculation unit 303 calculates the position coordinates of the mobile terminal in the current period according to the ranging distance between the target base station and the mobile terminal, and the confidence of each target base station corresponding to the target area.
  • the position coordinate calculation unit 304 multiplies the confidence degree corresponding to the target base station by the ranging distance to obtain the corrected ranging distance corresponding to the target base station. Then, the position coordinates of the mobile terminal in the current period are calculated according to the corrected ranging distances corresponding to each target base station and the position coordinates of each target base station.
  • the target UWB base station selection unit includes a target area determination subunit and a target base station determination subunit.
  • the target area determination subunit is used to determine the target area where the mobile terminal is located in the current period in multiple preset areas according to the ranging distances corresponding to the multiple UWB base stations.
  • the target UWB base station determination subunit is used to determine the target UWB base station corresponding to the current period according to the target area where the mobile terminal is located in the current period.
  • the target area determining subunit determines the boundary marking data of the target area where the mobile terminal is located in the previous period according to the position coordinates of the mobile terminal in the previous period, and the boundary marking data includes boundary marking points to each UWB The calibration distance of the base station; in response to the calibration distance from each boundary calibration point to each UWB base station, the absolute value of the first difference with the corresponding ranging distance is greater than the set value, and the target area of the mobile terminal in the previous cycle is used as The target area for the current cycle.
  • the boundary calibration data also includes the reference distance between the orientation reference point on one side of each boundary calibration point and each UWB base station, and the calibration distance between the corresponding boundary calibration point and the corresponding UWB base station second difference.
  • the target area determination subunit is also used for: in response to the absolute value of the first difference being smaller than the set value, judging whether the relationship between the first difference and the second difference corresponding to the boundary calibration point and the zero value is the same;
  • the preset area where the orientation reference point is located is used as the target area where the current period of the mobile terminal is located;
  • the preset area on the other side of the boundary marking point that does not include the orientation reference point is used as the target area of the mobile terminal in the current period.
  • the positioning device of the mobile terminal further includes an initial ranging distance acquisition unit, a mean variance calculation unit, an estimated position coordinate calculation unit, and an estimated position area selection unit.
  • the initial ranging distance acquiring unit is used to acquire ranging distances between multiple UWB base stations and the mobile terminal within a preset previous time, and the preset previous time includes multiple periods.
  • the mean value variance calculation unit calculates the mean value and variance of the ranging distance corresponding to each UWB base station in the preset time respectively; the estimated position coordinate calculation unit selects the mean value corresponding to at least N UWB base stations with the smallest variance, and calculates the estimated position coordinates of the mobile terminal .
  • the estimated position area selection unit is used to determine the preset area corresponding to the estimated position coordinates and the boundary calibration data of the preset area according to the estimated position coordinates.
  • the boundary calibration data includes the calibration distances from the boundary calibration points to each UWB base station.
  • the target area determination subunit determines the target area
  • the location coordinate calculation unit 304 includes a first location coordinate calculation subunit and a selection subunit.
  • the first location coordinate calculation subunit is used to calculate the first location coordinate of the mobile terminal in the current period according to the ranging distance between the target UWB base station and the mobile terminal.
  • the selecting subunit uses the first position coordinates as the position coordinates of the mobile terminal in the current period in response to the first position coordinates satisfying the preset constraint condition.
  • the selecting subunit uses the position coordinates of the mobile terminal in the previous period as the position coordinates of the current period in response to the fact that the first position coordinates do not satisfy the preset constraint condition.
  • the number of UWB base stations is at least five, and the number of target base stations is at least four.
  • FIG. 4 is a schematic structural diagram of a computer device provided by an embodiment of the present disclosure. Referring to FIG. 4 in detail below, it shows a schematic structural diagram of a computer device 400 suitable for implementing an embodiment of the present disclosure.
  • the computer device shown in FIG. 4 is only an example, and should not limit the functions and scope of use of the embodiments of the present disclosure.
  • a computer device 400 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 401, which may be loaded into a random access memory RAM according to a program stored in a read-only memory ROM 402 or from a storage device 408.
  • the program in 403 executes various appropriate actions and processing.
  • various programs and data necessary for the operation of the computer device 400 are also stored.
  • the processing device 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404.
  • An input/output I/O interface 405 is also connected to the bus 404 .
  • the following devices can be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touchpad, camera, microphone, accelerometer, gyroscope, etc.; outputs including, for example, a liquid crystal display (LCD), speaker, vibrator, etc. means 407; storage means 408 including, for example, magnetic tape, hard disk, etc.; and communication means 409.
  • the communication means 409 may allow the computer device 400 to communicate with other devices wirelessly or by wire to exchange data. While FIG. 4 shows computer device 400 having various means, it should be understood that implementing or possessing all of the means shown is not a requirement. More or fewer means may alternatively be implemented or provided.
  • embodiments of the present disclosure include a computer program product, which includes a computer program carried on a non-transitory computer readable medium, where the computer program includes program code for executing the method shown in the flowchart.
  • the computer program may be downloaded and installed from a network via communication means 409, or from storage means 408, or from ROM 402.
  • the processing device 401 When the computer program is executed by the processing device 401, the above-mentioned functions defined in the methods of the embodiments of the present disclosure are performed.
  • the computer-readable medium mentioned above in the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two.
  • a computer readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to, electrical connections with one or more wires, portable computer diskettes, hard disks, random access memory (RAM), read-only memory (ROM), erasable Programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.
  • a computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.
  • a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing.
  • a computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can transmit, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device .
  • Program code embodied on a computer readable medium may be transmitted by any appropriate medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.
  • the client and the server can communicate using any currently known or future network protocols such as HTTP (HyperText Transfer Protocol, Hypertext Transfer Protocol), and can communicate with digital data in any form or medium
  • HTTP HyperText Transfer Protocol
  • the communication eg, communication network
  • Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), internetworks (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network of.
  • the above-mentioned computer-readable medium may be included in the above-mentioned computer device, or may exist independently without being incorporated into the computer device.
  • the above-mentioned computer-readable medium carries one or more programs, and when the above-mentioned one or more programs are executed by the computer device, the computer device obtains the ranging distance between multiple UWB base stations and the mobile terminal in the current period; according to multiple The ranging distance corresponding to each UWB base station determines the target base station corresponding to the current period; according to the ranging distance between the target base station and the mobile terminal, the position coordinates of the mobile terminal in the current period are calculated.
  • Computer program code for carrying out operations of the present disclosure may be written in one or more programming languages, or combinations thereof, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages - such as the "C" language or similar programming languages.
  • the program code may execute 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.
  • the remote computer can be connected to the user computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computer (such as through an Internet service provider). Internet connection).
  • LAN local area network
  • WAN wide area network
  • Internet service provider such as AT&T, MCI, Sprint, EarthLink, MSN, GTE, etc.
  • each block in a flowchart or block diagram may represent a module, program segment, or portion of code that contains one or more logical functions for implementing specified executable instructions.
  • 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 they may sometimes be executed in the reverse order, depending upon the functionality involved.
  • each block in the block diagrams and/or flowcharts, and combinations of blocks in the block diagrams and/or flowcharts can be implemented by a dedicated hardware-based system that performs the specified functions or operations , or may be implemented by a combination of dedicated hardware and computer instructions.
  • the units involved in the embodiments described in the present disclosure may be implemented by software or by hardware. Wherein, the name of a unit does not constitute a limitation of the unit itself under certain circumstances.
  • FPGAs Field Programmable Gate Arrays
  • ASICs Application Specific Integrated Circuits
  • ASSPs Application Specific Standard Products
  • SOCs System on Chips
  • CPLD Complex Programmable Logical device
  • a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device.
  • a machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium.
  • a machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing.
  • machine-readable storage media would include electrical connections via one or more wires, portable computer disks, hard disks, Random Access Memory (RAM), Read Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM or flash memory), optical fiber, compact disk read only memory (CD-ROM), optical storage, magnetic storage, or any suitable combination of the foregoing.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • EPROM Erasable Programmable Read Only Memory
  • CD-ROM compact disk read only memory
  • magnetic storage or any suitable combination of the foregoing.
  • Embodiments of the present disclosure also provide a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the method in any one of the above method embodiments can be implemented, and its execution method and benefits The effects are similar and will not be repeated here.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Probability & Statistics with Applications (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

Procédé de positionnement de terminal mobile, comprenant les étapes suivantes : l'acquisition de distances de télémétrie entre une pluralité de stations de base UWB et un terminal mobile dans la période actuelle ; en fonction des distances de télémétrie correspondant à la pluralité de stations de base UWB, la détermination d'une station de base UWB cible correspondante dans la période actuelle ; et le calcul des coordonnées de position du terminal mobile dans la période actuelle en fonction de la distance de télémétrie entre la station de base cible et le terminal mobile.
PCT/CN2022/140145 2021-12-21 2022-12-19 Procédé et appareil de positionnement de terminal mobile, dispositif et support d'enregistrement WO2023116645A1 (fr)

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Citations (6)

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Publication number Priority date Publication date Assignee Title
JP2003244748A (ja) * 2001-12-14 2003-08-29 Hitachi Ltd 移動端末の位置検出方法およびシステム
CN104125636A (zh) * 2013-04-27 2014-10-29 中国移动通信集团公司 一种基站定位方法及装置
CN109698999A (zh) * 2017-10-23 2019-04-30 深圳市优必选科技有限公司 定位方法及终端设备
CN110868752A (zh) * 2018-08-28 2020-03-06 阿里巴巴集团控股有限公司 一种终端的定位方法和装置
CN111464937A (zh) * 2020-03-23 2020-07-28 北京邮电大学 一种基于多径误差补偿的定位方法及装置
CN113296054A (zh) * 2021-05-24 2021-08-24 福建盛海智能科技有限公司 一种基于uwb阵列的定位导航方法与终端

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Publication number Priority date Publication date Assignee Title
JP2003244748A (ja) * 2001-12-14 2003-08-29 Hitachi Ltd 移動端末の位置検出方法およびシステム
CN104125636A (zh) * 2013-04-27 2014-10-29 中国移动通信集团公司 一种基站定位方法及装置
CN109698999A (zh) * 2017-10-23 2019-04-30 深圳市优必选科技有限公司 定位方法及终端设备
CN110868752A (zh) * 2018-08-28 2020-03-06 阿里巴巴集团控股有限公司 一种终端的定位方法和装置
CN111464937A (zh) * 2020-03-23 2020-07-28 北京邮电大学 一种基于多径误差补偿的定位方法及装置
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