WO2024088243A1

WO2024088243A1 - Uwb-based positioning method and device, and medium

Info

Publication number: WO2024088243A1
Application number: PCT/CN2023/126138
Authority: WO
Inventors: 李宝利
Original assignee: 歌尔科技有限公司
Priority date: 2022-10-27
Filing date: 2023-10-24
Publication date: 2024-05-02
Also published as: CN115665660A

Abstract

Some embodiments of the present application disclose a UWB-based positioning method and device, and a medium, applicable to the technical field of communications. Distance values between base stations and a terminal are obtained by means of the number of rangings, a ranging algorithm, and position information of the base stations, positioning information corresponding to the terminal is determined according to the distance values, and then a corresponding positioning policy is determined according to the relationship between the positioning information and a preset condition, wherein the preset condition is that a plurality of pieces of positioning information are in a current preset region. The combination of the ranging algorithm and the positioning policy reduces the error of signal transmission between the base stations and the terminal, and the obtained positioning information of the terminal has lower error than positioning information obtained by an existing single positioning method. Moreover, the corresponding positioning policy is determined according to the relationship between the plurality of pieces of positioning information and the preset condition, so that the position information of the terminal is in the preset region, thereby reducing the deviation of the positioning information, and improving the positioning accuracy of the terminal.

Description

A positioning method, device and medium based on UWB

This application claims priority to a Chinese patent application filed with the China Patent Office on October 27, 2022, with application number 202211325492.2 and invention name “A UWB-based positioning method, device and medium”, the entire contents of which are incorporated by reference in this application.

Technical Field

The present invention relates to the field of communication technology, and in particular to a UWB-based positioning method, device and medium.

Background technique

Ultra-wideband (UWB) positioning technology is an emerging technology in the field of indoor positioning. It is a low-power radio technology used in the field of wireless communications and uses nanosecond or sub-nanosecond pulses to achieve wireless communications.

The current ranging and positioning methods use only one ranging method or positioning method to determine the terminal's location information based on the signal parameters between the base station and the terminal, resulting in a single positioning measurement method, and the errors it generates cannot be eliminated. In addition, the traditional positioning algorithm causes errors due to interference such as reflection, multipath propagation, non-line-of-sight propagation, and noise during propagation, resulting in large deviations in the terminal's location information and low accuracy.

Therefore, it is urgent for those skilled in the art to find a UWB positioning method.

Summary of the invention

The purpose of the present invention is to provide a UWB-based positioning method, device and medium, so that the location information of a terminal is within a preset area, the deviation of the positioning information is reduced, and the accuracy of terminal positioning is improved.

In order to solve the above technical problems, the present invention provides a UWB-based positioning method, comprising:

Obtaining location information of each base station, where the number of base stations is at least three;

The distance value between each base station and the terminal is obtained by the number of ranging times, the ranging algorithm and the position information of each base station to determine multiple positioning information corresponding to the terminal;

A corresponding positioning strategy is determined according to a relationship between a plurality of positioning information and a preset condition to obtain final location information of the terminal, wherein the preset condition is that the plurality of positioning information is in a current preset area.

Preferably, the distance value between each base station and the terminal is obtained through the number of ranging times, the ranging algorithm and the position information of each base station to determine multiple positioning information corresponding to the terminal, including:

Obtain the signal parameters between each base station and the terminal corresponding to the current ranging number;

Determine the current distance value between each base station and the terminal corresponding to the current number of ranging times according to the ranging algorithm and the signal parameters;

The current positioning information corresponding to the terminal with the current number of ranging times is determined according to the relationship between the current distance value and the position information of each base station.

Preferably, determining the current distance value corresponding to each base station and the terminal at the current number of ranging times according to the ranging algorithm and the signal parameter includes:

Obtaining timestamps of pulse signals transmitted between each base station and the terminal, wherein the timestamps include at least a first timestamp and a second timestamp of a group of pulse signals transmitted by each base station to the terminal, a third timestamp and a fourth timestamp of a group of response pulse signals transmitted by the terminal to each base station, and the signal parameter is the transmitted timestamp;

Performing a difference process on the first timestamp and the fourth timestamp to obtain a first difference value;

Performing a difference process on the second timestamp and the third timestamp to obtain a second difference value;

Performing difference processing on the first difference and the second difference to obtain a two-way delay time between each base station and the terminal;

Divide the two-way delay time by 2 to get the one-way delay time;

The current distance value between each base station and the terminal is determined by the relationship between the one-way delay time and the speed.

Preferably, the process of establishing the first timestamp and the second timestamp includes the following steps:

Receiving a first timestamp of a pulse signal sent by each base station to the terminal;

Receiving the pulse signal sent by each base station, and recording the receiving time of the first timestamp as the second timestamp;

Correspondingly, the process of establishing the third timestamp and the fourth timestamp includes the following steps:

generating a response signal of the answer pulse signal according to the pulse signal sent by each base station, and recording the sending time of the response signal as a third timestamp;

The third timestamp and the response signal are sent to each base station so that each base station records the response signal and the reception time of the third timestamp as the fourth timestamp.

Preferably, determining a corresponding positioning strategy according to the relationship between the plurality of positioning information and the preset conditions to obtain the final location information of the terminal includes:

Determine whether multiple positioning information meets preset conditions;

If not, then determine the actual distance values between the base stations and the actual distance values between the base stations and the terminal at the current moment according to the ranging algorithm;

Determine an error mean value according to the relationship between each actual distance value and each standard distance value, and determine the location information of the terminal according to the relationship between the measured distance value and the error mean value, wherein each standard distance value is a distance value between each base station determined by the location information of each base station;

Using the terminal's location information as new positioning information;

Merge multiple positioning information according to the number of ranging times to select multiple positioning information corresponding to the number of ranging times close to the current moment to obtain new multiple positioning information, and return to the step of determining whether the multiple positioning information meets the preset conditions;

If so, the final location information of the terminal is determined according to the relationship between the multiple positioning information.

Preferably, the process of establishing the current preset area specifically includes:

Select any two pieces of positioning information from the plurality of positioning information to determine corresponding length values;

Select the maximum length value among the length values, and use the maximum length value as the diameter length value;

Determine the corresponding target positioning information according to the maximum length value;

The circular area is divided according to the target positioning information and the relationship between the diameter and length values to determine the current preset area.

Preferably, determining the location information of the terminal according to the relationship between each measured distance value and the error mean value includes:

Each measured distance value and the error mean are processed separately to obtain a first distance value, a second distance value and a third distance value of the corresponding terminal;

The location information of the terminal is determined according to the relationship among the first distance value, the second distance value, the third distance value and the location information of each base station.

Preferably, determining the final location information of the terminal according to the relationship between the multiple positioning information includes:

Determine whether multiple positioning information are the same;

If they are different, the multiple positioning information are averaged to obtain the final positioning information as the final location information of the terminal;

If they are the same, one piece of positioning information is selected from the multiple positioning information as the final location information of the terminal.

In order to solve the above technical problems, the present invention further provides a UWB-based positioning device, comprising:

An acquisition module, used to acquire location information of each base station, wherein the number of base stations is at least three;

A first determination module is used to obtain the distance value between each base station and the terminal through the number of ranging times, the ranging algorithm and the position information of each base station to determine multiple positioning information corresponding to the terminal;

The second determination module is used to determine a corresponding positioning strategy according to a relationship between a plurality of positioning information and a preset condition to obtain final location information of the terminal, wherein the preset condition is that the plurality of positioning information is in a current preset area.

Memory for storing computer programs;

The processor is used to implement the steps of the above-mentioned UWB-based positioning method when executing the computer program.

In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned UWB-based positioning method are implemented.

The present invention provides a UWB-based positioning method, including: obtaining the location information of each base station, wherein the number of base stations is at least three; obtaining the distance value between each base station and the terminal through the number of ranging times, ranging algorithm and the location information of each base station to determine multiple positioning information corresponding to the terminal; determining the corresponding positioning strategy according to the relationship between the multiple positioning information and the preset conditions to obtain the final location information of the terminal, wherein the preset condition is that the multiple positioning information is in the current preset area. The method obtains the distance value between each base station and the terminal through the ranging algorithm, determines the positioning information corresponding to the terminal according to the distance value, and then determines the corresponding positioning strategy according to the relationship between the positioning information and the preset conditions. The combination of the ranging algorithm and the positioning strategy reduces the error of the transmission signal between the base station and the terminal, and the positioning information of the terminal obtained has a lower error than the positioning information obtained by the existing single positioning method; at the same time, the corresponding positioning strategy is determined according to the relationship between the multiple positioning information and the preset conditions, so that the terminal's location information is within the preset area, reducing the deviation of the positioning information and improving the accuracy of the terminal positioning.

In addition, the present invention also provides a UWB-based positioning device and medium, which have the same beneficial effects as the above-mentioned UWB-based positioning method.

BRIEF DESCRIPTION OF THE DRAWINGS

In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

FIG1 is a flow chart of a UWB-based positioning method provided by an embodiment of the present invention;

FIG2 is a schematic diagram of a terminal positioning method provided by an embodiment of the present invention;

FIG3 is a structural diagram of a UWB-based positioning device provided in an embodiment of the present invention;

FIG. 4 is a structural diagram of another UWB-based positioning device provided in an embodiment of the present invention.

Detailed ways

The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the protection scope of the present invention.

The core of the present invention is to provide a UWB-based positioning method, device and medium, so that the location information of the terminal is within a preset area, the deviation of the positioning information is reduced, and the accuracy of terminal positioning is improved.

In order to enable those skilled in the art to better understand the solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

It should be noted that the UWB-based positioning method provided by the present invention can be applied to various positioning electronic devices, such as smart watches, smart bracelets, rings, virtual reality (VR), augmented reality devices (AR) and other smart wearable devices, as well as locators, mobile phones and other mobile devices.

FIG. 1 is a flow chart of a UWB-based positioning method provided by an embodiment of the present invention. As shown in FIG. 1 , the method includes:

S11: Acquire location information of each base station, where the number of base stations is at least three;

S12: Obtain the distance value between each base station and the terminal through the number of ranging times, ranging algorithm and location information of each base station to determine multiple positioning information corresponding to the terminal;

S13: determining a corresponding positioning strategy according to a relationship between the plurality of positioning information and the preset conditions to obtain final position information of the terminal;

The preset condition is that a plurality of positioning information is in the current preset area.

Specifically, the location information of each base station is obtained. The base station uses the earth as the horizontal coordinate, and the coordinates of the base station can be the location information of the base station. The number of base stations can be determined according to the accuracy requirements of UWB positioning technology, as well as the dimensional requirements. UWB positioning technology is applicable to zero-dimensional, one-dimensional, Two-dimensional and three-dimensional positioning. In zero dimension, that is, existence or non-existence, in this case, it is generally considered based on the coverage range of a single base station. Depending on environmental interference and shielding, the coverage range is generally 10 to 100 meters in radius. In zero dimension, accuracy is generally not emphasized, and the focus is on whether the control area is fully covered.

One dimension, i.e. one directional dimension, is based on the principle of two points in a line. At least two base stations are required. The accuracy can be adjusted according to the environment. Theoretically, it can reach 10cm. The general environment will have an accuracy of 30-100cm. Two dimensions, i.e. positioning in a plane area, can output specific X and Y dimensional coordinates. The minimum requirement is 3 base stations from the technical principle, but the minimum requirement is 4 base stations from the application effect. Based on the different environmental complexity and different accuracy requirements, the distance of base station deployment will be different. In areas with higher requirements, high-quality and high-precision calculations are generally performed by increasing the density of base stations. The highest accuracy of two dimensions can be 10cm, but it belongs to a specific constant environment. The normal use environment can achieve 30-50cm accuracy. Three dimensions, i.e., on the basis of two dimensions, height information is added to achieve three-dimensional positioning, and the output is three-axis data X, Y, Z. In principle, three-dimensional positioning is composed of two plane positioning at different heights. Therefore, the number of base stations will generally be doubled. At present, fewer scenes will use it in this way because the cost will be doubled, and the height accuracy is generally practical to be about 100cm, which is difficult to achieve ultra-high accuracy. As a preferred embodiment, the number of base stations is at least three, which can meet most application scenarios.

In step S12, the number of ranging times determines the number of positioning information currently required according to the preset number, that is, the number of ranging times is the same as the number of positioning information. It can be understood that the number of ranging times is set according to the empirical value. For example, the number of ranging times is 10 times, and 10 positioning information corresponding to the terminal are obtained. Since the positioning information obtained is prone to accidental or erroneous, multiple positioning information will be set to avoid errors or accidental effects on the determination of the final location information of the terminal. A direct relationship is determined based on the location information of each base station and the unknown location information of the terminal. The relationship between the sum of the square differences of the location information of each base station and the unknown location information of the terminal is equal to the distance value between each base station and the terminal. The specific formula is as follows:

The location information of each base station is represented by the coordinate axis as (x ₁ ,y ₁ ), (x ₂ ,y ₂ ), (x ₃ ,y ₃ ), and the unknown location information of the terminal is (x,y), and its distance values correspond to r ₁ , r ₂ , and r ₃ , respectively. Since the location information of each base station is known, its distance value can be obtained based on the pulse signal transmission of each base station and the terminal, as well as the ranging algorithm, and then the unknown location information of the terminal, that is, the positioning information, can be obtained by reverse deduction according to the above formula. The specific formula is as follows:

It should be noted that, since the number of ranging measurements can be multiple, the ranging algorithm can be the same or different in each ranging process. At different times, the positioning information obtained is obtained according to different ranging algorithms or by using the same ranging algorithm at different times, and the present invention does not make specific limitations.

In the ranging algorithm, the current ranging generally adopts ToF single-sided two-way ranging (Single Sided-Two-Way Ranging, SS-TWR), which has a relatively strict constraint that the sending device and the receiving device must be clock synchronized. In order to reduce the impact of clock offset, the double-sided two-way ranging method (Double Sided-Two-Way Ranging, DS-TWR) is often used in UWB ranging. Reverse measurement compensation, module A transmits a pulse signal of request nature at Ta1 on its timestamp, and module B receives the signal at Tb1 on its timestamp. After a certain processing method is applied to the UWB signal, module B simultaneously transmits a response nature and a request nature signal at Tb2, which is received by module A at its own timestamp Ta2. After a period of processing, the response signal is replied at Ta3, which is received by module B at its timestamp Tb3. The specific formula is as follows:

The second method solves the problem of clock offset, but the time consumption of ranging increases. Therefore, the ranging algorithm determined by combining the two methods and considering clock frequency shift and reducing time consumption can also be applied to the embodiments of the present invention. Its ranging algorithm can be any one or more of the algorithms mentioned above. It should be noted that the ranging algorithm of the present invention can also be other ranging algorithms, such as angle of arrival ranging (Angle of Arrival, AOA), received signal strength indicator ranging (Received Signal Strength Indication, RSSI), circular positioning (Time of Arrival, TOA), passive time difference positioning (Time Difference of Arrival, TDOA), etc. The present invention does not make specific limitations, as long as the positioning information of the terminal can be obtained.

After obtaining multiple positioning information in step S12, it determines the corresponding positioning strategy according to the relationship between the multiple positioning information and the preset conditions. When the multiple positioning information meets the preset conditions, it means that the deviation between the multiple positioning information is small, and the final location information of the terminal can be determined based on the multiple positioning information. When the multiple positioning information does not meet the preset conditions, it means that the deviation between the multiple positioning information is large, and the positioning information needs to be reselected. The reselected positioning information needs to be combined with the actual distance of each base station to determine the error mean to obtain the current positioning information, update the positioning information, and re-judge whether it meets the current preset conditions. If so, it means that the deviation of the corrected positioning information is small.

The positioning strategy is based on using the common intersection of the circles of the base stations as the location information of the terminal. Usually, the circles corresponding to the base stations cannot intersect or the intersection is not one point but multiple points, that is, the terminal has multiple positioning information. The embodiment of the present invention corrects the multiple positioning information so that it is in the current preset area to reduce the deviation of the positioning information.

Correspondingly, the preset condition is that multiple positioning information are in the current preset area. Since the positioning information is different each time, the corresponding current preset area is also different. The preset area is updated in real time and the positioning deviation is corrected until the deviation meets certain conditions, that is, the current multiple positioning information is in the current preset area. In this way, the terminal location information obtained is more accurate.

An embodiment of the present invention provides a UWB-based positioning method, comprising: obtaining location information of each base station, wherein the number of base stations is at least three; The method obtains the distance value between each base station and the terminal based on the location information of the station to determine the multiple positioning information corresponding to the terminal; determines the corresponding positioning strategy according to the relationship between the multiple positioning information and the preset conditions to obtain the final location information of the terminal, wherein the preset condition is that the multiple positioning information is in the current preset area. The method obtains the distance value between each base station and the terminal through a ranging algorithm, determines the positioning information corresponding to the terminal according to the distance value, and then determines the corresponding positioning strategy according to the relationship between the positioning information and the preset conditions. The combination of the ranging algorithm and the positioning strategy reduces the error of the transmission signal between the base station and the terminal, and the positioning information of the terminal obtained has a lower error than the positioning information obtained by the existing single positioning method; at the same time, the corresponding positioning strategy is determined according to the relationship between the multiple positioning information and the preset conditions, so that the terminal's location information is within the preset area, reducing the deviation of the positioning information and improving the accuracy of the terminal positioning.

On the basis of the above embodiment, the distance value between each base station and the terminal is obtained by using the number of ranging times, the ranging algorithm and the location information of each base station in step S12 to determine multiple positioning information corresponding to the terminal, including:

Specifically, the signal parameters between each base station and the terminal are obtained under the current number of ranging times, and the signal parameters can be the timestamp information of the sending and receiving of the transmission signals of each base station and the terminal. According to each timestamp information, the current distance value corresponding to each base station and the terminal can be obtained according to the ranging algorithm.

After obtaining the current distance value corresponding to each base station and the terminal, the location information of each base station is known. The current positioning information of the terminal can be obtained by reversely deducing the formula of the unknown location information of the terminal according to the above embodiment, and then multiple positioning information under the number of ranging times can be obtained.

The ranging algorithm may apply an existing ranging algorithm, or may adopt a combination of multiple ranging algorithms to form a new ranging algorithm, which is not limited here.

The embodiment of the present invention provides a process for obtaining the distance value between each base station and the terminal through the number of ranging times, the ranging algorithm and the position information of each base station to determine multiple positioning information corresponding to the terminal, and measures the distance value through the signal parameters between each base station and the terminal (the flight time of the pulse signal between each base station and the terminal) to obtain the positioning information of the terminal.

On the basis of the above embodiments, since in each ranging algorithm, the clocks between the modules are not synchronized, or the measurement error is large, or the flight time is long, and it takes a long time to collect the timestamp information of multiple unidirectional transmissions at the same time, etc., combined with the problems of each ranging algorithm, as a preferred embodiment, the current distance value corresponding to each base station and the terminal of the current ranging number is determined according to the ranging algorithm and the signal parameter, including:

Divide the two-way delay time by 2 to get the one-way delay time;

Specifically, when the base station and the terminal perform bidirectional transmission, multiple groups of timestamps can be obtained, including at least one group of timestamps sent from the base station to the terminal, and one group of timestamps sent from the terminal to the base station. From the perspective of a bidirectional transmission, two groups are included, and four timestamps (first timestamp, second timestamp, third timestamp and fourth timestamp) obtained through the bidirectional transmission are included. Usually, the transmission directions between the base station and the terminal include two, one transmission direction is the first timestamp and second timestamp corresponding to the transmission from the base station to the terminal, and the other transmission direction is the third timestamp and fourth timestamp corresponding to the transmission from the base station to the terminal. The specific third timestamp and fourth timestamp are the timestamps corresponding to the response pulse signal, and the pulse signal is associated with the response pulse signal to obtain more accurate timestamp information.

If we look at multiple bidirectional transmissions, it includes multiple groups of timestamp information, namely multiple first timestamps, multiple second timestamps, multiple third timestamps and multiple fourth timestamps. Currently, the timestamp information obtained from multiple bidirectional transmissions facilitates the subsequent calculation of the distance value between the base station and the terminal to be more accurate. At the same time, it also takes up more time. In terms of engineering implementation, the distance between the base station and the terminal is far, and it takes more time after multiple bidirectional transmissions, which increases the time consumption of the distance value obtained later.

In this embodiment, corresponding to the first and third timestamps sent, the timestamp information of the pulse signal sending record can be the timestamp when the entire pulse signal is sent as the first or fourth timestamp, or the timestamp when the pulse signal is just started as the first or fourth timestamp. The present invention does not limit this. In order to avoid interference from other signals in the process of sending the pulse signal, the timestamp when the entire pulse signal is sent is used as the timestamp for recording. Similarly, in the received second and fourth timestamps, the timestamp when the pulse signal from the other end just starts is used as the timestamp for recording, or the timestamp information when the pulse signal is completely received at this end is used as the timestamp for recording. The present invention does not limit this. As a preferred embodiment, the entire receiving process avoids interference information caused by receiving, so the second and fourth timestamps for recording are used as the timestamp for recording when the pulse signal is completely received.

It should be noted that the delay time can be a delay in the transmission protocol, or a delay in receiving or sending between the local end and the other end. It is not limited here and can be set according to actual conditions. Regarding the delay in the transmission protocol, it can be a transmission protocol delay from A to B, or a transmission protocol delay from B to A. In order to avoid the transmission protocol delay of unidirectional transmission, the embodiment of the present invention considers bidirectional transmission, that is, bidirectional transmission formed by A transmitting from B once and B transmitting from A once.

In order to save time, it includes two sets of timestamp recording information. When each base station sends a pulse signal to the terminal at time Ta1, the time when the terminal receives the pulse signal is time Tb1. Only pulse signals can be sent, or pulse signals and timestamp information of Ta1 moment can be sent. When the base station only sends pulse signals to the terminal, the terminal only knows the moment of the pulse signal it receives as Tb1 moment (second timestamp). Since the clock sources used by the base station and the terminal are different, the terminal needs to send a reply signal (response signal) of the pulse signal to the base station again. The terminal records the current sending moment as Tb2 moment (third timestamp), and the base station receives the reply signal as Ta2 moment (fourth timestamp). At this time, as a base station, it knows its own first timestamp of sending pulse signals and the fourth timestamp of receiving reply pulse signals; as a terminal, it knows its own third timestamp of receiving pulse signals and the third timestamp of sending reply pulse signals. Therefore, the fourth timestamp minus the first timestamp is the entire transmission time of the transmission between the base station and the terminal, and the third timestamp minus the second timestamp is the transmission time of the terminal. By subtracting the entire transmission time from the transmission time of the terminal again, the delay time of the two-way transmission can be obtained, and the delay time T of the one-way transmission can also be known. The specific formula is as follows:

Among them, Ta2 is the fourth timestamp, Ta1 is the first timestamp, Tb2 is the third timestamp, and Tb1 is the fourth timestamp.

After obtaining the one-way delay time, the current distance between the base station and the terminal is determined based on the relationship between time and speed, and the speed is usually the propagation speed of light (3*10 ⁸ m/s). Therefore, the distance between the terminal and the base station is T*C, where C is the speed of light. The speed of light refers to the propagation speed of light waves or electromagnetic waves in a vacuum or medium. The speed of light in a vacuum is the maximum speed of natural objects found so far. It has nothing to do with the speed of the observer relative to the light source, that is, the speed of light measured in the inertial system at rest and in motion relative to the light source is the same.

It should be noted that in the embodiment of the present invention, the pulse signal sent between the base station and the terminal may also be that the terminal sends a pulse signal to the base station, the base station responds to the pulse signal to obtain a response signal, and then sends the response signal to the terminal. This is not limited here, as long as the distance between the base station and the terminal can be obtained.

In order to facilitate the signal transmission and timestamp information between the base station and the terminal, the corresponding sending timestamp can be carried during the sending process so that the other end knows the current sending timestamp of the local end. As a preferred embodiment, the process of establishing the first timestamp and the second timestamp includes the following steps:

The third timestamp and the response signal are sent to each base station so that each base station records the response signal and the reception time of the third timestamp is the fourth timestamp.

Specifically, the sending time of the pulse signal sent by each base station is recorded as the first timestamp, and the first timestamp is sent to the terminal together with the pulse signal as the sending carrying information of the pulse signal. The terminal can see the first timestamp information, that is, the sending timestamp of the pulse signal sent by the base station, and can also use the receiving time of the pulse signal and the first timestamp as the second timestamp. At this time, the delay time of the one-way transmission sent by the base station to the terminal can be obtained.

The terminal sends a response signal to the answer pulse signal to the base station, and the sending time of the response signal by the terminal is the third timestamp. The third timestamp and the response signal are sent to the base station together. The base station can see the third timestamp information, that is, the sending timestamp of the response signal sent by the terminal. At this time, the delay time of the one-way transmission sent by the terminal to the base station can be obtained.

The transmission delay time of the entire transmission process can be obtained by adding the two delay times. It can be understood that the above description can be used to know the delay times of the one-way transmission of this end and the other end respectively. Since the transmitted pulse signal and the response signal are different, whether the delay time from the base station to the terminal will be different from the delay time from the terminal to the base station. In order to obtain a more accurate delay time, the formula is the same as the one-way delay time mentioned in this embodiment.

The embodiment of the present invention provides a process for determining the current distance value corresponding to each base station and the terminal according to the ranging algorithm and signal parameters for determining the current ranging times. In consideration of the clock offset and ranging time consumption, the base station and the terminal know each other's sending time, which ensures that the clock synchronization offset is small and reduces the error. The four timestamps of bidirectional transmission can solve the ranging time consumption problem, reduce the generation of time consumption problems, and improve the efficiency and accuracy of ranging.

On the basis of the above embodiment, the step S13 of determining the corresponding positioning strategy according to the relationship between the plurality of positioning information and the preset conditions to obtain the final position information of the terminal includes:

Determine whether multiple positioning information meets preset conditions;

Using the terminal's location information as new positioning information;

It should be noted that it is determined whether the multiple positioning information meets the preset conditions. If so, it means that the current multiple positioning information is in the current preset area, and the deviations between the various positioning information are small. No correction is required, and the final location information of the terminal is directly determined based on the current multiple positioning information. If not, it means that there may be several positioning information in the current multiple positioning information that are not in the current preset area, and the deviations between the various positioning information are large, and correction is required, the purpose of which is to make all the current multiple positioning information in the current preset area.

If the preset conditions are not met, the actual distance value between each base station and the measured distance value between each base station and the terminal at the current moment are determined according to the ranging algorithm. The actual distance value is the value measured by the pulse signal transmission between each base station measured by the ranging algorithm, which takes into account the actual transmission environment (the existence of interference factors). Since the corresponding distance value at different times will be affected by the current transmission environment, it is necessary to obtain the distance value measured by the pulse signal transmission between each base station and the terminal at the current moment, that is, the measured distance value.

The error mean is determined by the relationship between each actual distance value and each standard distance value. Specifically, each actual distance value minus each standard distance value obtains the corresponding real-time error, and each real-time error is averaged to obtain the error mean. Each standard distance value is the distance value between each base station determined by the location information of each base station. For example, if there are three base stations, the distance values obtained are three, namely, the distance between base station 1 and base station 2, the distance between base station 1 and base station 3, and the distance between base station 2 and base station 3. Since the coordinate value of the base station is certain and its location information is certain, the distance between each base station is certain. The standard distance value is measured in an environment without interference, and the error is small and can be ignored. The standard distance value is used as the standard reference value for ranging and positioning.

For example, there are three base stations. FIG2 is a schematic diagram of a terminal positioning method provided by an embodiment of the present invention. As shown in FIG2, the standard distance value between base station 1 and base station 2 is ToF _{1_2} , the standard distance value between base station 2 and base station 3 is ToF _{2_3} , and the standard distance value between base station 1 and base station 3 is ToF _{1_3} . The corresponding actual distance values are ToF' _{1_2} ToF' _{1_3} , ToF' _{2_3} . The specific formula for determining the mean error is as follows:

Among them, Δt is the mean error.

The location information of the terminal is determined according to the relationship between the measured distance value and the error mean. The measured distance value is the same as the distance value between each base station and the terminal obtained by the ranging algorithm, and the corresponding measured distance value (r ₁ , r ₂ , r ₃ ) is obtained by adding the error mean value to the measured distance value. The value obtained is the current corrected local ranging positioning value (r ₁ ', r ₂ ', r ₃ '), and the location information of the terminal can be obtained by the positioning information formula (refer to the above embodiment).

As a preferred embodiment, determining the location information of the terminal according to the relationship between each measured distance value and the error mean value includes:

In combination with the above example, each measured distance value is processed with the error mean value to obtain the corresponding first distance value r ₁ ', second distance value r ₂ ' and third distance value r ₃ '. The specific formula is as follows:

The location information of the terminal is obtained according to the first distance value, the second distance value, the third distance value and the location information of each base station, combined with the formula for obtaining the unknown location information of the terminal by reverse deduction in the above embodiment.

The current location information is used as the new positioning information, which is merged into multiple positioning information according to the number of ranging times. For example, if the number of ranging times N = 10, the new positioning information is merged as the 11th positioning information. Since the number of positioning information each time is only the number of ranging times, when the new positioning information arrives, the original first positioning information is removed, so as to select the multiple positioning information corresponding to the number of ranging times close to the current moment to obtain the corresponding new positioning information. That is, each time new positioning information appears, it is necessary to shift the corresponding multiple positioning information according to the number of ranging times as the current new multiple positioning information.

The new multiple positioning information continues to be judged whether it meets the preset conditions, until the corresponding final position information is output after the preset conditions are met.

The embodiment of the present invention provides a process for determining the final location information of the terminal by determining the corresponding positioning strategy according to the relationship between multiple positioning information and preset conditions. When multiple positioning information meets the preset conditions, the final location information of the terminal is determined from the positioning information. When multiple positioning information does not meet the preset conditions, it is necessary to correct the positioning strategy of the positioning information to obtain new positioning information, and determine whether the preset conditions are met again until the final location information is obtained after the preset conditions are met. When the positioning information is within the preset area, the corresponding positioning strategy is determined so that the terminal's location information is within the preset area, reducing the deviation of the positioning information and improving the accuracy of the terminal positioning.

Based on the above embodiment, the process of establishing the current preset area in the preset condition specifically includes:

Specifically, any two positioning information are selected from multiple positioning information to determine their length values, and a length value is determined by pairing two positioning information. The maximum length value is continuously selected from each length value, so that the maximum length value is used as the diameter length of the preset area.

Since the maximum length value is determined by the positioning information, the positioning information of the maximum length value can be determined as two target positioning information, and the circular area is divided by the diameter length values of the current two target positioning information to determine as the current preset area.

It is understandable that, since the selection of positioning information is different each time, the size and position of the preset area also change in real time, so as to better determine the final position information for the current multiple positioning information and improve real-time performance and accuracy.

In addition, the shape of the current preset area can be the circular area mentioned above, or it can be a semi-fan-shaped area or a rectangular area, etc. As a preferred embodiment, in order to better determine the preset area based on the positioning information in real time, the circular area determined by the diameter length value is more convenient and quick, so that the time to determine the preset area is shorter.

The process of establishing the current preset area of the preset conditions provided in the embodiment of the present invention is more convenient and quicker to determine the circular area by the diameter length value, so that the time for determining the preset area is shorter.

Based on the above embodiment, determining the final location information of the terminal according to the relationship between the multiple positioning information includes:

Determine whether multiple positioning information are the same;

It is understandable that when multiple positioning information meets the preset conditions, that is, when multiple positioning information is in the current preset area, the deviation between the positioning information is small, and it is continued to determine whether the multiple positioning information is the same. If the same, it is determined that the multiple positioning information is compared to one point, and one positioning information is selected as the final location information of the terminal.

If they are different, but the deviation of the positioning information is small, the multiple positioning information is averaged to obtain the final positioning information. For example, there are 5 positioning information, and the coordinates of the positioning information are (x ₁ ', y ₁ '), (x ₂ ', y ₂ '), (x ₃ ', y ₃ '), (x ₄ ', y ₄ '), (x ₅ ', y ₅ '). The corresponding x' value of the final positioning information obtained by the average processing is:

The y' value of the final position information obtained by mean processing is:

The coordinate value (x', y') of its final position information is obtained by combining x' and y'.

It should be noted that the mean value processing provided in the embodiment of the present invention is only one embodiment, and the final position information can also be obtained through standard deviation or other algorithm processing.

The embodiment of the present invention determines the final location information of the terminal according to the relationship between multiple location information. If multiple location information are the same, one location information is determined as the final location information. If multiple location information are different, the final location information is obtained by averaging. This makes the process of determining the final location information simpler and improves its accuracy.

The above describes in detail various embodiments corresponding to the UWB-based positioning method. On this basis, the present invention also discloses a UWB-based positioning device corresponding to the above method. FIG3 is a structural diagram of a UWB-based positioning device provided by an embodiment of the present invention. As shown in FIG3, the UWB-based positioning device includes:

An acquisition module 11 is used to acquire location information of each base station, wherein the number of base stations is at least three;

A first determination module 12 is used to obtain the distance value between each base station and the terminal through the number of ranging times, the ranging algorithm and the position information of each base station to determine multiple positioning information corresponding to the terminal;

The second determination module 13 is used to determine a corresponding positioning strategy according to the relationship between the multiple positioning information and the preset condition to obtain the final location information of the terminal, wherein the preset condition is that the multiple positioning information is in the current preset area.

Since the embodiments of the device part correspond to the above embodiments, please refer to the description of the embodiments of the method part for the embodiments of the device part, and will not be repeated here.

For an introduction to a UWB-based positioning device provided by the present invention, please refer to the above method embodiment, and the present invention will not be repeated here. It has the same beneficial effects as the above UWB-based positioning method.

FIG. 4 is a structural diagram of another UWB-based positioning device provided in an embodiment of the present invention. As shown in FIG. 4 , the device includes:

A memory 21, used for storing computer programs;

The processor 22 is used to implement the steps of the UWB-based positioning method when executing the computer program.

The UWB-based positioning device provided in this embodiment may include but is not limited to mobile devices such as wearable devices, locators, smart phones, tablet computers, laptops or desktop computers.

Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 may be implemented in at least one hardware form of a digital signal processor (DSP), a field-programmable gate array (FPGA), and a programmable logic array (PLA). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit (CPU); the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may be integrated with a graphics processing unit (GPU), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may also include an artificial intelligence (AI) processor, which is used to process computing operations related to machine learning.

The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include a high-speed random access memory and a non-volatile memory, such as one or more disk storage devices and flash memory storage devices. In this embodiment, the memory 21 is used to store at least the following computer program 211, wherein after the computer program is loaded and executed by the processor 22, it can implement the relevant UWB-based positioning method disclosed in any of the above embodiments. In addition, the resources stored in the memory 21 may also include an operating system 212 and data 213, and the storage method may be temporary storage or permanent storage. The operating system 212 may include Windows, Unix, Linux, etc. The data 213 may include but is not limited to data related to the UWB-based positioning method, etc.

In some embodiments, the UWB-based positioning device may further include a display screen 23 , an input/output interface 24 , a communication interface 25 , a power supply 26 , and a communication bus 27 .

Those skilled in the art will appreciate that the structure shown in FIG. 4 does not constitute a limitation on the UWB-based positioning device, and may include more or fewer components than those shown in the figure.

The processor 22 implements the UWB-based positioning method provided by any of the above embodiments by calling the instructions stored in the memory 21 .

Furthermore, the present invention also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by the processor 22, the steps of the above-mentioned UWB-based positioning method are implemented.

It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and executes all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program code.

For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above method embodiment, which will not be described in detail herein. It has the same beneficial effects as the above UWB-based positioning method.

The above is a detailed introduction to a UWB-based positioning method, a UWB-based positioning device and a medium provided by the present invention. The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same and similar parts between the embodiments can refer to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can refer to the method part description. It should be pointed out that for ordinary technicians in this technical field, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the scope of protection of the claims of the present invention.

It should also be noted that, in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or require The term "includes" or "comprising" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Claims

A positioning method based on UWB, characterized by comprising:

Acquire location information of each base station, wherein the number of the base stations is at least three;

Obtain the distance value between each base station and the terminal by using the number of ranging times, the ranging algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal;

A corresponding positioning strategy is determined according to a relationship between the plurality of positioning information and a preset condition to obtain final location information of the terminal, wherein the preset condition is that the plurality of positioning information is in a current preset area.
The UWB-based positioning method according to claim 1, characterized in that the distance value between each base station and the terminal is obtained by the number of ranging times, the ranging algorithm and the position information of each base station to determine the multiple positioning information corresponding to the terminal, including:

Obtaining signal parameters between each of the base stations and the terminal corresponding to the current number of ranging times;

Determine, according to the ranging algorithm and the signal parameter, a current distance value corresponding to each of the base stations and the terminal for the current number of ranging times;

The current positioning information corresponding to the terminal for the current number of ranging times is determined according to the relationship between the current distance value and the position information of each base station.
The UWB-based positioning method according to claim 2, characterized in that the current distance value corresponding to each of the base stations and the terminal for the current number of ranging measurements is determined according to the ranging algorithm and the signal parameter, comprising:

Acquire timestamps of pulse signals transmitted between each of the base stations and the terminal, wherein the timestamps include at least a group of first timestamps and second timestamps of each of the base stations transmitting the pulse signals to the terminal, and a group of third timestamps and fourth timestamps of each of the terminals transmitting responses to the pulse signals to the base stations, and the signal parameter is the transmitted timestamps;

Performing a difference process between the first timestamp and the fourth timestamp to obtain a first difference value;

Performing a difference process on the second timestamp and the third timestamp to obtain a second difference value;

Performing difference processing on the first difference and the second difference to obtain a two-way delay time between each of the base stations and the terminal;

Divide the two-way delay time by 2 to obtain the one-way delay time;

The current distance value between each of the base stations and the terminal is determined by using the relationship between the one-way delay time and the speed.
The UWB-based positioning method according to claim 3, characterized in that the process of establishing the first timestamp and the second timestamp comprises the following steps:

Receiving the first timestamp of the pulse signal sent by each of the base stations to the terminal;

receiving the pulse signal sent by each of the base stations, and recording a receiving time of the first timestamp as the second timestamp;

Correspondingly, the process of establishing the third timestamp and the fourth timestamp includes the following steps:

generating a response signal in response to the pulse signal according to the pulse signal sent by each of the base stations, and recording the sending time of the response signal as the third timestamp;

The third timestamp and the response signal are sent to each of the base stations so that each of the base stations records the response signal and the reception time of the third timestamp as the fourth timestamp.
The UWB-based positioning method according to any one of claims 1 to 4, characterized in that the determining of the corresponding positioning strategy according to the relationship between the plurality of positioning information and the preset conditions to obtain the final location information of the terminal comprises:

Determining whether the plurality of positioning information meets the preset condition;

If not, determining the actual distance values between the base stations and the measured distance values between the base stations and the terminal at the current moment respectively according to the ranging algorithm;

Determine an error mean value according to a relationship between each of the actual distance values and each of the standard distance values, and determine the location information of the terminal according to a relationship between the measured distance value and the error mean value, wherein each of the standard distance values is a distance value between each of the base stations determined by the location information of each of the base stations;

Using the location information of the terminal as the new positioning information;

Merge the multiple positioning information according to the number of ranging times to select the multiple positioning information corresponding to the number of ranging times close to the current moment to obtain new multiple positioning information, and return to the step of determining whether the multiple positioning information meets the preset condition;

If so, the final location information of the terminal is determined according to the relationship between the multiple positioning information.
The UWB-based positioning method according to claim 5, characterized in that the process of establishing the current preset area specifically includes:

Select any two of the positioning information from the plurality of positioning information to determine corresponding length values;

Selecting a maximum length value from among the length values, and using the maximum length value as the diameter length value;

Determine corresponding target positioning information according to the maximum length value;

The circular area is divided according to the target positioning information and the relationship between the diameter length value to determine the current preset area.
The UWB-based positioning method according to claim 6, characterized in that the determining the location information of the terminal according to the relationship between each of the measured distance values and the error mean value comprises:

Performing and processing on each of the measured distance values and the error mean respectively to obtain a corresponding first distance value, a second distance value and a third distance value of the terminal;

The location information of the terminal is determined according to the relationship among the first distance value, the second distance value, the third distance value, and the location information of each of the base stations.
The UWB-based positioning method according to claim 7, characterized in that the determining the final location information of the terminal according to the relationship between the plurality of positioning information comprises:

Determining whether the plurality of positioning information are the same;

If they are different, averaging the plurality of positioning information to obtain final positioning information as the final position information of the terminal;

If they are the same, one piece of positioning information is selected from the multiple pieces of positioning information as the final position information of the terminal.
A UWB-based positioning device, comprising:

An acquisition module, used to acquire location information of each base station, wherein the number of the base stations is at least three;

A first determination module, configured to obtain the distance value between each base station and the terminal through the number of ranging times, the ranging algorithm and the position information of each base station to determine a plurality of positioning information corresponding to the terminal;

The second determination module is used to determine a corresponding positioning strategy according to a relationship between the plurality of positioning information and a preset condition to obtain final location information of the terminal, wherein the preset condition is that the plurality of positioning information is in a current preset area.
A UWB-based positioning device, comprising:

Memory for storing computer programs;

A processor, configured to implement the steps of the UWB-based positioning method as described in any one of claims 1 to 8 when executing the computer program.
A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the UWB-based positioning method as described in any one of claims 1 to 8 are implemented.