Precise positioning method, system and device based on ultra-wideband technology

An ultra-wideband technology and precise positioning technology, which is applied in the field of combining the CTK algorithm based on the principle of signal time difference of arrival and the least mean square algorithm, can solve the problem that the positioning effect does not meet the high-precision positioning requirements, and achieve high positioning accuracy and multi-path resistance Fading, easy-to-digitize effects

Pending Publication Date: 2021-10-29
SHANDONG NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0006] At present, the widely used positioning algorithm process is the CTK joint positioning algorithm, but this type of algorithm only uses a single Kalman filter algorithm for filtering processing, and the positioning effect does not meet the expected high-precision positioning requirements.

Method used

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  • Precise positioning method, system and device based on ultra-wideband technology
  • Precise positioning method, system and device based on ultra-wideband technology
  • Precise positioning method, system and device based on ultra-wideband technology

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Embodiment 1

[0058] like figure 1 As shown, this embodiment provides a precise positioning method based on ultra-wideband technology. This embodiment uses this method as an example to illustrate the server. It can be understood that this method can also be applied to terminals, and can also be applied to The terminal, the server and the system are implemented through the interaction between the terminal and the server. The server can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or it can provide cloud services, cloud database, cloud computing, cloud function, cloud storage, network server, cloud communication, intermediate Cloud servers for basic cloud computing services such as software services, domain name services, security service CDN, and big data and artificial intelligence platforms. The terminal may be a smart phone, a tablet computer, a laptop computer, a desktop computer, a smart speaker, a smart watch, etc....

Embodiment 2

[0081] This embodiment provides a precise positioning system based on ultra-wideband technology.

[0082] A precise positioning system based on ultra-wideband technology, including:

[0083] An acquisition module configured to: acquire the distance signal between the ultra-wideband tag and the detection base station when the ultra-wideband signal is received by the detection base station;

[0084] The motion trajectory generation module is configured to: use Chan's algorithm to obtain the estimated value of the ultra-wideband tag according to the distance signal between the ultra-wideband tag and the detection base station; use the estimated value of the ultra-wideband tag as the initial iteration value of the Taylor series to obtain Estimated value of UWB tag coordinates; use the UWB tag coordinate estimate as the optimal estimate at the previous moment in the Kalman filter algorithm to make a preliminary estimate of the tag location results, and obtain a preliminary estimate...

Embodiment 3

[0086] This embodiment provides a precise positioning method based on ultra-wideband technology.

[0087] A precise positioning method based on ultra-wideband technology, including:

[0088] The ultra-wideband tag installed on the object to be positioned emits an ultra-wideband signal carrying the ultra-wideband tag;

[0089] At least four detection base stations fixed on the same level receive the ultra-wideband signal transmitted by the ultra-wideband tag;

[0090] The detection base station generates and carries the distance signal between the ultra-wideband tag and the detection base station when the detection base station receives the ultra-wideband signal and transmits it to the cloud server;

[0091] The cloud server first uses Chan's algorithm to calculate the estimated value of the UWB tag based on the distance signal between the UWB tag and the detection base station, and then uses the Taylor series expansion method to calculate the estimated value of the UWB tag co...

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Abstract

The invention provides a precise positioning method, system and device based on an ultra-wideband technology. The method comprises the following steps: acquiring a distance signal between an ultra-wideband tag and a detection base station when the detection base station receives an ultra-wideband signal; adopting a Chan's algorithm to obtain an ultra-wideband tag estimation value according to the distance signal between the ultra-wideband tag and the detection base station; taking the ultra-wideband tag estimation value as an initial iterative value of Taylor series to obtain an ultra-wideband tag coordinate estimation value; performing preliminary estimation on a tag positioning result by taking the ultra-wideband tag coordinate estimation value as an optimal estimation value at a previous moment in a Kalman filtering algorithm to obtain a preliminary estimation value of an ultra-wideband tag coordinate; using a least mean square algorithm to obtain a secondary estimation value of the ultra-wideband tag coordinate corresponding to the initial estimation value of the ultra-wideband tag coordinate; and based on the secondary estimation value of the ultra-wideband tag coordinate, obtaining the motion track of the object carrying the ultra-wideband tag.

Description

technical field [0001] The invention belongs to the field of ultra-wideband technology positioning, and in particular relates to a method combining a CTK algorithm based on the signal arrival time difference principle and a least mean square algorithm. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] With the continuous advancement of science and technology, accurate indoor positioning technology has become the main technical issue and research hotspot in the field of mobile communication and other information electronic technology applications in my country. At present, widely used positioning detection technologies include GPS technology, wireless technology, Bluetooth technology, ZigBee technology and so on. However, the above positioning method is relatively suitable for outdoor open environments. In non-line-of-sight environments, obs...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/14G01S5/02
CPCG01S5/14G01S5/0294
Inventor 王晶晶李紫宇李祥杰刘健伟陈浩然
Owner SHANDONG NORMAL UNIV
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