CN114630262A - Positioning method and device, electronic equipment, ultra-wideband base station and storage medium - Google Patents
Positioning method and device, electronic equipment, ultra-wideband base station and storage medium Download PDFInfo
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- H04W4/02—Services making use of location information
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Abstract
The embodiment of the application discloses a positioning method, which comprises the following steps: the method comprises the steps that the electronic equipment obtains the relative position relation among a plurality of ultra wide band UWB base stations in a scene; the electronic equipment receives a plurality of first UWB positioning signals transmitted by the UWB base stations and determines the receiving time information of each first UWB positioning signal in the first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one to one; the electronic device determines the position information of the electronic device in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals. The embodiment of the application also discloses a positioning device, electronic equipment, a UWB base station and a computer readable storage medium.
Description
Technical Field
The present application relates to the field of wireless communication technologies, and in particular, to a positioning method and apparatus, an electronic device, an ultra wideband base station, and a storage medium.
Background
At present, the position of an article or an electronic device indoors is usually determined by using a high Fidelity (WiFi) positioning technology, a bluetooth positioning technology or a ZigBee (ZigBee) positioning technology, or by various three-dimensional reconstruction methods, but the method is often affected by signal interference and the like, and effective and real-time positioning of the article or the electronic device cannot be effectively realized.
Disclosure of Invention
The embodiment of the application provides a positioning method, a positioning device, electronic equipment, an ultra-wideband base station and a storage medium.
In a first aspect, an embodiment of the present application provides a positioning method, including:
the method comprises the steps that the electronic equipment obtains the relative position relation among a plurality of Ultra Wide Band (UWB) base stations in a scene;
the electronic equipment receives a plurality of first UWB positioning signals transmitted by the UWB base stations and determines the receiving time information of each first UWB positioning signal in the first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one to one;
the electronic device determines the position information of the electronic device in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals.
In a second aspect, an embodiment of the present application provides a positioning method, where the method includes:
the method comprises the steps that a first ultra-wideband UWB base station determines map information of a scene; the map information is used for indicating relative position relation among a plurality of UWB base stations in the scene; the plurality of UWB base stations comprises the first UWB base station;
the first UWB base station sends the map information and the first UWB positioning signal to the terminal equipment, so that the electronic equipment obtains the relative position relation among the UWB base stations based on the map information, and determines the position information of the electronic equipment in the scene based on the relative position relation among the UWB base stations and the receiving time information of the first UWB positioning signal.
In a third aspect, an embodiment of the present application provides a positioning apparatus, including:
the acquiring unit is used for acquiring the relative position relation among a plurality of ultra wide band UWB base stations in a scene;
a receiving unit, configured to receive a plurality of first UWB positioning signals transmitted by the plurality of UWB base stations, and determine reception time information of each of the plurality of first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one to one;
and the processing unit is used for determining the position information of the electronic equipment in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals.
In a fourth aspect, an embodiment of the present application provides a positioning apparatus, including:
the determining unit is used for determining the map information of the scene; the map information is used for indicating relative position relation among a plurality of UWB base stations in the scene; the plurality of UWB base stations comprises the first UWB base station;
and the sending unit is used for sending the map information and the first UWB positioning signal to terminal equipment so that the electronic equipment obtains the relative position relation among the UWB base stations based on the map information, and determines the position information of the electronic equipment in the scene based on the relative position relation among the UWB base stations and the receiving time information of the first UWB positioning signal.
In a fifth aspect, an embodiment of the present application provides an electronic device, which includes a first transceiver, a first processor, and a first memory storing instructions executable by the first processor;
the first transceiver, the first processor, and the first memory communicate over a first communication bus;
the first processor is configured to execute the steps of the positioning method according to the first aspect when the executable instructions stored in the first memory are executed.
In a sixth aspect, an embodiment of the present application provides a UWB base station comprising a second transceiver, a second processor, and a second memory storing instructions executable by the second processor;
the second transceiver, the second processor, and the second memory communicate over a second communication bus;
the second processor is configured to execute the steps of the method of the second aspect when executing the executable instructions stored in the second memory.
In a seventh aspect, this application provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the steps of the positioning method in the first aspect or the second aspect.
The embodiment of the application provides a positioning method, and particularly, an electronic device can acquire the relative position relation among a plurality of ultra wide band UWB base stations in a scene; receiving a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations, and recording the receiving time information of each first UWB positioning signal in the plurality of first UWB positioning signals; wherein a plurality of UWB base stations are in one-to-one correspondence with the plurality of UWB positioning signals; the electronic device determines the position information of the electronic device in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals. Therefore, the electronic equipment determines the position of the electronic equipment by receiving UWB signals transmitted by a plurality of UWB base stations, and the anti-interference characteristic of the UWB signals is utilized, so that the positioning is more accurate; in addition, the electronic equipment can actively determine the position of the electronic equipment according to the received UWB signals of the base station, and the positioning real-time performance is improved.
Drawings
Fig. 1 is a schematic diagram of a system architecture according to an embodiment of the present application;
fig. 2 is a first schematic flow chart of a positioning method according to an embodiment of the present disclosure;
fig. 3 is a schematic flowchart of a positioning method according to an embodiment of the present application;
fig. 4 is a schematic diagram of a UWB base station location distribution provided in an embodiment of the present application;
fig. 5 is a first schematic view of an information acquisition process provided in an embodiment of the present application;
fig. 6 is a schematic diagram of an information acquisition process provided in the embodiment of the present application;
fig. 7 is a first schematic structural diagram of a positioning device according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram illustrating a hardware structure of an electronic device according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a positioning device according to an embodiment of the present disclosure;
fig. 10 is a schematic diagram illustrating a hardware structure of a UWB base station according to an embodiment of the present disclosure.
Detailed Description
So that the manner in which the features and elements of the present invention can be understood in detail, a more particular description of the invention, briefly summarized above, may be had by reference to embodiments, some of which are illustrated in the appended drawings.
It should be noted that the terms "first", "second", and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Currently, the indoor positioning and navigation technical scheme is mainly based on a high Fidelity (WiFi) positioning technology, a bluetooth positioning technology or a ZigBee (ZigBee) positioning technology.
Specifically, in a WiFi positioning technology, a positioning card or a wrist band worn on a human body periodically sends a signal in a place covering a wireless local area network, and a wireless local area network Access Point (AP) transmits the signal to a positioning server after receiving the signal. The positioning server judges the position of the personnel according to the strength of the signal or the arrival time difference of the signal and displays the specific position through an electronic map; the positioning accuracy of WiFi is 3-5 meters at present.
The bluetooth positioning technology is based on the RSSI (Received Signal Strength Indication) positioning principle. According to the difference of the positioning end, the bluetooth positioning technology can be divided into network side positioning and terminal side positioning. The current bluetooth 5.0 positioning accuracy is 1-10 meters. The ZigBee positioning technology is also based on the RSSI positioning principle; the positioning accuracy of the ZigBee is 0.5-1 meter at present.
The existing indoor positioning modes are various, but the indoor positioning mode is often influenced by signal interference and the like, so that the positioning accuracy is difficult to ensure.
In addition, the related art also includes UWB-based indoor positioning methods, and by measuring the time when a signal transmitted by an electronic device reaches a base station, the distance to the base station for the electronic device can be determined. The location of the electronic device can be determined by the distances from the electronic device to the plurality of base stations (circles are drawn with the base stations as the centers and the distances as the radii). However, as the complexity of the indoor positioning system increases, the number of electronic devices using indoor positioning increases explosively, and the current UWB-based indoor positioning method still requires each electronic device to send a signal to the base station, determine the position of each electronic device through the base station, and return the obtained position to the electronic device. Therefore, the accuracy and the real-time performance of indoor positioning are difficult to ensure by the current UWB-based indoor positioning method.
Based on this, the embodiment of the present application provides a positioning method, and specifically, an electronic device may obtain a relative position relationship between a plurality of UWB base stations in a scene where the electronic device is located; receiving a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations, and determining the receiving time information of each first UWB positioning signal in the plurality of first UWB positioning signals; wherein a plurality of UWB base stations are in one-to-one correspondence with the plurality of UWB positioning signals; the electronic device determines the position information of the electronic device in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals. Therefore, the electronic equipment determines the position of the electronic equipment by receiving UWB signals transmitted by a plurality of UWB base stations, and the anti-interference characteristic of the UWB signals is utilized, so that the positioning is more accurate; in addition, the electronic equipment can actively determine the position of the electronic equipment according to the received UWB signals of the base station, and the positioning real-time performance is improved.
The system architecture according to the embodiments of the present application will be briefly described below.
As shown in fig. 1, the system architecture according to the embodiment of the present application includes a terminal device 11, a UWB base station 12, and an electronic tag 13. The UWB base station 12 and the electronic tag 13 may be disposed in the same indoor scene, which may be a warehouse scene. Specifically, the UWB base station 12 may be disposed on a wall or a ceiling in a room, and the electronic tag 13 may be disposed on an article in an indoor scene.
Fig. 1 exemplarily shows a UWB base station and an electronic tag. Optionally, the system architecture may include a plurality of UWB base stations, and other numbers of electronic tags, which are not limited in this application.
It should be noted that the number and the position of the UWB base stations 12 in the indoor scene can be adjusted according to the size of the indoor scene and the density of the stacked articles. In addition, the placing position of the electronic tag 13 can be adjusted according to specific storage articles. It should be noted that the coverage of UWB is around 80m, but when the objects are dense in the indoor scene, the coverage is reduced, and therefore the number of UWB base stations is increased accordingly.
In the embodiments provided in the present application, the UWB base station 12 may perform the transceiving and processing of the UWB signal by itself, and perform information interaction with other UWB base stations 12 in the indoor scene. The UWB base station comprises a data processing module and a UWB signal receiving and transmitting chip; wherein, the data processing module can be a Micro Controller Unit (MCU). It should be noted that the UWB base station may be powered on through the USB or typeC interface, and a battery power-on mode is backed up (to prevent abnormal power failure).
In the embodiment provided by the present application, the electronic tag 13 may also perform UWB signal transceiving and processing by itself, and perform information interaction with a plurality of UWB base stations 12 arranged in an indoor scene. The electronic tag 13 may include a data processing module, a UWB signal transceiving chip, and an NFC charging module.
In addition, in the embodiments provided in the present application, the terminal device 11 may be a mobile terminal device, or a Personal Computer (PC) terminal device. Here, the terminal device 11 may exchange information with the UWB base station 12 and the electronic tag 13 by wireless communication or wired communication. Illustratively, the mobile terminal device can realize information interaction with the electronic tag in a bluetooth mode, and the PC terminal device can perform far-end information interaction with the UWB base station through WiFi communication.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
The embodiment of the present application provides a positioning method, referring to a schematic flow chart of the positioning method shown in fig. 2, where the positioning method may include the following steps:
Here, the electronic device may be the electronic tag 13 shown in fig. 1 or the terminal device 11 shown in fig. 1, which is not limited in this embodiment of the application.
The scene mentioned in the embodiment of the present application may be a warehouse scene or other indoor scenes, which is not limited in the embodiment of the present application.
In the embodiment provided by the present application, the multiple UWB base stations may be all UWB base stations in the current indoor scenario, or may be some UWB base stations in the current indoor scenario. That is, in a case where an indoor scene is large, the electronic device may perform information interaction only with a plurality of UWB base stations that are close in distance.
In a possible implementation manner, the electronic device may perform real-time information interaction with a plurality of UWB base stations, and acquire a relative position relationship between the plurality of UWB base stations in a current scene from any one of the plurality of UWB base stations.
In another possible implementation manner, the electronic device may pre-store the relative position relationship between the plurality of UWB base stations in the current scene, and acquire the relative position relationship between the plurality of UWB base stations in the scene from the storage space.
In embodiments provided herein, a plurality of UWB base stations may broadcast a first UWB positioning signal on respective time slots in an order. In this way, the electronic device can record the reception time information of the first UWB positioning signal of each UWB base station after receiving the first UWB positioning signal transmitted by each UWB base station.
Here, the plurality of UWB base stations correspond to the plurality of UWB positioning signals one to one, that is, each UWB base station transmits one first UWB positioning signal.
The first UWB positioning signal is specifically a signal containing positioning information transmitted by using nanosecond-level narrow pulses of non-sinusoidal waves.
In step 230, the electronic device determines the position information of the electronic device in the scene based on the relative position relationship between the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals.
In the embodiment provided by the present application, the time of a plurality of UWB base stations may be synchronized according to a preset algorithm, so as to ensure that the time of each UWB base station keeps synchronized in real time. In this way, after the electronic device determines the receiving time information of each first UWB signal, the electronic device may calculate the position information of the electronic device in the current scene using the relative position relationship between the plurality of UWB base stations and the receiving time information of the first UWB signals transmitted by the plurality of UWB base stations.
In one possible implementation, the electronic device may pre-agree with the plurality of UWB base stations about the transmission time information of each first UWB positioning signal (e.g., pre-agree with the transmission time slot of each UWB base station). Thus, after receiving a first UWB positioning signal, the electronic device may calculate the distance between the UWB base station transmitting the first UWB positioning signal and the electronic device according to the pre-determined transmission time information of the first UWB positioning signal and the reception time information of the first UWB positioning signal. Based on this, the electronic device can obtain distances to a plurality of UWB base stations. Further, the electronic device may determine the position information of the electronic device in the current scene according to the distance between the plurality of UWB base stations and the relative position relationship between the plurality of UWB base stations.
In another possible implementation manner, the first UWB positioning signal may carry transmission time information of the corresponding UWB base station transmitting the first UWB signal. Thus, after receiving a first UWB positioning signal, the electronic device may analyze the first UWB positioning signal to obtain the transmission time information of the first UWB positioning signal. Further, the electronic device calculates the distance between the UWB base station transmitting the first UWB positioning signal and the electronic device according to the transmission time information of the first UWB positioning signal and the reception time information of the first UWB positioning signal. Based on this, the electronic device can obtain distances to a plurality of UWB base stations. Further, the electronic device may determine the position information of the electronic device in the current scene according to the distance between the plurality of UWB base stations and the relative position relationship between the plurality of UWB base stations.
In the embodiments provided by the present application, the electronic device may determine the position information of the electronic device in the current scene according to the distances between the electronic device and the plurality of UWB base stations and the relative position relationship between the plurality of UWB base stations in various ways. In a possible example, the electronic device may determine the location of the electronic device by using the ellipse theorem, and specifically, the trajectory of the moving point P (i.e., the electronic device) in the plane where the sum of the distances from the two fixed points F1 and F2 (i.e., the two UWB base stations) is equal to a constant 2a (i.e., | PF1 | + | PF 2| 2a, where 2a > | F1F2|) is an ellipse, based on which the motion trajectory of the electronic device in the indoor scene may be identified.
That is, the electronic device may position itself by using a Reverse Time Difference of Arrival (RTDOA), and specifically, the electronic device may obtain a relative position relationship between a plurality of UWB base stations in a scene; receiving a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations, and recording the receiving time information of each first UWB positioning signal in the plurality of first UWB positioning signals; wherein a plurality of UWB base stations are in one-to-one correspondence with the plurality of UWB positioning signals; the electronic device determines the position information of the electronic device in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals. Therefore, the electronic equipment determines the position of the electronic equipment by receiving UWB signals transmitted by a plurality of UWB base stations, and the anti-interference characteristic of the UWB signals is utilized, so that the positioning is more accurate; in addition, the electronic equipment can actively determine the position of the electronic equipment according to the received UWB signals of the base station, and the positioning real-time performance is improved.
Based on the foregoing embodiments, in an embodiment of the present application, in step 210, the electronic device obtains a relative position relationship between a plurality of UWB base stations in a scene, which may be implemented by the following steps:
step 2101, the electronic device obtains map information of a scene where the electronic device is located from a first UWB base station; the plurality of UWB base stations includes a first UWB base station;
step 2102, the electronic device determines a relative positional relationship between the plurality of UWB base stations in the scene based on the map information.
In the embodiment provided by the application, relative position relation among a plurality of UWB base stations can be determined in a Time of Flight (TOF) mode, and meanwhile, the determined positions are shared, so that map information of a current scene can be obtained through drawing.
In this way, the electronic device may acquire map information of a current scene from any one of the plurality of UWB base stations, and determine a relative positional relationship between the plurality of UWB base stations in the current scene based on the map information.
Based on the foregoing embodiments, in an embodiment of the present application, the step 220 of receiving, by the electronic device, a plurality of UWB positioning signals transmitted by a plurality of UWB base stations may be implemented by:
step 2201, the electronic equipment receives a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations according to a preset time interval; or,
step 2202, the electronic device receives a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations when the electronic device detects movement.
In embodiments provided herein, a plurality of UWB base stations may broadcast a first UWB positioning signal on respective time slots in an order. In this way, the electronic device may receive a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations at preset time intervals. Therefore, the electronic equipment can keep communication with the plurality of UWB base stations at any time in the moving process, and uninterruptedly receive the plurality of first UWB positioning signals sent by the plurality of UWB base stations so as to accurately position the electronic equipment in real time.
In addition, the electronic device may be in a moving state at any time, and therefore, the electronic device may detect whether the electronic device itself moves, and may receive a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations when the electronic device detects that the electronic device moves.
Here, the electronic device may detect whether the electronic device moves through a gyroscope, an angular velocity sensor, or an image pickup device.
Therefore, the electronic device can acquire a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations under the condition of movement, and determine the position of the current electronic device based on the plurality of first UWB positioning signals. Therefore, the electronic equipment is positioned only when the position of the electronic equipment is possibly changed, and the power consumption of the electronic equipment is reduced.
Based on the foregoing embodiment, in an embodiment, when the electronic device is implemented as the terminal device 11 shown in fig. 1, the scene further includes at least one electronic tag, and the at least one electronic tag is disposed on at least one article, and after step 230, the electronic device may further perform the following steps:
and step 240, obtaining the environmental information of at least one electronic tag.
In the embodiment provided by the application, the electronic tag can further integrate various sensors for acquiring the environmental information of the environment where the electronic tag is located. For example, the electronic tag may integrate a temperature sensor, a humidity sensor, and the like.
The terminal device in the embodiment of the application can acquire the environmental information acquired by at least one electronic tag through a sensor in the current scene.
Specifically, there are various ways for the terminal device to acquire the environment information of the at least one electronic tag, and in a possible implementation manner, the terminal device may receive the environment information corresponding to each electronic tag in the at least one electronic tag forwarded by the first UWB base station, that is, any one UWB base station in the plurality of UWB base stations may forward the acquired environment information of each electronic tag to the terminal device after acquiring the environment information of the at least one electronic tag. In another possible implementation manner, the terminal device may directly communicate with the at least one electronic tag, that is, the terminal device receives the environment information sent by each electronic tag in the at least one electronic tag.
Step 250, determining the storage state of an article corresponding to the target electronic tag based on the environmental information of at least one electronic tag; the target electronic tag is any one of the at least one electronic tag.
In the embodiments provided in the present application, a sensitive threshold of the article to the environment when stored, such as a temperature sensitive threshold, a humidity sensitive threshold, a smoke sensitive threshold, etc., may be preset. In addition, the item storage status may include a dangerous status and a safe status.
After receiving the environmental information of each electronic tag, the terminal device may compare the environmental information of each electronic tag with the sensitivity threshold to determine the storage state of the article corresponding to each electronic tag.
When the environmental parameter represented by the environmental information of the target electronic tag exceeds the range of the sensitive threshold, the article corresponding to the target electronic tag is considered to be in a dangerous state, and when the environmental parameter represented by the environmental information of the target electronic tag does not exceed the range of the sensitive threshold, the article corresponding to the target electronic tag is considered to be in a safe state.
And step 260, generating early warning information under the condition that the storage state is a dangerous state.
Specifically, when the terminal device determines that the article corresponding to the target electronic tag is in a dangerous state, the terminal device may generate and display the warning information to inform a user holding the terminal device that the current environment of the target electronic tag is extremely unstable and needs to be processed in time.
Based on the foregoing embodiment, in step 260, in the case that the storage state of the article is a dangerous state, after generating the warning information, the method further includes:
step 270, determining the target position of the target electronic tag;
step 280, generating a navigation path from the terminal device to the target position based on the target position and the position information of the terminal device.
In the embodiment provided by the application, the terminal equipment can also realize the navigation function after generating the early warning information.
Specifically, the terminal device may determine a target location of the target electronic tag. Here, the terminal device may obtain the target position of the target electronic tag from the UWB base station, and may also directly interact with the target electronic tag to obtain the position of the target electronic tag.
It should be noted that the target electronic tag can determine its target location in different ways from step 210 to step 230. And the UWB base station can determine the target position of the target electronic tag by means of TDOA and angle difference of arrival (PDOA).
Further, after determining the target position of the target electronic tag, the terminal device may generate a navigation path from the terminal device to the target position based on the target position of the target electronic tag and the current position information of the terminal device. Therefore, the staff can quickly reach the article corresponding to the target electronic tag according to the navigation path, and corresponding processing of the early warning information is quickly and efficiently carried out.
Another embodiment of the present application provides a positioning method, referring to a schematic flow chart of the positioning method shown in fig. 3, where the positioning method may include the following steps:
In the embodiments provided in the present application, the first UWB base station may be any one of a plurality of UWB base stations included in the current scenario.
In the embodiment provided by the application, relative position relation among a plurality of UWB base stations can be determined in a Time of Flight (TOF) mode, and meanwhile, the determined positions are shared, so that map information of a current scene can be obtained through drawing.
And step 320, the first UWB base station sends map information and a first UWB positioning signal to the electronic device, so that the terminal device obtains relative position relationships among the UWB base stations based on the map information, and determines position information of the electronic device in a scene based on the relative position relationships among the UWB base stations and the receiving time information of the first UWB positioning signal.
Here, the first UWB base station may broadcast the first UWB positioning signal on the corresponding time slots in a certain order. In this way, the electronic device may receive a plurality of first UWB positioning signals transmitted by a plurality of UWB base stations at preset time intervals. Therefore, the electronic equipment can keep communication with the plurality of UWB base stations at any time in the moving process, and uninterruptedly receive the plurality of first UWB positioning signals sent by the plurality of UWB base stations so as to accurately position the electronic equipment in real time.
In the embodiment provided by the present application, the step 310 of determining the map information of the scene where the first UWB base station is located may be implemented by the following steps:
step 3101, a first UWB base station receives a plurality of second UWB positioning signals sent by other UWB base stations of the plurality of UWB base stations and at least one third UWB positioning signal sent by at least one electronic tag;
step 3102, the first UWB base station determines a positional relationship between the first UWB base station and other UWB base stations and a positional relationship between the first UWB base station and at least one electronic tag based on the plurality of second UWB positioning signals and the at least one third UWB signal;
step 3103, the first UWB base station constructs map information of the scene based on the position relationship between the first UWB base station and other UWB base stations and the position relationship between the first UWB base station and at least one electronic tag.
In the embodiments provided by the present application, a first UWB base station may perform UWB information interaction with other UWB base stations in a current scenario, and perform position information sharing in a TOF manner according to a plurality of received second UWB positioning signals sent by other UWB base stations. Meanwhile, the first UWB base station may also perform UWB information interaction with at least one electronic tag in the current scene, that is, the first UWB base station locates each electronic tag by using TDOA and PDOA methods according to the received third UWB locating signal transmitted by the at least one electronic tag, so as to obtain a position relationship between the first UWB base station and each electronic tag.
Further, the first UWB base station constructs the map information of the scene based on the position relation between the first UWB base station and other UWB base stations and the position relation between the first UWB base station and at least one electronic tag.
In an embodiment of the present application, when the electronic device is implemented as the terminal device shown in fig. 1, the method further includes:
acquiring a UWB environment signal sent by at least one electronic tag, wherein the UWB environment signal comprises environment information where the electronic tag is located;
and sending the environment information of at least one electronic tag to the terminal equipment.
It is understood that at least one electronic tag in the current scenario may transmit the collected environment information to the first UWB base station by carrying it in a UWB signal. Namely, the first UWB base station acquires the environment information acquired by the electronic device through the UWB signal.
After receiving the UWB environment signal, the first UWB base station may analyze the UWB environment signal to obtain environment information where the electronic tag is located, and forward the environment information to the terminal device. Therefore, the anti-interference characteristic of the UWB signal can be utilized to send the information, and the accurate transmission of the information is ensured.
Next, the positioning method provided in this embodiment is described in detail with reference to a warehouse scenario.
The warehouse scene may include UWB base stations, terminal devices, and electronic tags. The terminal equipment comprises mobile terminal equipment or PC terminal equipment.
Referring to a schematic diagram of UWB base station location distribution shown in fig. 4, 5 UWB base stations, including UWB base station 41 to UWB base station 45, are provided in the warehouse 40. The position of the UWB base station in the warehouse can be adjusted according to the size of the warehouse and the density of the stacked articles. UWB coverage is around 80m, but warehouse goods density reduces its coverage and so the number increases accordingly. In addition, the specific placing position of the electronic tag is selected according to the specific storage articles and the integrated sensor module thereof, so that accurate measurement information can be effectively obtained in real time.
In the scene, the mobile terminal equipment can obtain the position information determined at the electronic tag position and the collected storage environment information such as temperature, humidity, smoke and the like by Bluetooth communication and by utilizing an Over The Air (OTA) technology;
the PC terminal equipment can acquire the position information of the electronic tag obtained by the UWB base station through WiFi communication, and the storage environment information such as temperature, humidity and smoke.
In the embodiment provided by the application, different receiving modes can be selected when workers are at different places, and the real-time information of articles in the warehouse can be acquired.
Specifically, referring to the information acquisition flow diagram shown in fig. 5, when at home or in an office, a worker may use a PC device to acquire information issued by a plurality of UWB base stations through WiFi communication, where the information may include a position of an electronic tag and warehousing environment information acquired by the electronic tag. Specifically, the UWB base station interacts with the electronic tag through a UWB signal, and the UWB base station obtains the position information of the electronic tag by using a TDOA mode and a PDOA mode; meanwhile, the electronic tag uploads the warehousing environment information acquired by the sensor to the UWB base station.
Referring to the information acquisition flow diagram shown in fig. 6, when the staff is in the bluetooth coverage range of the electronic tag, the staff may use the mobile terminal device to check the article information in the warehouse. Specifically, the electronic tag can send the position information of the electronic tag and the warehousing environment information acquired by the sensor to the mobile terminal device in real time through Bluetooth communication. Here, the electronic tag can interact with the UWB base station through UWB signals, the electronic tag determines position information of the electronic tag by using RTDOA, and the electronic tag uploads warehousing environment information acquired by the sensor to the mobile terminal device in an OTA manner.
In addition, the terminal device may preset a sensitive threshold of the article to the environment when being stored, such as a temperature sensitive threshold, a humidity sensitive threshold, a smoke sensitive threshold, and the like. Therefore, when the PC terminal equipment or the mobile terminal equipment obtains the environmental information read by the sensor, the environmental information is compared with the range of the sensitive threshold value, and if the environmental information exceeds the range of the sensitive threshold value, an alarm is given. The staff can learn the position of depositing of unusual goods accurately according to the positional information of UWB label, and corresponding processing is carried out to high efficiency.
The positioning method provided by the embodiment of the application utilizes the advantages and the characteristic algorithm of UWB wireless communication to perform early warning of abnormal warehousing goods environment and monitor abnormal conditions of the warehousing space, can conveniently and effectively perform early warning of abnormal warehousing goods environment, can monitor abnormal conditions of the warehousing space, and greatly reduces monitoring operation cost of warehousing.
Based on the foregoing embodiments, an embodiment of the present application provides a positioning apparatus, as shown in fig. 7, the positioning apparatus includes:
an obtaining unit 71, configured to obtain a relative position relationship between multiple ultra-wideband UWB base stations in a scene;
a receiving unit 72, configured to receive a plurality of first UWB positioning signals transmitted by the plurality of UWB base stations, and determine reception time information of each of the plurality of first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one to one;
and the processing unit 73 is configured to determine the position information of the electronic device in the scene based on the relative position relationship between the plurality of UWB base stations and the reception time information of the plurality of UWB positioning signals.
In an embodiment, the obtaining unit 71 is specifically configured to obtain map information of a scene where the first UWB base station is located; the plurality of UWB base stations comprises the first UWB base station; and determining the relative position relation among a plurality of UWB base stations in the scene based on the map information.
In an embodiment, the receiving unit 72 is specifically configured to receive, according to a preset time interval, a plurality of first UWB positioning signals transmitted by the plurality of UWB base stations; alternatively, in the case where the occurrence of the movement is detected, a plurality of first UWB positioning signals transmitted by the plurality of UWB base stations are received.
In an embodiment, the positioning device includes a terminal device or an electronic tag.
In an embodiment, when the positioning device is a terminal device, the scene further includes at least one electronic tag, and the at least one electronic tag is disposed on at least one article.
The obtaining unit 71 is further configured to obtain environment information where the at least one electronic tag is located;
the processing unit 73 determines the storage state of the article corresponding to the target electronic tag based on the environmental information of the at least one electronic tag; the target electronic tag is any one of the at least one electronic tag; and generating early warning information under the condition that the storage state is a dangerous state.
In an embodiment, the processing unit 73 is further configured to determine a target location of the target electronic tag; and generating a navigation path from the terminal equipment to the target position based on the target position and the position information of the terminal equipment.
In an embodiment, the receiving unit 72 is configured to receive environment information corresponding to each of the at least one electronic tag forwarded by the first UWB base station; or receiving the environment information sent by each electronic tag in the at least one electronic tag.
Based on the hardware implementation of the positioning apparatus, an embodiment of the present application further provides an electronic device, which corresponds to a positioning method applied to the electronic device, and fig. 8 is a schematic diagram of a hardware structure of the electronic device according to the embodiment of the present application, and as shown in fig. 8, the electronic device includes a first transceiver 801, a first processor 802, and a first memory 803 in which a computer program is stored.
The first transceiver 801, the first processor 802 and the first memory 803 communicate over a first communication bus 804;
the first processor 802, when executing the computer program stored in the first memory 803 for executing instructions, may execute the following instructions:
acquiring a relative position relation among a plurality of ultra wide band UWB base stations in a scene;
receiving a plurality of first UWB positioning signals transmitted by the plurality of UWB base stations and determining reception time information of each of the plurality of first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one by one;
and determining the position information of the electronic equipment in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of a plurality of UWB positioning signals.
In the embodiment provided in the present Application, the first Processor 802 may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a ProgRAMmable Logic Device (PLD), a Field ProgRAMmable Gate Array (FPGA), a Central Processing Unit (CPU), and a controller. It is understood that the electronic devices for implementing the above processor functions may be other devices, and the embodiments of the present application are not limited in particular.
In practical applications, the first Memory 803 may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (Hard Disk Drive, HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the first processor 802.
Based on the foregoing embodiments, an embodiment of the present application provides a positioning apparatus, as shown in fig. 9, the positioning apparatus includes:
a determination unit 91, configured to determine map information of a scene; the map information is used for indicating relative position relation among a plurality of UWB base stations in the scene; the plurality of UWB base stations comprises the first UWB base station;
a sending unit 92, configured to send the map information and the first UWB positioning signal to a terminal device, so that the electronic device obtains the relative position relationship between the UWB base stations based on the map information, and determines the position information of the electronic device in the scene based on the relative position relationship between the UWB base stations and the reception time information of the first UWB positioning signal.
In an embodiment, the determining unit 91 is specifically configured to receive a plurality of second UWB positioning signals transmitted by other UWB base stations in the plurality of UWB base stations, and at least one third UWB positioning signal transmitted by at least one electronic tag; determining a positional relationship between the first UWB base station and other UWB base stations and a positional relationship between the first UWB base station and at least one electronic tag based on the plurality of second UWB positioning signals and at least one third UWB signal; and constructing map information of the scene based on the position relation between the first UWB base station and other UWB base stations and the position relation between the first UWB base station and at least one electronic tag.
In an embodiment, the sending unit 92 is further configured to obtain a UWB environment signal sent by at least one electronic tag, where the UWB environment signal includes environment information where the electronic tag is located; and sending the environment information of the at least one electronic tag to the terminal equipment.
Based on the hardware implementation of the positioning apparatus, the embodiment of the present application further provides a UWB base station, which corresponds to a positioning method applied to the UWB base station, and fig. 10 is a schematic diagram of a hardware composition structure of the UWB base station according to the embodiment of the present application, and as shown in fig. 10, the UWB base station includes a second transceiver 1001, a second processor 1002, and a second memory 1003 storing a computer program.
The second transceiver 1001, the second processor 1002 and the second memory 1003 communicate via a second communication bus 1004;
the second processor 1002, when executing the computer program stored in the second memory 1003 for executing instructions, may execute the following instructions:
determining map information of a scene; the map information is used for indicating relative position relation among a plurality of UWB base stations in the scene; the plurality of UWB base stations comprises the first UWB base station;
and sending the map information and a first UWB positioning signal to a terminal device so that the electronic device obtains the relative position relation among the UWB base stations based on the map information, and determining the position information of the electronic device in the scene based on the relative position relation among the UWB base stations and the receiving time information of the first UWB positioning signal.
In an embodiment provided in the present Application, the second Processor 1002 may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a ProgRAMmable Logic Device (PLD), a Field ProgRAMmable Gate Array (FPGA), a Central Processing Unit (CPU), and a controller. It is understood that the electronic devices for implementing the above processor functions may be other devices, and the embodiments of the present application are not limited in particular.
In practical applications, the second Memory 1003 may be a volatile Memory (volatile Memory), such as a Random-Access Memory (RAM); or a non-volatile Memory (non-volatile Memory), such as a Read-Only Memory (ROM), a flash Memory (flash Memory), a Hard Disk (Hard Disk Drive, HDD) or a Solid-State Drive (SSD); or a combination of the above types of memories and provides instructions and data to the second processor 1002.
The embodiment of the application also provides a computer storage medium, in particular a computer readable storage medium. As a first implementation, when the computer storage medium is located in a terminal, the computer instructions are executed by a processor to implement any steps in the above positioning method according to the embodiment of the present application.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or at least two units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
Alternatively, the integrated unit described above may be stored in a computer-readable storage medium if it is implemented in the form of a software functional module and sold or used as a separate product. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or portions thereof contributing to the prior art may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a removable storage device, a ROM, a RAM, a magnetic or optical disk, or various other media that can store program code.
It should be noted that: the technical solutions described in the embodiments of the present application can be arbitrarily combined without conflict.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (15)
1. A method of positioning, the method comprising:
the method comprises the steps that the electronic equipment obtains relative position relations among a plurality of ultra wide band UWB base stations in a scene;
the electronic equipment receives a plurality of first UWB positioning signals transmitted by the UWB base stations and determines the receiving time information of each first UWB positioning signal in the first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one to one;
the electronic device determines the position information of the electronic device in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals.
2. The method of claim 1, wherein the electronic device obtains a relative position relationship between a plurality of UWB base stations in a scene, comprising:
the electronic equipment acquires map information of a scene from a first UWB base station; the plurality of UWB base stations comprises the first UWB base station;
the electronic device determines a relative positional relationship between a plurality of UWB base stations in the scene based on the map information.
3. The method of claim 1, wherein said electronic device receives a plurality of UWB positioning signals transmitted by said plurality of UWB base stations, comprising:
the electronic equipment receives a plurality of first UWB positioning signals transmitted by the UWB base stations according to a preset time interval; or,
and the electronic equipment receives a plurality of first UWB positioning signals transmitted by the UWB base stations under the condition that the movement is detected.
4. The method according to any one of claims 1-3, wherein the electronic device comprises a terminal device or an electronic tag.
5. The method according to any one of claims 1-3, wherein when the electronic device is a terminal device, the scene further includes at least one electronic tag, and the at least one electronic tag is disposed on at least one article, the method further comprising:
acquiring environmental information of the at least one electronic tag;
determining the storage state of the object corresponding to the target electronic tag based on the environmental information of the at least one electronic tag; the target electronic tag is any one of the at least one electronic tag;
and generating early warning information under the condition that the storage state is a dangerous state.
6. The method according to claim 5, wherein after generating the warning information when the storage status of the article is a dangerous status, the method further comprises:
determining a target position of the target electronic tag;
and generating a navigation path from the terminal equipment to the target position based on the target position and the position information of the terminal equipment.
7. The method of claim 5, wherein the obtaining the environmental information of the at least one tag comprises:
receiving environment information corresponding to each electronic tag in the at least one electronic tag forwarded by a first UWB base station;
or,
and receiving the environment information sent by each electronic tag in the at least one electronic tag.
8. A method of positioning, the method comprising:
the method comprises the steps that a first ultra-wideband UWB base station determines map information of a scene where the first ultra-wideband UWB base station is located; the map information is used for indicating relative position relation among a plurality of UWB base stations in the scene; the plurality of UWB base stations comprises the first UWB base station;
the first UWB base station sends the map information and the first UWB positioning signal to the terminal equipment, so that the electronic equipment obtains the relative position relation among the UWB base stations based on the map information, and determines the position information of the electronic equipment in the scene based on the relative position relation among the UWB base stations and the receiving time information of the first UWB positioning signal.
9. The method of claim 8, wherein said determining map information of the scene in which said first UWB base station is located comprises:
the first UWB base station receives a plurality of second UWB positioning signals sent by other UWB base stations in the plurality of UWB base stations and at least one third UWB positioning signal sent by at least one electronic tag;
the first UWB base station determines the position relation between the first UWB base station and other UWB base stations and the position relation between the first UWB base station and at least one electronic tag based on the plurality of second UWB positioning signals and at least one third UWB signal;
the first UWB base station constructs the map information of the scene based on the position relation between the first UWB base station and other UWB base stations and the position relation between the first UWB base station and at least one electronic tag.
10. The method according to claim 8 or 9, wherein the electronic device is a terminal device, the method further comprising:
acquiring a UWB environment signal sent by at least one electronic tag, wherein the UWB environment signal comprises environment information where the electronic tag is located;
and sending the environment information of the at least one electronic tag to the terminal equipment.
11. A positioning device, the device comprising:
the acquiring unit is used for acquiring the relative position relation among a plurality of ultra wide band UWB base stations in a scene;
a receiving unit, configured to receive a plurality of first UWB positioning signals transmitted by the plurality of UWB base stations, and determine reception time information of each of the plurality of first UWB positioning signals; the plurality of UWB base stations correspond to the plurality of first UWB positioning signals one to one;
and the processing unit is used for determining the position information of the electronic equipment in the scene based on the relative position relation among the plurality of UWB base stations and the receiving time information of the plurality of UWB positioning signals.
12. A positioning device, the device comprising:
the determining unit is used for determining the map information of the scene; the map information is used for indicating relative position relation among a plurality of UWB base stations in the scene; the plurality of UWB base stations comprises the first UWB base station;
a sending unit, configured to send the map information and the first UWB positioning signal to a terminal device, so that the electronic device obtains a relative position relationship between the UWB base stations based on the map information, and determines the position information of the electronic device in the scene based on the relative position relationship between the UWB base stations and the reception time information of the first UWB positioning signal.
13. An electronic device comprising a first transceiver, a first processor, and a first memory storing instructions executable by the first processor;
the first transceiver, the first processor, and the first memory communicate over a first communication bus;
the first processor, when executing the executable instructions stored in the first memory, is configured to perform the steps of the method of any of claims 1 to 7.
14. A UWB base station comprising a second transceiver, a second processor, and a second memory storing instructions executable by the second processor;
the second transceiver, the second processor, and the second memory communicate over a second communication bus;
the second processor, when executing the executable instructions stored in the second memory, is configured to perform the steps of the method of any one of claims 8 to 10.
15. A storage medium having a program stored thereon, wherein the program, when executed by a processor, performs the steps of the method of any one of claims 1 to 7 or 8 to 10.
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| CN202011350303.8A CN114630262A (en) | 2020-11-26 | 2020-11-26 | Positioning method and device, electronic equipment, ultra-wideband base station and storage medium |
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