CN114710748B - UWB and BLE combined positioning control method and device - Google Patents
UWB and BLE combined positioning control method and device Download PDFInfo
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Abstract
The invention relates to a UWB and BLE combined positioning control method and equipment, wherein the method comprises the following steps: compared with the traditional independent wireless positioning scheme, the central computing platform, the regional controller, the UWB antenna, the BLE antenna and the executor are based on a central centralized architecture, and a system architecture of Sensors (UWB+BLE) + ZCU +CCP is adopted, so that service link intermediate nodes are reduced, and the system expansibility, fault tolerance and information redundancy are improved; compared with the traditional independent wireless positioning scheme, the UWB and BLE combined positioning redundancy design compensates the system positioning error by fusing the multi-sensor information, the invention can compensate the clock error and the multi-path error of UWB, improve the positioning precision and ensure the safety and the stability of the system control decision.
Description
Technical Field
The invention relates to a UWB and BLE combined positioning control method and device.
Background
The existing positioning method of UWB (Ultra Wide Band Ultra Band wireless communication technology) has clock errors and multipath errors, which can cause inaccurate positioning.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a UWB and BLE combined positioning control method and device.
The invention provides a UWB and BLE combined positioning control method, which comprises the following steps:
The regional controller obtains a target object near the equipment to be controlled through a BLE antenna on the equipment to be controlled;
After the regional controller acquires the target object, acquiring first positioning information of the target object through a UWB antenna on equipment to be controlled, acquiring second positioning information of the target object through a BLE antenna on the equipment to be controlled, and transmitting the first positioning information and the second positioning information to a central computing platform;
The central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object;
and the executor controls the equipment to be controlled based on the control instruction.
Further, in the above UWB and BLE combined positioning control method, after obtaining the target, the area controller obtains first positioning information of the target through a UWB antenna on the device to be controlled, and obtains second positioning information of the target through a BLE antenna on the device to be controlled, including:
after the area controller obtains the target object through a BLE antenna, obtaining second positioning information of the target object through the BLE antenna on the equipment to be controlled; and meanwhile, the regional controller activates a logic strategy of ranging of the UWB antenna, and the first positioning information of the target object is obtained through the UWB antenna on the equipment to be controlled.
Further, in the above UWB and BLE combined positioning control method, after the executor controls the device to be controlled based on the control instruction, the method further includes:
and the executor feeds back the control state of the equipment to be controlled based on the control instruction to the central computing platform.
Further, in the above UWB and BLE combined positioning control method, the determining, by the central computing platform, the position of the target object based on the first positioning information and the second positioning information of the target object includes:
The central computing platform establishes a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm;
and performing error compensation on the first positioning information and the second positioning information of the target object through a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm so as to determine the position of the target object.
Further, in the above UWB and BLE combined positioning control method, the central computing platform determines a position of the target object based on the first positioning information and the second positioning information of the target object, and further includes:
the central computing platform performs environmental noise filtering pretreatment on the first positioning information and the second positioning information;
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering pretreatment.
Further, in the above UWB and BLE combined positioning control method, the central computing platform determines a position of the target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object, including:
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object;
And the central computing platform sends corresponding control instructions to the executor based on the executable state of the equipment to be controlled, the task priority strategy and the position of the target object.
Further, in the above UWB and BLE combined positioning control method, the central computing platform determines a position of the target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object, and further includes:
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object;
And if the distance between the position of the target object and the position time of the equipment to be controlled is smaller than a preset threshold value, a control instruction is sent to the actuator.
According to another aspect of the present invention, there is also provided a UWB and BLE combined positioning control apparatus including:
A BLE antenna and a UWB antenna on the device to be controlled;
The regional controller is used for acquiring a target object near the equipment to be controlled through a BLE antenna on the equipment to be controlled; after the target object is acquired, acquiring first positioning information of the target object through a UWB antenna on equipment to be controlled, acquiring second positioning information of the target object through a BLE antenna on the equipment to be controlled, and transmitting the first positioning information and the second positioning information to a central computing platform;
The central computing platform is used for determining the position of the target object based on the first positioning information and the second positioning information of the target object and sending a control instruction to the actuator based on the position of the target object;
and the executor is used for controlling the equipment to be controlled based on the control instruction.
Further, in the above UWB and BLE combined positioning control device, the area controller is configured to obtain, after obtaining the target object through a BLE antenna, second positioning information of the target object through the BLE antenna on the device to be controlled; and meanwhile, the regional controller activates a logic strategy of ranging of the UWB antenna, and the first positioning information of the target object is obtained through the UWB antenna on the equipment to be controlled.
Further, in the above UWB and BLE combined positioning control device, the actuator is configured to feed back, to the central computing platform, a control state of the device to be controlled based on the control instruction.
Furthermore, in the above UWB and BLE combined positioning control device, the central computing platform is configured to establish a mathematical model of the UWB and BLE combined positioning system based on an unscented kalman filtering algorithm; and performing error compensation on the first positioning information and the second positioning information of the target object through a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm so as to determine the position of the target object.
Furthermore, in the UWB and BLE combined positioning control device, the central computing platform is configured to perform environmental noise filtering preprocessing on the first positioning information and the second positioning information; and determining the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering pretreatment.
Further, in the above UWB and BLE combined positioning control device, the central computing platform is configured to determine a position of the target object based on the first positioning information and the second positioning information of the target object; and sending a corresponding control instruction to the executor based on the executable state of the equipment to be controlled, the task priority strategy and the position of the target object.
Further, in the above UWB and BLE combined positioning control device, the central computing platform is configured to determine a position of the target object based on the first positioning information and the second positioning information of the target object; and if the distance between the position of the target object and the position time of the equipment to be controlled is smaller than a preset threshold value, a control instruction is sent to the actuator.
According to another aspect of the present invention there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any of the above.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any of the preceding claims.
In order to achieve the above objective, the present invention relates to a central computing platform (CCP, centralization Computing Platform), a regional controller (ZCU, zonal Control Unit), an Ultra Wide Band (UWB) antenna, a BLE (Bluetooth Low Energy ) antenna, and an actuator, and compared with the conventional independent wireless positioning scheme, the present invention is based on a central centralized architecture, and adopts a system architecture of Sensors (uwb+ble) + ZCU +ccp, so as to reduce service link intermediate nodes, and improve system expansibility, fault tolerance, and information redundancy; compared with the traditional independent wireless positioning scheme, the redundant design of UWB and BLE combined positioning compensates the system positioning error by fusing the multi-sensor information, the invention can compensate the clock error and the multi-path error of UWB, improve the positioning precision and ensure the safety and the stability of the system control decision; compared with the traditional independent wireless positioning scheme, the redundancy design of UWB and BLE combined positioning can improve the reliability and service expansibility of the system, enables scene design and enrichment based on low-delay and high-positioning results, and maximizes user experience; the method and the system can be applied to the fields of intelligent home, intelligent network automobiles and the like, and the position information of the user is rapidly, accurately and safely calculated, and the specific control strategy is executed on equipment to be controlled such as the vehicle in the rapid linkage network environment, so that the technological sense and convenience of the working space and the living space of the user are improved.
Drawings
Fig. 1 is a schematic diagram of a UWB and BLE combined positioning control method according to an embodiment of the present invention;
Figure 2 is a schematic diagram of a UWB and BLE combined positioning algorithm according to an embodiment of the present invention;
fig. 3 is a schematic diagram of door opening control of a vehicle according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
In one exemplary configuration of the application, the terminal, the device of the service network, and the trusted party each include one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). Memory is an example of computer-readable media.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer readable media, as defined herein, does not include non-transitory computer readable media (transmission media), such as modulated data signals and carrier waves.
The invention relates to a UWB and BLE combined positioning control method, which comprises the following steps:
step S1, a regional controller obtains a target object near equipment to be controlled through a BLE antenna on the equipment to be controlled;
step S2, after the target object is obtained, the regional controller obtains first positioning information of the target object through a UWB antenna on the equipment to be controlled, obtains second positioning information of the target object through a BLE antenna on the equipment to be controlled, and sends the first positioning information and the second positioning information to a central computing platform;
Step S3, the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object;
and S4, the executor controls the equipment to be controlled based on the control instruction.
In comparison with the traditional electronic and electric architecture, the centralized electronic and electric architecture consists of a main network consisting of a vehicle-mounted central computer, a zone controller and an Ethernet TSN in annular linkage, and several key parts such as CAN/LIN/10BaseT1s zone intranet, dual-power redundant power supply and intelligent hierarchical power supply in the zone, and integrates the whole vehicle low-power ECU into a high-power central computing platform.
BLE beacon positioning is based on RSSI (RECEIVED SIGNAL STRENGTH Indication, signal field strength Indication) values and is performed by a triangulation positioning principle. The positioning system consists of a Bluetooth beacon node, a positioning tag (such as a mobile phone) and a positioning engine, and when the positioning tag enters the coverage range of a beacon signal, the RSSI value of the beacon node is measured and calculated, and the specific position of the tag is calculated through the positioning engine.
In UWB TDOA location, an Ultra Wide Band (UWB) technology is a wireless carrier communication technology, which does not use a sinusoidal carrier, but uses non-sinusoidal narrow pulses of nanosecond level to transmit data, so that the spectrum occupied by the UWB TDOA location is very Wide, and when information needs to be transmitted, the information can be loaded by changing the amplitude, time and phase of the pulses, thereby realizing information transmission.
TDoA (TIME DIFFERENCE of Arrival time difference) positioning is a method of wireless positioning using time difference. The accurate absolute time is relatively difficult to measure, the distance difference between the signal and each positioning base station is calculated by comparing the time difference between the signal and each UWB positioning base station, and a hyperbola taking the positioning base station as a focus and the distance difference as a long axis can be made, and the intersection point of the three groups of hyperbolas is the position of the positioning tag.
As shown in fig. 1, the present invention relates to a central computing platform (CCP, centralization Computing Platform), a regional controller (ZCU, zonal Control Unit), an Ultra Wide Band (UWB) antenna, a BLE (Bluetooth Low Energy ) antenna, and an actuator, and compared with a traditional independent wireless positioning scheme, the present invention adopts a system architecture of Sensors (uwb+ble) + ZCU +ccp) based on a central centralized architecture, so as to reduce service link intermediate nodes, and improve system expansibility, fault tolerance, and information redundancy; compared with the traditional independent wireless positioning scheme, the redundant design of UWB and BLE combined positioning compensates the system positioning error by fusing the multi-sensor information, the invention can compensate the clock error and the multi-path error of UWB, improve the positioning precision and ensure the safety and the stability of the system control decision; compared with the traditional independent wireless positioning scheme, the redundancy design of UWB and BLE combined positioning can improve the reliability and service expansibility of the system, enables scene design and enrichment based on low-delay and high-positioning results, and maximizes user experience; the method and the system can be applied to the fields of intelligent home, intelligent network automobiles and the like, and the position information of the user is rapidly, accurately and safely calculated, and the specific control strategy is executed on equipment to be controlled such as the vehicle in the rapid linkage network environment, so that the technological sense and convenience of the working space and the living space of the user are improved.
In an embodiment of the UWB and BLE combined positioning control method of the present invention, step S2, after obtaining the target, the area controller obtains first positioning information of the target through a UWB antenna on a device to be controlled, and obtains second positioning information of the target through a BLE antenna on the device to be controlled, including:
after the area controller obtains the target object through a BLE antenna, obtaining second positioning information of the target object through the BLE antenna on the equipment to be controlled; and meanwhile, the regional controller activates a logic strategy of ranging of the UWB antenna, and the first positioning information of the target object is obtained through the UWB antenna on the equipment to be controlled.
Here, the BLE antenna may be used to initially find an object, such as a mobile phone, near an outer boundary of a device to be controlled, such as a vehicle, to complete space sensing, and then activate UWB antenna ranging.
After the regional controller acquires the target object through the BLE antenna, the regional controller activates the logic strategy of ranging of the UWB antenna, so that the ranging of the UWB antenna can be started in time.
In an embodiment of the UWB and BLE combined positioning control method of the present invention, step S4, after the executor controls the device to be controlled based on the control instruction, further includes:
and the executor feeds back the control state of the equipment to be controlled based on the control instruction to the central computing platform.
The executor feeds back the control state of the equipment to be controlled based on the control instruction to the central computing platform, so that the central computing platform can timely acquire the execution result of the control instruction, and the central computing platform can conveniently send out the next control instruction based on the execution result.
The invention relates to a Central Computing Platform (CCP), a regional controller (ZCU), a UWB antenna, a BLE antenna, an actuator, mainly providing the following capability support:
Ccp, namely service logic operation capabilities such as sensor signal acquisition, fusion filtering positioning, vehicle body control, system task priority scheduling and the like;
b. ZCU: on one hand, BLE and UWB positioning are carried out, and on the other hand, a logic strategy of activating UWB ranging according to the external tag sensing result of BLE is completed;
Ble antenna and UWB antenna: sensing a label of a target object in a working frequency band by utilizing a wireless communication technology;
d. An actuator: and executing the control command transmitted by the CCP and feeding back the working state.
In an embodiment of the UWB and BLE combined positioning control method of the present invention, step S3, the central computing platform determines a position of a target object based on the first positioning information and the second positioning information of the target object, including:
The central computing platform establishes a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm;
and performing error compensation on the first positioning information and the second positioning information of the target object through a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm so as to determine the position of the target object.
Here, the embodiment is based on dual redundancy design of UWB and BLE combined positioning, considers the influence of clock error and multipath error of UWB and system model error on positioning accuracy, establishes a mathematical model of UWB and BLE combined positioning system based on Unscented kalman filter algorithm (kf, uncentralized KALMAN FILTER), adopts an Robust adaptive Unscented kalman filter algorithm (RAUKF, robust-Adaptive Unscented KALMAN FILTER) based on Mahalanobis Distance (MD, mahalanobis distance) to perform error compensation, effectively weakens the influence of system model error and measurement gross error on positioning accuracy, ensures the accuracy and stability of a control decision system, and improves the system robustness of the whole Unscented access system.
Mahalanobis Distance (MD) is a criterion in statistics to detect outliers in a multi-data sample. When the combined positioning system has abnormal conditions such as model errors or measurement errors, statistics can be judged based on the MD construction errors, abnormal state quantity and measurement quantity of the system can be detected, and whether the system is affected by the model errors or the measurement errors can be judged.
Kalman filtering (KALMAN FILTER, KF) is a least square estimation-based linear least variance estimation algorithm, which can effectively solve the problem of linear Gaussian filtering. The algorithm adopts a mode of prediction and correction to complete state estimation of the system, namely, based on state space description of the system, the state of the next moment of the system is predicted according to a minimum variance unbiased estimation theory, and real-time correction is carried out on the state by throughput measurement.
Considering that the KF is established under the assumption that the system model is linear, the statistical characteristics of the system noise are precisely known and the Gaussian distribution is obeyed, the result is poor in the filtering application of the nonlinear system, and larger model errors can be generated, so that the filtering divergence is caused. The UKF algorithm based on the Unscentered transformation (Unscented Transformation, UT) is essentially a combination of the UT transformation and the KF, and acquires a large number of Sigma points near the estimated point through the UT transformation, approximates the posterior distribution of the state by the Sigma points, so that the introduction of linearization errors is avoided, and the UKF algorithm has good convergence in the application of a nonlinear system and improves the calculation precision of the system.
As shown in fig. 2, the positioning method can be based on the positioning principle of UWB and BLE, considers the influence of system model errors and measurement errors, builds a system mathematical model (state equation and measurement equation) based on the UKF principle, adopts RAUKF algorithm based on MD-based solution adaptive factor and robust factor to estimate the error amount, and compensates the positioning result to obtain accurate positioning.
In an embodiment of the UWB and BLE combined positioning control method of the present invention, step S3, the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object, and further includes:
the central computing platform performs environmental noise filtering pretreatment on the first positioning information and the second positioning information;
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering pretreatment.
Here, the central computing platform may collect information of the target object (positioning tag) in the working frequency band and the sensing range through the antenna module (UWB, BLE), and perform environmental noise filtering preprocessing (modulation/demodulation, noise reduction, etc.) on the information source, so as to accurately and efficiently determine the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering preprocessing.
In an embodiment of the UWB and BLE combined positioning control method of the present invention, step S3, the central computing platform determines a position of a target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object, including:
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object;
And the central computing platform sends corresponding control instructions to the executor based on the executable state of the equipment to be controlled, the task priority strategy and the position of the target object.
The central computing platform synchronously cooperates with a system task priority strategy based on the fusion positioning result, namely the position of the target object and the executable state of the equipment to be controlled, and outputs a corresponding control instruction to the executor; the executor executes corresponding control actions and feeds back the execution state to the central computing platform so as to realize accurate control of the equipment to be controlled.
In an embodiment of the UWB and BLE combined positioning control method of the present invention, step S3, the central computing platform determines a position of a target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object, including:
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object;
And if the distance between the position of the target object and the position time of the equipment to be controlled is smaller than a preset threshold value, a control instruction is sent to the actuator.
Preferably, after the executor controls the device to be controlled based on the control instruction, the method further includes:
and the equipment to be controlled sends the control state of the equipment to be controlled to the target object through the BLE antenna, for example, the car door state is transmitted to the mobile phone through the BLE antenna.
Here, fig. 3 shows an application scenario of the present application in the field of intelligent networking automobiles. The application environment is set to be outside the vehicle, and the positioning tag is set to be a mobile phone for illustration.
When equipment (mobile phone) which is matched with Bluetooth of a host vehicle (equipment to be controlled) enters a BLE antenna sensing area of the host vehicle, the BLE antenna completes confirmation of the identity and the motion state of a tag of the mobile phone and triggers the UWB antenna to conduct distance measurement, an area controller (ZCU) transmits distance measurement information of the BLE antenna and the UWB antenna to a Central Computing Platform (CCP), a signal acquisition and fusion positioning module (MD_ RAUKF filter) of the CCP completes high-precision positioning information output, then a control decision unit of the CCP judges whether the tag is in a safety range or not based on the positioning information, if so, an executor is informed to execute a door opening instruction, a door is opened, a loudspeaker outside the vehicle is controlled to send a prompt tone, a user is reminded that the XX side door is being opened, the door state of the vehicle is synchronously transmitted to the mobile phone through the BLE antenna, and closed-loop interaction is completed.
According to another aspect of the present invention, there is also provided a UWB and BLE combined positioning control apparatus including:
A BLE antenna and a UWB antenna on the device to be controlled;
The regional controller is used for acquiring a target object near the equipment to be controlled through a BLE antenna on the equipment to be controlled; after the target object is acquired, acquiring first positioning information of the target object through a UWB antenna on equipment to be controlled, acquiring second positioning information of the target object through a BLE antenna on the equipment to be controlled, and transmitting the first positioning information and the second positioning information to a central computing platform;
The central computing platform is used for determining the position of the target object based on the first positioning information and the second positioning information of the target object and sending a control instruction to the actuator based on the position of the target object;
and the executor is used for controlling the equipment to be controlled based on the control instruction.
Further, in the above UWB and BLE combined positioning control device, the area controller is configured to obtain, after obtaining the target object through a BLE antenna, second positioning information of the target object through the BLE antenna on the device to be controlled; and meanwhile, the regional controller activates a logic strategy of ranging of the UWB antenna, and the first positioning information of the target object is obtained through the UWB antenna on the equipment to be controlled.
Further, in the above UWB and BLE combined positioning control device, the actuator is configured to feed back, to the central computing platform, a control state of the device to be controlled based on the control instruction.
Furthermore, in the above UWB and BLE combined positioning control device, the central computing platform is configured to establish a mathematical model of the UWB and BLE combined positioning system based on an unscented kalman filtering algorithm; and performing error compensation on the first positioning information and the second positioning information of the target object through a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm so as to determine the position of the target object.
Furthermore, in the UWB and BLE combined positioning control device, the central computing platform is configured to perform environmental noise filtering preprocessing on the first positioning information and the second positioning information; and determining the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering pretreatment.
Further, in the above UWB and BLE combined positioning control device, the central computing platform is configured to determine a position of the target object based on the first positioning information and the second positioning information of the target object; and sending a corresponding control instruction to the executor based on the executable state of the equipment to be controlled, the task priority strategy and the position of the target object.
Further, in the above UWB and BLE combined positioning control device, the central computing platform is configured to determine a position of the target object based on the first positioning information and the second positioning information of the target object; and if the distance between the position of the target object and the position time of the equipment to be controlled is smaller than a preset threshold value, a control instruction is sent to the actuator.
According to another aspect of the present invention, there is also provided a computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method according to any of the above embodiments.
According to another aspect of the present invention there is also provided an apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any of the embodiments described above.
Details of each device embodiment of the present invention may be specifically referred to corresponding portions of each method embodiment, and will not be described herein.
The steps performed by the method of the present invention have been described in the above-mentioned adaptive lower limb restraint system, and will not be described in detail herein. However, the method of the invention may be integrated in a specific control device.
The control device of the present invention may be a computer program product, wherein the computer program product, when run on a computer, causes the computer to perform some or all of the steps of the method as in the method embodiments above.
The control device of the present invention may be an application publishing platform for publishing a computer program product, wherein the computer program product when run on a computer causes the computer to perform some or all of the steps of the method as in the method embodiments above.
In various embodiments of the present invention, it should be understood that the sequence numbers of the foregoing processes do not imply that the execution sequences of the processes should be determined by the functions and internal logic of the processes, and should not be construed as limiting the implementation of the embodiments of the present invention.
The various systems, units of the invention, if implemented in the form of software functional units, may be stored in a computer-accessible memory. With such understanding, some or all of the aspects of the present invention may be embodied in the form of a software product stored in a memory, comprising a number of requests to cause one or more computer devices (e.g., personal computers, servers or network devices, etc., which may be processors in the computer devices in particular) to perform some or all of the steps of the methods described above for various embodiments of the present invention.
Those skilled in the art will appreciate that all or part of the steps of the various embodiments of the invention recited herein can be implemented by computer programs, which can be stored centrally or in a distributed fashion in one or more computer devices, such as in a readable storage medium. The computer device includes Read-Only Memory (ROM), random-access Memory (Random Access Memory, RAM), programmable Read-Only Memory (Programmable Read-Only Memory, PROM), erasable programmable Read-Only Memory (Erasable Programmable Read Only Memory, EPROM), one-time programmable Read-Only Memory (OTPROM), electrically erasable programmable Read-Only Memory (EEPROM), compact disc Read-Only Memory (CD-ROM) or other optical disc Memory, magnetic disk Memory, magnetic tape Memory, or any other medium capable of being used to carry or store data.
It will be appreciated by persons skilled in the art that the above embodiments are provided for illustration only and not for limitation of the invention, and that variations and modifications of the above described embodiments are intended to fall within the scope of the claims of the invention as long as they fall within the true spirit of the invention.
It will be apparent to those skilled in the art that various modifications and variations can be made to the present application without departing from the spirit or scope of the application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
It should be noted that the present invention may be implemented in software and/or a combination of software and hardware, e.g., using Application Specific Integrated Circuits (ASIC), a general purpose computer or any other similar hardware device. In one embodiment, the software program of the present invention may be executed by a processor to perform the steps or functions described above. Likewise, the software programs of the present invention (including associated data structures) may be stored on a computer readable recording medium, such as RAM memory, magnetic or optical drive or diskette and the like. In addition, some steps or functions of the present invention may be implemented in hardware, for example, as circuitry that cooperates with the processor to perform various steps or functions.
Furthermore, portions of the present invention may be implemented as a computer program product, such as computer program instructions, which when executed by a computer, may invoke or provide methods and/or techniques in accordance with the present invention by way of operation of the computer. Program instructions for invoking the inventive methods may be stored in fixed or removable recording media and/or transmitted via a data stream in a broadcast or other signal bearing medium and/or stored within a working memory of a computer device operating according to the program instructions. An embodiment according to the invention comprises an apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to operate a method and/or a solution according to the embodiments of the invention as described above.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned. Furthermore, it is evident that the word "comprising" does not exclude other elements or steps, and that the singular does not exclude a plurality. A plurality of units or means recited in the apparatus claims can also be implemented by means of one unit or means in software or hardware. The terms first, second, etc. are used to denote a name, but not any particular order.
Claims (14)
1. A UWB and BLE combined positioning control method, comprising:
The regional controller obtains a target object near the equipment to be controlled through a BLE antenna on the equipment to be controlled;
After the regional controller acquires the target object, acquiring first positioning information of the target object through a UWB antenna on equipment to be controlled, acquiring second positioning information of the target object through a BLE antenna on the equipment to be controlled, and transmitting the first positioning information and the second positioning information to a central computing platform;
The central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object, and sends a control instruction to the actuator based on the position of the target object;
the executor controls the equipment to be controlled based on the control instruction;
After the area controller obtains the target object, the area controller obtains first positioning information of the target object through a UWB antenna on the equipment to be controlled, and obtains second positioning information of the target object through a BLE antenna on the equipment to be controlled, and the method comprises the following steps:
after the area controller obtains the target object through a BLE antenna, obtaining second positioning information of the target object through the BLE antenna on the equipment to be controlled; and meanwhile, the regional controller activates a logic strategy of ranging of the UWB antenna, and the first positioning information of the target object is obtained through the UWB antenna on the equipment to be controlled.
2. The UWB and BLE combination positioning control method of claim 1 wherein after the actuator controls the device to be controlled based on the control instruction, further comprising:
and the executor feeds back the control state of the equipment to be controlled based on the control instruction to the central computing platform.
3. The UWB and BLE combination positioning control method of claim 1 wherein the central computing platform determines the position of the target based on the first positioning information and the second positioning information of the target, comprising:
The central computing platform establishes a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm;
and performing error compensation on the first positioning information and the second positioning information of the target object through a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm so as to determine the position of the target object.
4. The UWB and BLE combination positioning control method of claim 1 wherein the central computing platform determines the location of the target based on the first and second positioning information of the target, further comprising:
the central computing platform performs environmental noise filtering pretreatment on the first positioning information and the second positioning information;
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering pretreatment.
5. The UWB and BLE combination positioning control method of claim 1 wherein the central computing platform determines a position of the target based on the first positioning information and the second positioning information of the target, and issues a control instruction to the actuator based on the position of the target, comprising:
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object;
And the central computing platform sends corresponding control instructions to the executor based on the executable state of the equipment to be controlled, the task priority strategy and the position of the target object.
6. The UWB and BLE combination positioning control method of claim 1 wherein the central computing platform determines a position of the target based on the first positioning information and the second positioning information of the target and issues a control instruction to the actuator based on the position of the target, further comprising:
the central computing platform determines the position of the target object based on the first positioning information and the second positioning information of the target object;
And if the distance between the position of the target object and the position time of the equipment to be controlled is smaller than a preset threshold value, a control instruction is sent to the actuator.
7. A UWB and BLE combination positioning control device comprising:
A BLE antenna and a UWB antenna on the device to be controlled;
The regional controller is used for acquiring a target object near the equipment to be controlled through a BLE antenna on the equipment to be controlled; after the target object is acquired, acquiring first positioning information of the target object through a UWB antenna on equipment to be controlled, acquiring second positioning information of the target object through a BLE antenna on the equipment to be controlled, and transmitting the first positioning information and the second positioning information to a central computing platform;
The central computing platform is used for determining the position of the target object based on the first positioning information and the second positioning information of the target object and sending a control instruction to the actuator based on the position of the target object;
The executor is used for controlling the equipment to be controlled based on the control instruction;
The area controller is configured to obtain, after the target object is obtained through a BLE antenna, second positioning information of the target object through the BLE antenna on the device to be controlled; and meanwhile, the regional controller activates a logic strategy of ranging of the UWB antenna, and the first positioning information of the target object is obtained through the UWB antenna on the equipment to be controlled.
8. The UWB and BLE combination positioning control device of claim 7 wherein the actuator is configured to feed back to the central computing platform a control state of the device to be controlled based on the control instructions.
9. The UWB and BLE combined positioning control device of claim 7 wherein the central computing platform is configured to build a mathematical model of the UWB and BLE combined positioning system based on an unscented kalman filter algorithm; and performing error compensation on the first positioning information and the second positioning information of the target object through a UWB and BLE combined positioning system mathematical model based on an unscented Kalman filtering algorithm so as to determine the position of the target object.
10. The UWB and BLE combined positioning control device of claim 7 wherein the central computing platform is configured to perform an ambient noise filtering pre-process on the first positioning information and the second positioning information; and determining the position of the target object based on the first positioning information and the second positioning information of the target object after the environmental noise filtering pretreatment.
11. The combined UWB and BLE positioning control device of claim 7 wherein the central computing platform is configured to determine the location of the target based on the first and second positioning information of the target; and sending a corresponding control instruction to the executor based on the executable state of the equipment to be controlled, the task priority strategy and the position of the target object.
12. The combined UWB and BLE positioning control device of claim 7 wherein the central computing platform is configured to determine the location of the target based on the first and second positioning information of the target; and if the distance between the position of the target object and the position time of the equipment to be controlled is smaller than a preset threshold value, a control instruction is sent to the actuator.
13. A computer readable medium having stored thereon computer readable instructions executable by a processor to implement the method of any one of claims 1 to 6.
14. An apparatus for information processing at a network device, the apparatus comprising a memory for storing computer program instructions and a processor for executing the program instructions, wherein the computer program instructions, when executed by the processor, trigger the apparatus to perform the method of any one of claims 1 to 6.
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