CN113126026B - Positioning system, method and storage medium - Google Patents
Positioning system, method and storage medium Download PDFInfo
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- CN113126026B CN113126026B CN201911404264.2A CN201911404264A CN113126026B CN 113126026 B CN113126026 B CN 113126026B CN 201911404264 A CN201911404264 A CN 201911404264A CN 113126026 B CN113126026 B CN 113126026B
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- 238000004364 calculation method Methods 0.000 claims abstract description 40
- 238000004422 calculation algorithm Methods 0.000 claims description 18
- 238000004590 computer program Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 9
- 238000005516 engineering process Methods 0.000 description 10
- 238000004891 communication Methods 0.000 description 9
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/06—Position of source determined by co-ordinating a plurality of position lines defined by path-difference measurements
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/0018—Transmission from mobile station to base station
- G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The embodiment of the invention provides a positioning system, a positioning method and a storage medium, wherein the system comprises an ultra wideband UWB positioning system, a network connection device and an edge calculation server, and the network connection device is connected with the UWB positioning system and the edge calculation server through wireless interfaces; the UWB positioning system comprises a positioning tag and at least three UWB base stations, wherein the at least three UWB base stations are used for determining relative position information of the UWB base stations and the positioning tag according to the propagation time of UWB pulse signals, and sending the relative position information to network connection equipment through a wireless interface; the network connection equipment is used for determining the priority of the relative position information according to the relative position information and sending the relative position information to the edge calculation server according to the priority; and the edge calculation server is used for determining the positioning result of the positioning tag according to the received relative position information. The embodiment of the invention can solve the problem that the positioning system is incompatible with private network construction, and improves the utilization rate of network resources.
Description
Technical Field
The present invention relates to the field of wireless communication and navigation technology, and in particular, to a positioning system, a method and a computer readable storage medium.
Background
In the conventional Ultra Wideband (UWB) positioning technology, the distance between the two UWB base stations is calculated by measuring the time for the UWB pulse signals transmitted by the positioning terminal to reach the UWB base stations, or the distance difference between the positioning terminal and the two UWB base stations is calculated, so as to obtain the positioning data of the positioning terminal relative to the UWB base stations.
In transmitting positioning data acquired by UWB base stations, the prior art includes two schemes: transmitting the positioning data to a positioning resolving server in a wired way by using an active Ethernet (Power Over Ethernet, POE) switch; and transmitting the positioning data WIFI to a positioning resolving server by using a positioning receiver.
However, when the positioning data is transmitted in the industrial internet application scene through the scheme, more UWB base stations, POE switches and positioning receivers are required to be deployed, a special positioning resolving server is required to be deployed locally for position information resolving, besides, a set of network system only used for positioning is required to be deployed separately outside the private network construction, network deployment is complex, and resource utilization rate is low.
Disclosure of Invention
The embodiment of the invention provides a positioning system, a positioning method and a storage medium, which can solve the problem that the positioning system is incompatible with private network construction and improve the utilization rate of network resources.
In a first aspect, there is provided a positioning system comprising: the device comprises an ultra-wideband UWB positioning system, network connection equipment and an edge computing server, wherein the network connection equipment is connected with the UWB positioning system and the edge computing server through wireless interfaces; the UWB positioning system comprises a positioning tag and at least three UWB base stations, wherein the at least three UWB base stations are used for determining relative position information of the UWB base stations and the positioning tag according to the propagation time of UWB pulse signals, and sending the relative position information to network connection equipment through a wireless interface; the network connection equipment is used for determining the priority of the relative position information according to the relative position information and sending the relative position information to the edge calculation server according to the priority; and the edge calculation server is used for determining the positioning result of the positioning tag according to the received relative position information.
In some implementations of the first aspect, determining the priority of the relative position information from the relative position information includes: the priority of the relative position information is determined based on the propagation time of the UWB pulse signal in the relative position information, wherein the priority of the relative position information in which the propagation time of the UWB pulse signal is short is high.
In some implementations of the first aspect, the edge computing server is specifically configured to determine a positioning result of the positioning tag according to the time-of-arrival positioning algorithm and the at least three relative position information.
In some implementations of the first aspect, the edge computing server is specifically configured to determine a positioning result of the positioning tag according to a time difference of arrival positioning algorithm and at least four relative position information.
In some implementations of the first aspect, the network connection device is further configured to monitor status information of the UWB base station, the status information including: the working state of the UWB base station, power supply information and relative position information of the UWB base station and the positioning tag.
In some implementations of the first aspect, the network connection device is further configured to store the relative location information received within a preset period.
In some implementations of the first aspect, the edge calculation server is further configured to determine a distance between the UWB base station and the positioning tag according to the relative position information of the UWB base station and the positioning tag and the positioning result of the positioning tag, and when the distance between the UWB base station and the positioning tag exceeds a preset threshold, re-determine the positioning result.
In a second aspect, there is provided a positioning method applied to the positioning system of the first aspect or some of the realizations of the first aspect, the method comprising: at least three UWB base stations in the positioning system respectively determine the relative position information of the positioning tag according to the propagation time of UWB pulse signals, and send the relative position information of the positioning tag to network connection equipment in the positioning system through a wireless interface; the network connection equipment determines the priority of the relative position information according to the relative position information and sends the relative position information to an edge calculation server in the positioning system according to the priority of the relative position information; and the edge calculation server determines the positioning result of the positioning tag according to the received relative position information.
In some implementations of the second aspect, determining the priority of the relative position information from the relative position information includes: the priority of the relative position information is determined based on the propagation time of the UWB pulse signal in the relative position information, wherein the priority of the relative position information in which the propagation time of the UWB pulse signal is short is high.
In some implementations of the second aspect, determining a positioning result of the positioning tag according to the received relative position information includes: and determining a positioning result of the positioning tag according to the arrival time positioning algorithm and at least three pieces of relative position information.
In some implementations of the second aspect, determining a positioning result of the positioning tag according to the received relative position information includes: and determining a positioning result of the positioning tag according to the arrival time difference positioning algorithm and at least four pieces of relative position information.
In some implementations of the second aspect, the network connection device monitors status information of the UWB base station, the status information including: the working state of the UWB base station, power supply information and relative position information of the UWB base station and the positioning tag.
In some implementations of the second aspect, the edge calculation server determines a distance between the UWB base station and the positioning tag according to the relative position information of the UWB base station and the positioning tag and the positioning result of the positioning tag, and when the distance between the UWB base station and the positioning tag exceeds a preset threshold, re-determines the positioning result.
In a third aspect, there is provided a computer readable storage medium having stored thereon computer program instructions which when executed by a processor implement the positioning method of the second aspect or some of the realizations of the second aspect.
The invention relates to the technical field of wireless communication and navigation, in particular to a positioning system, a method and a computer readable storage medium, wherein at least three UWB base stations in the positioning system respectively determine relative position information of a positioning label according to propagation time of UWB pulse signals, the relative position information of the positioning label is sent to network connection equipment in the positioning system through a wireless interface, the network connection equipment determines priority of the relative position information according to the relative position information, and sends the relative position information to an edge calculation server in the positioning system according to the priority of the relative position information, and the edge calculation server determines positioning results of the positioning label according to the received relative position information, so that the problem that the positioning system is incompatible with private network construction can be solved while accurate positioning is realized, and the utilization rate of network resources is improved.
Drawings
In order to more clearly illustrate the technical solution of the embodiments of the present invention, the drawings that are needed to be used in the embodiments of the present invention will be briefly described, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a positioning system based on a wire according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a wireless-based positioning system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning system according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of determining a positioning result according to a TDOA algorithm according to an embodiment of the present invention;
fig. 5 is a flow chart of a positioning method according to an embodiment of the present invention.
Detailed Description
Features and exemplary embodiments of various aspects of the present invention will be described in detail below, and in order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely configured to illustrate the invention and are not configured to limit the invention. It will be apparent to one skilled in the art that the present invention may be practiced without some of these specific details. The following description of the embodiments is merely intended to provide a better understanding of the invention by showing examples of the invention.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone.
The existing UWB positioning system mainly includes: a wire-based positioning system and a Wireless (WIFI) -based positioning system.
Fig. 1 is a schematic structural diagram of a positioning system based on a wired system according to an embodiment of the present invention, where, as shown in fig. 1, the system includes a positioning terminal, a UWB base station, a POE switch, a positioning resolving server, and a terminal. Firstly, a positioning terminal transmits UWB pulse signals to a UWB base station, and the UWB base station calculates the distance between the UWB pulse signals and the UWB base station by measuring the propagation time of the signals to obtain the relative position information of the positioning terminal and the UWB base station; then, the UWB base station is connected to the POE switch in a wired mode, and the relative position information is transmitted to a local positioning resolving server through the POE switch; and the positioning resolving server resolves the relative position information to obtain a positioning result, and finally, the positioning result is transmitted to the terminal for display.
In a complex industrial internet application scene, a wire-based positioning system needs to deploy more UWB base stations and POE switches for transmitting positioning data, and in private network construction, a set of network system for positioning needs to be independently deployed, so that network deployment is complex, and resource utilization rate is low.
Fig. 2 is a schematic structural diagram of a wireless-based positioning system according to an embodiment of the present invention, and as shown in fig. 2, the system includes a positioning terminal, a UWB base station, a positioning receiver, a positioning resolution server, and a terminal. Firstly, a positioning terminal transmits UWB pulse signals to a UWB base station, and the UWB base station calculates the distance between the UWB pulse signals and the UWB base station by measuring the propagation time of the signals to obtain the relative position information of the positioning terminal and the UWB base station; then, the UWB base station is connected to a positioning receiver in a Wireless (WIFI) mode, and relative position information is transmitted to a positioning resolving server deployed locally through the positioning receiver; and the positioning resolving server resolves the relative position information to obtain a positioning result, and finally, the positioning result is transmitted to the terminal for display.
The wireless-based positioning system has the same problems as the wired-based positioning system, and besides, the biggest disadvantage is that only UWB base stations in a limited area can be managed, and each positioning area needs to be separately deployed with a positioning resolving server, so that the wireless-based positioning system is only suitable for being deployed in a small area, and the deployment cost is greatly increased when the wireless-based positioning system is used in an industrial Internet application scene.
In order to solve the problems of complex network deployment, low resource utilization rate and excessive deployment cost of the existing positioning system, an embodiment of the present invention provides a positioning system, and a technical scheme of the embodiment of the present invention is described below with reference to fig. 3.
Fig. 3 is a schematic structural diagram of a positioning system according to an embodiment of the present invention, and as shown in fig. 3, the positioning system 300 may include: the device comprises a UWB positioning system 301, a network connection device 302 and an edge computing server 303, wherein the network connection device 302 is connected with the UWB positioning system 301 and the edge computing server 303 through a wireless interface.
UWB positioning system 301 includes a positioning tag 3011 and at least three UWB base stations 3012.
A positioning tag 3011 for transmitting UWB pulse signals to UWB base station 3012.
The UWB pulse signal can be a narrow pulse wave in a non-sinusoidal form, and the pulse time period is very short, so that the wide bandwidth of the signal can be ensured.
UWB base stations 3012 for each UWB base station determining relative position information of each UWB base station and the positioning tag 3011 according to propagation time of UWB pulse signals, each UWB base station transmitting relative position information of the positioning tag 3011 to the network connection device 302 via a wireless interface.
The UWB base station 3012 may also be used for parameter configuration of a positioning tag (positioning terminal) 3011, status backhaul of the positioning tag, and uplink and downlink data of the positioning tag.
Specifically, the time when the positioning tag 3011 transmits the UWB pulse signal, the arrival time of the pulse signal in the UWB base station 3012 are measured, the propagation time of each UWB pulse signal is obtained according to the time difference, and the distance between each UWB base station and the positioning tag is determined according to formula (1).
s＝ct(1)
Where s is the distance between the UWB base station and the positioning tag, t is the propagation time of the UWB pulse signal, and the positioning tag is located on a circle centered on the UWB base station and having s as a radius.
The position information of the UWB base station 3012 is determined, and the relative position information includes the propagation time of the UWB pulse signal and the calculated distance between the UWB base station 3012 and the positioning tag 3011.
The network connection device 302 is configured to receive the relative position information sent by the UWB base station 3012, determine the priority of the relative position information according to the relative position information, and send the relative position information to the edge calculation server 303 according to the priority.
Specifically, the network connection device 302 is connected to the UWB base station 3012 through a wireless interface (WIFI, bluetooth, violence, etc.), and is further configured to monitor status information of the UWB base station 3012, where the status information includes: the operating state of the UWB base station 3012, power supply information, and relative position information of the UWB base station 3012 and the positioning tag 3011.
In an indoor complex environment, due to the reflection, scattering and other factors of objects such as walls and equipment on wireless signals, a signal propagation path of the positioning tag 3011 transmitted to the UWB base station 3012 becomes long, so that time delays of signals received by different UWB base stations are different, and the accuracy of ranging of the UWB base stations is greatly affected by the long time delay.
Therefore, the network connection device 302 needs to prioritize the received pieces of relative position information of the UWB base station 3012 and the positioning tag 3011, determine the priority of the relative position information according to the length of the propagation time of the UWB pulse signal, and send the relative position information to the edge calculation server 303 according to the priority ranking.
Optionally, in one embodiment, the UWB positioning technology may have factors that affect positioning accuracy in an indoor complex environment, such as multipath effects and non-line-of-sight transmission, which may affect the quality of the UWB pulse signal received by the UWB base station 3012, so that the network connection device 302 may also take into account the influence of multipath effects and non-line-of-sight propagation on the quality of the UWB pulse signal when determining the priority of the relative position information, where the quality of the UWB pulse signal received by the UWB base station 3012 is high.
Specifically, the network connection device 302 further reserves a nonvolatile memory for storing all the relative position information transmitted from the UWB base station 3012 received within a preset period.
The edge calculation server 303 is configured to determine a positioning result of the positioning tag 3011 according to the received relative position information.
The edge computing server 303 is configured to compute (Mobile Edge Computing, MEC) the mobile edge in private network construction, and before the edge computing server 303 receives the relative position information, the private network gateway first needs to split the relative position information sent by the network connection device 302, and transmits all the relative position information to the MEC node through a routing policy, so that the information data is prevented from flowing to the public network, and the security of the relative position information is ensured.
Specifically, the edge calculation server 303 is configured to determine a positioning result of the positioning tag according to a time of arrival (TOA) positioning algorithm and at least three pieces of relative position information, or determine a positioning result of the positioning tag according to a time difference of arrival (TIME DIFFERENCE f arrival, tdoa) positioning algorithm and at least four pieces of relative position information, and transmit the positioning result to the terminal for display.
Fig. 5 is a schematic diagram of determining a positioning result according to a TDOA algorithm according to an embodiment of the present invention, where, as shown in fig. 5, there are four base stations A, B, C, D, the time difference between the UWB pulse signal reaching two base stations is calculated, and the positioning result of the positioning tag is determined according to two pairs of hyperbolas by using the hyperbola principle.
The edge calculation server 303 is further configured to determine accuracy of the positioning result according to the relative position information of the UWB base station 3012 and the positioning tag 3011 and the positioning result of the positioning tag 3011.
The following description is provided in connection with a specific embodiment:
First, the edge calculation server 303 receives the relative position information between the base station a and the positioning tag p, the relative position information between the base station b and the positioning tag p, and the relative position information between the base station c and the positioning tag p, which are sent by the network connection device 302, where the relative position information includes the position information of the base stations a, b, and c, and the edge calculation server 303 obtains the positioning result of the positioning tag p according to the TOA positioning algorithm and the three relative position information.
Then, the edge calculation server 303 compares the obtained positioning result with the position information of the base station a, the position information of the base station b and the position information of the base station c respectively to obtain distances between the base stations a, b and c and the positioning tag p, compares the distances between the base stations a, b and c and the positioning tag p with a preset threshold, and if the distance between any one of the base stations a, b and c and the positioning tag p exceeds the preset threshold, the edge calculation server 303 needs to re-determine the positioning result of the positioning tag p.
For example, if the distance between the base station a and the positioning tag p exceeds the preset threshold, the distance between the base stations b and c and the positioning tag p does not exceed the preset threshold, the relative position information between the base station d (other base stations) and the positioning tag p stored in advance in the network connection device is selected, instead of the relative position information between the base station a and the positioning tag p, the edge calculation server 303 redetermines the positioning result of the positioning tag p according to the relative position information between the base stations b, c and d and the positioning tag p and the TOA positioning algorithm, so as to optimize the positioning result of the positioning tag p.
According to the positioning system provided by the embodiment of the invention, the relative position information of the positioning label is respectively determined according to the propagation time of UWB pulse signals through at least three UWB base stations in the positioning system, the relative position information of the positioning label is sent to the network connection equipment in the positioning system through the wireless interface, the priority of the relative position information is determined according to the relative position information by the network connection equipment, the relative position information is sent to the edge calculation server in the positioning system according to the priority of the relative position information, the edge calculation server determines the positioning result of the positioning label according to the received relative position information, the problem that the positioning system is incompatible with private network construction can be solved while the positioning is determined, and the utilization rate of network resources is improved.
It may be understood that the positioning system provided by the embodiment of the present invention may be a positioning system based on a 5G communication network, where a network connection device of the system may be a 5G network connection device, and an edge computing server may be a 5G edge computing server.
The embodiment of the invention provides a positioning method which can be applied to a positioning system of a 5G communication network, and the following description is given by taking 5G network communication as an example and referring to fig. 5.
Fig. 5 is a flow chart of a positioning method according to an embodiment of the present invention, as shown in fig. 5, the method includes the following steps:
S110, at least three UWB base stations in the positioning system respectively determine the relative position information of the positioning tag according to the propagation time of UWB pulse signals, and send the relative position information of the positioning tag to 5G network connection equipment in the positioning system through a wireless interface.
The positioning terminal (positioning tag) transmits UWB pulse signals to UWB base stations, each UWB base station determines the relative position information of each UWB base station and the positioning tag according to the propagation time of the UWB pulse signals, and each UWB base station transmits the relative position information of the UWB base station and the positioning tag to the 5G network connection equipment through a wireless interface.
The UWB pulse signal can be a narrow pulse wave in a non-sinusoidal form, and the pulse time period is very short, so that the wide bandwidth of the signal can be ensured.
Specifically, the time of transmitting UWB pulse signals by the positioning tag and the time of reaching the UWB pulse signals by the positioning tag are measured, the propagation time of each UWB pulse signal is obtained according to the time difference, and the distance between each UWB base station and the positioning tag is determined according to the formula (1).
The position information of the UWB base station is determined, and the relative position information comprises the propagation time of the UWB pulse signal and the calculated distance between the UWB base station and the positioning tag.
And S120, the 5G network connection equipment determines the priority of the relative position information according to the relative position information, and sends the relative position information to an edge calculation server in the positioning system according to the priority of the relative position information.
Specifically, the 5G network connection device is connected to the UWB base station through a wireless interface (WIFI, bluetooth, violet peak, etc.), monitors status information of the UWB base station, and the status information includes: the working state of the UWB base station, power supply information and relative position information of the UWB base station and the positioning tag.
In an indoor complex environment, due to the fact that the reflection, scattering and other factors of objects such as walls and equipment on wireless signals can cause the signal propagation path of the positioning tag transmitted to the UWB base station to be long, the time delay of signals received by different UWB base stations is different, and the accuracy of ranging of the UWB base station can be greatly affected due to the long time delay.
Therefore, the 5G network connection device needs to prioritize the received plurality of relative position information of the UWB base station and the positioning tag, determine the priority of the relative position information according to the propagation time of the UWB pulse signal, and send the relative position information to the 5G edge computing server according to the priority ranking.
Optionally, in one embodiment, the UWB positioning technology may have factors that affect positioning accuracy in an indoor complex environment, such as multipath effect and non-line-of-sight transmission, which may affect the quality of UWB pulse signals received by the UWB base station, so that the 5G network connection device may also consider the influence of multipath effect and non-line-of-sight propagation on the quality of UWB pulse signals when determining the priority of the relative position information, where the priority of UWB pulse signal quality received by the UWB base station is high.
Specifically, the 5G network connection device further reserves a nonvolatile memory for storing all relative position information sent by the UWB base station received in a preset period.
And S130, the 5G edge calculation server determines a positioning result of the positioning label according to the received relative position information.
The 5G private network takes an industry private network gateway as a core, integrates a 5G slicing technology and an edge computing technology, meets requirements of industry customer service, link, computation, safety and the like, is a novel information and communication technology (information and communications technology, ICT) basic measure designed for the industry customer in the 5G era by operators, and a 5G edge computing server is deployed at MEC nodes in a private network area and can be used for computing low-delay service, so that a computing platform is provided for the 5G integrated UWB positioning technology.
Before the 5G edge computing server receives the relative position information, a private network gateway in the 5G private network firstly shunts the relative position information sent by the 5G network connection equipment, and all the relative position information is transmitted to the MEC node through a routing strategy, so that the information data is prevented from flowing to the public network, and the safety of the relative position information is ensured.
Specifically, the 5G edge calculation server determines a positioning result of the positioning tag according to a time of arrival (TOA) positioning algorithm and at least three pieces of relative position information, or determines a positioning result of the positioning tag according to a time of arrival (TIME DIFFERENCE f arrival, tdoa) positioning algorithm and at least four pieces of relative position information.
The 5G edge calculation server can also judge the accuracy of the positioning result according to the relative position information of the UWB base station and the positioning label and the positioning result of the positioning label.
The following description is provided in connection with a specific embodiment:
Firstly, a 5G edge computing server receives relative position information between a base station a and a positioning tag p, relative position information between a base station b and the positioning tag p and relative position information between a base station c and the positioning tag p, which are sent by 5G network connection equipment, wherein the relative position information comprises position information of the base stations a, b and c, and the 5G edge computing server obtains a positioning result of the positioning tag p according to a TOA positioning algorithm and the three relative position information.
And then, the 5G edge calculation server compares the obtained positioning result with the position information of the base station a, the position information of the base station b and the position information of the base station c respectively to obtain the distances between the base stations a, b and c and the positioning label p, compares the distances between the base stations a, b and c and the positioning label p with a preset threshold value, and if the distance between any one of the base stations a, b and c and the positioning label p exceeds the preset threshold value, the 5G edge calculation server needs to redetermine the positioning result of the positioning label p and transmits the positioning result to the terminal for displaying.
For example, if the distance between the base station a and the positioning tag p exceeds a preset threshold, the distance between the base stations b and c and the positioning tag p does not exceed the preset threshold, the relative position information between the base station d (other base stations) and the positioning tag p stored in the network connection device is selected to replace the relative position information between the base station a and the positioning tag p, and the 5G edge calculation server redetermines the positioning result of the positioning tag p according to the relative position information between the base stations b, c and d and the positioning tag p and the TOA positioning algorithm, so that the positioning result of the positioning tag p is optimized.
According to the positioning method provided by the embodiment of the invention, the 5G network and the UWB positioning technology are combined, the advantage of low time delay of the 5G network is utilized, the position data is returned to the MEC of private network construction for position information calculation, the problem that the UWB positioning system is incompatible with the private network construction is solved, the network resource utilization rate is improved, and meanwhile, the 5G wireless communication is utilized as a bearing channel of the position data, so that the relative position information calculation of low time delay can be realized.
Embodiments of the present invention also provide a computer readable storage medium having computer program instructions stored thereon; the computer program instructions, when executed by a processor, implement the method of the embodiment of fig. 5 provided by the embodiment of the present invention.
It should be understood that the invention is not limited to the particular arrangements and instrumentality described above and shown in the drawings. For the sake of brevity, a detailed description of known methods is omitted here. In the above embodiments, several specific steps are described and shown as examples. The method processes of the present invention are not limited to the specific steps described and shown, but various changes, modifications and additions, or the order between steps may be made by those skilled in the art after appreciating the spirit of the present invention.
The functional blocks shown in the above-described structural block diagrams may be implemented in hardware, software, firmware, or a combination thereof. When implemented in hardware, it may be, for example, an electronic Circuit, application SPECIFIC INTEGRATED Circuit (ASIC), appropriate firmware, plug-in, function card, or the like. When implemented in software, the elements of the invention are the programs or code segments used to perform the required tasks. The program or code segments may be stored in a machine readable medium or transmitted over transmission media or communication links by a data signal carried in a carrier wave. A "machine-readable medium" may include any medium that can store or transfer information. Examples of machine-readable media include electronic circuitry, semiconductor Memory devices, read-Only Memory (ROM), flash Memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio Frequency (RF) links, and the like. The code segments may be downloaded via computer networks such as the internet, intranets, etc.
It should also be noted that the exemplary embodiments mentioned in this disclosure describe some methods or systems based on a series of steps or devices. The present invention is not limited to the order of the above-described steps, that is, the steps may be performed in the order mentioned in the embodiments, or may be performed in a different order from the order in the embodiments, or several steps may be performed simultaneously.
In the foregoing, only the specific embodiments of the present invention are described, and it will be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the systems, modules and units described above may refer to the corresponding processes in the foregoing method embodiments, which are not repeated herein. It should be understood that the scope of the present invention is not limited thereto, and any equivalent modifications or substitutions can be easily made by those skilled in the art within the technical scope of the present invention, and they should be included in the scope of the present invention.
Claims (11)
1. The positioning system is characterized by comprising an ultra-wideband UWB positioning system, network connection equipment and an edge computing server, wherein the network connection equipment is connected with the UWB positioning system and the edge computing server through a wireless interface;
the UWB positioning system comprises a positioning tag and at least three UWB base stations, wherein the at least three UWB base stations are used for determining relative position information of the UWB base stations and the positioning tag according to the propagation time of UWB pulse signals, and sending the relative position information to the network connection equipment through a wireless interface;
the network connection device is used for determining the priority of the relative position information according to the relative position information and sending the relative position information to the edge computing server according to the priority;
the edge calculation server is used for determining a positioning result of the positioning tag according to the received relative position information;
The determining the priority of the relative position information according to the relative position information comprises:
Determining the priority of the relative position information according to the propagation time of the UWB pulse signals in the relative position information, wherein the priority of the relative position information with short propagation time of the UWB pulse signals is high;
Before the edge computing server receives the relative position information, the private network gateway shunts the relative position information sent by the network connection equipment, and the relative position information is transmitted to a mobile edge computing node through a routing strategy.
2. The positioning system of claim 1, wherein the edge calculation server is specifically configured to:
And determining a positioning result of the positioning tag according to an arrival time positioning algorithm and at least three pieces of relative position information.
3. The positioning system of claim 1, wherein the edge calculation server is specifically configured to:
and determining a positioning result of the positioning tag according to an arrival time difference positioning algorithm and at least four pieces of relative position information.
4. The positioning system of claim 1, wherein the network connection device is further configured to:
monitoring state information of the UWB base station;
The status information includes: the working state of the UWB base station, power supply information and relative position information of the UWB base station and the positioning tag.
5. The positioning system of claim 4, wherein the network connection device is further configured to:
And storing the relative position information received in a preset period.
6. A positioning system according to claim 2 or 3, wherein the edge calculation server is further configured to:
Judging the distance between the UWB base station and the positioning tag according to the relative position information of the UWB base station and the positioning tag and the positioning result of the positioning tag;
And when the distance between the UWB base station and the positioning tag exceeds a preset threshold value, the positioning result is redetermined.
7. A positioning method applied to the positioning system as claimed in any one of claims 1 to 6, characterized in that the method comprises:
at least three UWB base stations in the positioning system respectively determine the relative position information of the positioning tag according to the propagation time of UWB pulse signals, and send the relative position information of the positioning tag to network connection equipment in the positioning system through a wireless interface;
the network connection equipment determines the priority of the relative position information according to the relative position information and sends the relative position information to an edge calculation server in the positioning system according to the priority of the relative position information;
the edge calculation server determines a positioning result of the positioning tag according to the received relative position information;
The determining the priority of the relative position information according to the relative position information comprises:
Determining the priority of the relative position information according to the propagation time of the UWB pulse signals in the relative position information, wherein the priority of the relative position information with short propagation time of the UWB pulse signals is high;
Before the edge computing server receives the relative position information, the private network gateway shunts the relative position information sent by the network connection equipment, and the relative position information is transmitted to a mobile edge computing node through a routing strategy.
8. The method of claim 7, wherein said determining a positioning result from said received relative position information comprises:
determining a positioning result of the positioning tag according to an arrival time positioning algorithm and at least three pieces of relative position information;
Or alternatively, the first and second heat exchangers may be,
And determining a positioning result of the positioning tag according to an arrival time difference positioning algorithm and at least four pieces of relative position information.
9. The method of claim 7, wherein the method further comprises:
the network connection equipment monitors the state information of the UWB base station;
The status information includes: the working state of the UWB base station, power supply information and relative position information of the UWB base station and the positioning tag.
10. The method of claim 8, wherein the method further comprises:
The edge calculation server judges the distance between the UWB base station and the positioning tag according to the relative position information of the UWB base station and the positioning tag and the positioning result of the positioning tag;
And when the distance between the UWB base station and the positioning tag exceeds a preset threshold value, the positioning result is redetermined.
11. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon computer program instructions, which when executed by a processor, implement a positioning method according to any of the claims 7-10.
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