TWI832752B - Ultra wide band positioning system and ultra wide band positioning method - Google Patents

Abstract

An ultra wide band positioning system and an ultra wide band positioning method are disclosed. The ultra wide band positioning system includes a key side and a car device. The key side includes an ultra wide band transceiver. The ultra wide band transceiver sends the first ultra wide band signal to the first transceiver device, the first receiving device and the second receiving device of the car device. The first transceiver device sends the second ultra wide band signal to the ultra wide band transceiver, the first receiving device and the second receiving device. Then the ultra wide band transceiver sends the third ultra wide band signal to the first transceiver device, the first receiving device and the second receiving device. The distance between the ultra wide band transceiver and each receiving device is obtained by using the time difference between sending and receiving signal and the preset distance, so as to locate the position of the key side.

Description

Ultra-wideband positioning system and ultra-wideband positioning method

The present invention relates to an ultra-wideband positioning system and an ultra-wideband positioning method, in particular to a method of obtaining signal transmission time through ultra-wideband (UWB) signal transmission and reception and combining the signal transmission and reception time difference, and then obtaining the separation distance for positioning. Ultra-wideband positioning system and ultra-wideband positioning method.

In today's global vehicle market, whether it is a gasoline or diesel vehicle or an electric vehicle, in terms of vehicle control and equipment, various computer equipment is introduced to assist vehicle driving, or various electronic devices are used to assist vehicle control. For example, a vehicle key equipped with a chip can be used as a user to open the door, unlock the vehicle, start the engine and other related control devices. Although the cost of various electronic equipment and subsequent maintenance expenses increase, integrating various electronic equipment into vehicle equipment to enhance the driving and riding experience is an important trend in the development of the vehicle industry.

Taking various chips and remote control keys as examples, when the user approaches the vehicle, the vehicle should be able to sense the key and execute each set program. However, how to determine the correct key and how to determine the key location will be necessary for the execution of each program. If the conditions cannot be determined correctly, misjudgments may affect the driving experience and even cause safety problems during the vehicle unlocking and starting processes. Furthermore, the car Vehicle keys are limited in size and power supply. How to obtain a light, short, and power-saving key device has become the focus of research and development.

In view of this, it is difficult for existing vehicle keys to obtain accurate positioning, and the device size and power supply are also difficult to meet consumer needs. In this regard, the inventor of the present invention thought about and designed an ultra-wideband positioning system and ultra-wideband positioning method to improve the deficiencies of the existing technology and thereby enhance industrial implementation and utilization.

In view of the above-mentioned problems of the conventional technology, the purpose of the present invention is to provide an ultra-wideband positioning system and an ultra-wideband positioning method to solve the problems caused by the conventional vehicle key in terms of positioning accuracy and device power consumption.

According to one object of the present invention, an ultra-wideband positioning system is proposed, which includes a key terminal and a vehicle device. Among them, the key end is equipped with an ultra-wideband transceiver device, and the ultra-wideband transceiver device sends and receives ultra-wideband signals. The vehicle device is provided with a first transceiver device, a first receiving device, a second receiving device and a vehicle computing device. The first transceiver device and the first receiving device have a first preset distance, and there is a distance between the first transceiver device and the second receiving device. At the second preset distance, the first transceiver device, the first receiving device and the second receiving device are respectively connected to the vehicle computing device. The ultra-wideband transceiver device sends the first ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device, and transmits the second ultra-wideband signal to the ultra-wideband transceiver device, the first receiving device and the second receiving device through the first transceiver device. The receiving device then sends the third ultra-wideband signal to the first transceiving device, the first receiving device and the second receiving device from the ultra-wideband transceiving device. The first distance between the ultra-wideband transceiver device and the first transceiver device is obtained by the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal. The ultra-wideband transceiver device and the first receiving device The second distance between the devices is obtained by the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the first preset distance. The distance between the ultra-wideband transceiver device and the second receiving device is The third distance is obtained by the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the second preset distance. The vehicle computing device uses the first distance, the second distance and the third distance. Position the key end.

Preferably, the first transceiver device, the first receiving device and the second receiving device can be disposed on the handle end of the vehicle device, the first transceiver device and the first receiving device are disposed on one side of the vehicle device, and the second receiving device is disposed on The other side of the vehicle unit.

Preferably, the vehicle device may further include a third receiving device, the first transceiving device and the third receiving device have a third preset distance, and the third receiving device is connected to the vehicle computing device. Wherein, the ultra-wideband transceiver device sends the first ultra-wideband signal to the third receiving device, sends the second ultra-wideband signal to the third receiving device through the first transceiver device, and then the ultra-wideband transceiver device sends the third ultra-wideband signal to the third receiving device. receiving device. The fourth distance between the ultra-wideband transceiver device and the third receiving device is obtained by the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the third preset distance. The vehicle computing device uses The key end is positioned based on the first distance, the second distance, the third distance and the fourth distance.

Preferably, the first transceiver device, the first receiving device, the second receiving device and the third receiving device can be disposed on the handle end of the vehicle device, and the first transceiver device and the first receiving device are disposed on one side of the vehicle device. The second receiving device and the third receiving device are arranged on the other side of the vehicle device.

Preferably, the key end may be provided with a wireless signal transmission device. When the vehicle computing device receives the notification signal from the wireless signal transmission device, it returns a starting signal to the wireless signal transmission device to activate the ultra-wideband transceiver device to send the first ultra-wideband signal.

According to one object of the present invention, an ultra-wideband positioning method is proposed, which is suitable for an ultra-wideband positioning system including a key terminal and a vehicle device. The ultra-wideband positioning method includes the following steps: setting the key terminal and the vehicle device, and the key terminal includes an ultra-wideband transceiver device , the vehicle device is provided with a first transceiver device, a first receiving device, a second receiving device and a vehicle computing device, there is a first preset distance between the first transceiver device and the first receiving device, and the first transceiver device and the second receiving device There is a second preset distance between them; sending the first ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device through the ultra-wideband transceiver device; transmitting the second ultra-wideband signal to the ultra-wideband through the first transceiver device The transceiver device, the first receiving device and the second receiving device; send the third ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device through the ultra-wideband transceiver device; through the first ultra-wideband signal, the second The first distance between the ultra-wideband transceiver device and the first transceiver device is obtained by using the time difference between the ultra-wideband signal and the third ultra-wideband signal. The second distance between the ultra-wideband transceiver device and the first receiving device is obtained by using the sending and receiving time difference and the first preset distance; using the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the third Two preset distances are used to obtain a third distance between the ultra-wideband transceiver device and the second receiving device; the vehicle computing device locates the key end through the first distance, the second distance and the third distance.

Preferably, the first transceiver device, the first receiving device and the second receiving device can be disposed on the handle end of the vehicle device, the first transceiver device and the first receiving device are disposed on one side of the vehicle device, and the second receiving device is disposed on The other side of the vehicle unit.

Preferably, the ultra-wideband positioning method may further include the following steps: setting a third receiving device of the vehicle device, the first transceiver device and the third receiving device having a third preset distance; the ultra-wideband transceiver device sending the first ultra-wideband signal to The third receiving device sends the second ultra-wideband signal to the third receiving device through the first transceiver device, and then the ultra-wideband transceiver device sends the third ultra-wideband signal to the third receiving device. Device; obtain the fourth distance between the ultra-wideband transceiver device and the third receiving device through the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the third preset distance; vehicle calculation The device locates the key end through the first distance, the second distance, the third distance and the fourth distance.

Preferably, the first transceiver device, the first receiving device, the second receiving device and the third receiving device can be disposed on the handle end of the vehicle device, and the first transceiver device and the first receiving device are disposed on one side of the vehicle device. The second receiving device and the third receiving device are arranged on the other side of the vehicle device.

Preferably, the key end may be provided with a wireless signal transmission device. When the vehicle computing device receives the notification signal from the wireless signal transmission device, it returns a starting signal to the wireless signal transmission device to activate the ultra-wideband transceiver device to send the first ultra-wideband signal.

Based on the above, the ultra-wideband positioning system and ultra-wideband positioning method according to the present invention may have one or more of the following advantages:

(1) This ultra-wideband positioning system and ultra-wideband positioning method can transmit ultra-wideband signals through an ultra-wideband transceiver device, and obtain the distance between the key end and each fixed point of the vehicle device through the transmitting or receiving devices at each anchor point on the vehicle device. The key end position is defined through the overlap of multiple distance ranges to achieve accurate positioning.

(2) This ultra-wideband positioning system and ultra-wideband positioning method can transmit ultra-wideband signals through the transceiver device on the vehicle device, combined with the preset distance between each anchor point, to obtain the distance from each fixed point, reducing the key-side transmission and The number of signal receptions reduces power loss and saves power.

(3) This ultra-wideband positioning system and ultra-wideband positioning method improves positioning accuracy through the setting of multiple anchor points, avoids interference in signal transmission at different fixed points and affects the final positioning judgment, and increases the accuracy of judgment.

10,20,30,40: Ultra-wideband positioning system

11,31,K: key end

12,22,32,42: Vehicle device

111,211,311,411: Ultra-wideband transceiver device

121,221,321,421: first transceiver device

122,222,322,422: first receiving device

123,223,323,423: Second receiving device

125,225,325,425: Vehicle computing device

312:Wireless signal transmission device

324,424: Third receiving device

A,B,C,D: anchor points

S1: The first ultra-wideband signal

S2: The second ultra-wideband signal

S3: The third ultra-wideband signal

S01~S08, S11~S20: steps

In order to make the technical features, content and advantages of the present invention and the effects it can achieve more obvious, the present invention is described in detail as follows in conjunction with the accompanying drawings and in the form of embodiments:

Figure 1 is a block diagram of an ultra-wideband positioning system according to an embodiment of the present invention.

Figures 2A and 2B are schematic diagrams of an ultra-wideband positioning system according to an embodiment of the present invention.

Figure 3 is a flow chart of an ultra-wideband positioning method according to an embodiment of the present invention.

Figure 4 is a block diagram of an ultra-wideband positioning system according to another embodiment of the present invention.

Figure 5 is a schematic diagram of an ultra-wideband positioning system according to another embodiment of the present invention.

Figure 6 is a flow chart of an ultra-wideband positioning method according to another embodiment of the present invention.

In order to help the review committee understand the technical features, content and advantages of the present invention and the effects it can achieve, the present invention is described in detail below in conjunction with the accompanying drawings and in the form of embodiments. The drawings used therein are as follows. The subject matter is only for illustration and auxiliary description, and does not necessarily represent the actual proportions and precise configurations after implementation of the present invention. Therefore, the proportions and configuration relationships of the attached drawings should not be interpreted to limit the scope of rights of the present invention in actual implementation. Let’s explain first.

Please refer to Figure 1, which is a block diagram of an ultra-wideband positioning system according to an embodiment of the present invention. As shown in the figure, the ultra-wideband positioning system 10 includes a key terminal 11 and a vehicle device 12. The key terminal 11 is a key device that unlocks and starts the vehicle device 12. When the user holds the key device and approaches the vehicle, the user can confirm the use through positioning. position and proceed with the unlocking procedure. Or after the vehicle is started, if the detection key device is far away from the vehicle, the vehicle will be locked and cannot be driven, etc. In order to position the key end 11, an ultra-wideband transceiver device 111 is provided on the key end 11. The ultra-wideband transceiver device 111 can send and receive ultra-wideband signals. Ultra-wideband communication uses nanosecond (ns) to picosecond (ps) level non-sinusoidal narrow pulse waves to transmit data. It has the characteristics of small transmission power and high transmission speed, and is suitable for low-power key terminals.

The vehicle device 12 includes various gasoline and diesel vehicles, electric vehicles, etc. The vehicle device 12 is provided with a first transceiver device 121, a first receiving device 122, a second receiving device 123 and a vehicle computing device 125. The first transceiver device 121, the first receiving device 122 and the second receiving device 123 are anchor points (Anchors) provided by the vehicle device 12. In this embodiment, the first transceiver device 121, the first receiving device 122 and the second The receiving device 123 can be disposed on the handle end of the vehicle device 12. For example, the first receiving device 121 and the first receiving device 122 are disposed on the front and rear handles on the left side of the vehicle device 12, and the second receiving device 123 is disposed on the front handle on the right side of the vehicle device 12. But this disclosure is not limited to this. In other embodiments, the anchor points may also be provided at other locations such as the door or the body shell of the vehicle device 12 . The first transceiver device 121, the first receiving device 122 and the second receiving device 123 may be the same ultra-wideband signal transceiver device. In this embodiment, the first receiving device 122 and the second receiving device 123 only use ultra-wideband signal transceiver devices. The receiving function of the device.

The first transceiver device 121 , the first receiving device 122 and the second receiving device 123 are respectively connected to the vehicle computing device 125 . The vehicle computing device 125 is the computing center of the vehicle device 12 , which may be a driving computer and is installed in the vehicle device 12 , the vehicle computing device 125 includes a processor and a memory, and performs operations on the information obtained by each anchor point to locate the key terminal 11 by executing a program that controls instructions to access the memory device. When performing the positioning procedure, the ultra-wideband transceiver device 111 sends the first ultra-wideband signal to the first transceiver device 121, the first receiving device 122 and the second receiving device 123, and transmits the second ultra-wideband signal to the ultra-wideband signal through the first transceiver device 121. The broadband transceiver device 111, the first receiving device 122 and the second receiving device 123, and then the ultra-wideband transceiver device 111 sends the third ultra-wideband signal to the first transceiver device 121, the first receiving device 122 and the second receiving device 123.

For the first transceiver 121, since the ultra-wideband transceiver 111 transmits the first ultra-wideband signal, when the first transceiver 121 receives the first ultra-wideband signal after a period of time, it returns the second ultra-wideband signal after the time difference. signal, after receiving the second ultra-wideband signal, the ultra-wideband transceiver device 111 transmits the third ultra-wideband signal to the first transceiver device 121 after a time difference. Through the bidirectional ranging method on both sides, the time difference required for the signal to be transmitted from the ultra-wideband transceiver device 111 to the first transceiver device 121 can be obtained through the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal. Time, the transceiving time referred to here includes the time difference between the ultra-wideband transceiver device 111 transmitting the first ultra-wideband signal and receiving the second ultra-wideband signal, and the time difference after receiving the second ultra-wideband signal and sending the third ultra-wideband signal. At the same time It also includes the time difference between the first transceiver device 121 receiving the first ultra-wideband signal and sending the second ultra-wideband signal, and the time difference between sending the second ultra-wideband signal and receiving the third ultra-wideband signal. The first distance between the ultra-wideband transceiver device 111 and the first transceiver device 121 is obtained based on the time-of-flight ranging method. The time-of-flight ranging method can be expressed by formula (1).

s(distance)=c(speed)*t(time) (1)

Among them, s is the distance between the measured objects, c is the speed of light (3×10 ⁸ m/s), and t is the time required for signal reception. Through the bidirectional ranging method on both sides, the problem of out-of-synchronization of the clock source signal between the key terminal 11 and the vehicle device 12 can be avoided. However, increasing the number of signal transmissions will also cause power consumption of the device and cause power consumption.

In this embodiment, since the vehicle device 12 is provided with three measuring anchor points, if the distance between the key end 11 and each anchor point can be obtained, the key end 11 can be positioned using a three-point positioning method. However, if ultra-wideband signals are transmitted to three anchor points respectively, the operation of transmitting twice and receiving once by the ultra-wideband transceiver device 111 needs to be repeated three times, which will cause losses to the key end 11 in terms of computing efficiency and power consumption. Therefore, in addition to the first transceiver device 121, the ultra-wideband transceiver device 111 The transmitted first ultra-wideband signal is also transmitted to the first receiving device 122 and the second receiving device 123. These two anchor points do not return the ultra-wideband signal to the ultra-wideband transceiver device 111, but instead receive the first transceiver device again. The second ultra-wideband signal transmitted by 121 finally receives the third ultra-wideband signal when the ultra-wideband transceiver device 111 transmits the third ultra-wideband signal.

Since the first transceiver device 121, the first receiving device 122 and the second receiving device 123 are installed in the vehicle device 12 at a fixed position, the first transceiver device 121 and the first receiving device 122 have a first preset distance. There is a second preset distance between a transceiver device 121 and the second receiving device 123. These two preset distances can be obtained in advance. In other words, the time and time when the ultra-wideband signal is transmitted from the first transceiver device 121 to the first receiving device 122. The time when the first transceiver device 121 transmits to the second receiving device 123 can also be obtained in advance. After obtaining such a time interval, the first receiving device 121 can be used as the medium to obtain the first receiving device 122 and the second receiving device respectively. The distance between 123 and the ultra-wideband transceiver device 111, that is, the second distance between the ultra-wideband transceiver device 111 and the first receiving device 122 is determined by the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal. The transmission and reception time difference and the first preset distance (the signal flight time of the first transceiver device 121 and the first receiving device 122 can be estimated) are obtained. The transmission and reception time difference here includes the first ultra-wideband signal transmitted from the ultra-wideband transceiver device 111 to the first The time difference between the transceiver device 121 and the first transceiver device 121 from receiving the first ultra-wideband signal to sending the second ultra-wideband signal, the time difference from the first transceiver device 121 sending the second ultra-wideband signal to receiving the third ultra-wideband signal, the first The time difference between the receiving device 122 receiving the first ultra-wideband signal and receiving the second ultra-wideband signal and the time difference between the first receiving device 122 receiving the second ultra-wideband signal and receiving the third ultra-wideband signal. The third distance between the ultra-wideband transceiver device 111 and the second receiving device 123 is calculated based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the second preset distance (the first ultra-wideband signal can be calculated (the signal flight time of the transceiver device 121 and the second receiving device 123), the transceiver time difference here includes the first ultra-wideband signal The time difference from the ultra-wideband transceiver device 111 to the first transceiver device 121, the time difference from the first transceiver device 121 receiving the first ultra-wideband signal to sending the second ultra-wideband signal, the first transceiver device 121 sending the second ultra-wideband signal to receiving The time difference between the third ultra-wideband signal, the time difference between the second receiving device 123 receiving the first ultra-wideband signal and receiving the second ultra-wideband signal, and the time difference between the second receiving device 123 receiving the second ultra-wideband signal and receiving the third ultra-wideband signal.

Since the distance between each anchor point and the key end 11 can be obtained, the vehicle computing device 125 can locate the key end 11 through the first distance, the second distance and the third distance. For example, calculate each anchor point as the center of the circle. There are circular ranges separated by a radius, and the position where the three circular ranges intersect is used as the positioning position of the key end 11 .

Please refer to Figure 2, which is a schematic diagram of an ultra-wideband positioning system according to an embodiment of the present invention. Figure 2A is a schematic diagram of the key end and each anchor point of the vehicle device. Figure 2B is a schematic diagram of the key end and each anchor point of the vehicle device. Schematic diagram of signal time difference. Please refer to Figure 2A and Figure 2B at the same time. As shown in the figure, the ultra-wideband positioning system 20 includes a key terminal K and a vehicle device 22. The key terminal K is provided with an ultra-wideband transceiver device 211. The ultra-wideband transceiver device 211 sends and receives ultra-wideband signal. The vehicle device 22 is provided with a first transceiver device 221, a first receiving device 222, a second receiving device 223 and a vehicle computing device 225. The first transceiver device 221 is disposed at the anchor point A of the left front handle, and the first receiving device 222 is disposed at the left side. The second receiving device 223 is arranged at the anchor point C of the right front handle at the anchor point B of the rear handle.

First, the ultra-wideband transceiver device 211 sends the first ultra-wideband signal S1 to the first transceiver device 221, the first receiving device 222 and the second receiving device 223, and transmits the second ultra-wideband signal S2 to the ultra-wideband transceiver device through the first transceiver device 221. 211. The first receiving device 222 and the second receiving device 223, and then the ultra-wideband transceiver device 211 sends the third ultra-wideband signal S3 to the first transceiver device 221, the first receiving device 222, and the second receiving device 223.

For the anchor point A, the distance between the first transceiver device 221 and the ultra-wideband transceiver device 211 can be calculated by the first time t _A when the signal is transmitted from the key end K to the anchor point A. In this embodiment, the first time t The calculation formula of _A is shown in formula (2).

Among them, K ₁ is the time difference from the ultra-wideband transceiver 211 transmitting the first ultra-wideband signal S1 to receiving the second ultra-wideband signal S2, and K ₂ is the time difference from the ultra-wideband transceiver 211 receiving the second ultra-wideband signal S2 to transmitting the third ultra-wideband signal S3. The time difference, A ₁ is the time difference from the first transceiver device 221 receiving the first ultra-wideband signal S1 to transmitting the second ultra-wideband signal S2, A ₂ is the time difference from the first transceiver device 221 transmitting the second ultra-wideband signal S2 to receiving the third ultra-wideband signal S2. Time difference of broadband signal S3.

For the anchor point B, the distance between the first receiving device 222 and the ultra-wideband transceiver device 211 can be calculated by the second time t _B when the signal is transmitted from the key terminal K to the anchor point B. In this embodiment, the second time t The calculation formula of _B is shown in formula (3).

Among them, B ₁ is the time difference from the first receiving device 222 receiving the first ultra-wideband signal S1 to receiving the second ultra-wideband signal S2, and B ₂ is the time difference from the first receiving device 222 receiving the second ultra-wideband signal S2 to receiving the second ultra-wideband signal S2. The time difference t _AB of the three ultra-wideband signals S3 is the time difference between the second ultra-wideband signal S2 transmitted from the first transceiver device 221 to the first receiving device 222. Assuming that the distance is known, the time difference t _AB can be obtained from the first preset distance.

For the anchor point C, the distance between the second receiving device 223 and the ultra-wideband transceiver 211 can be obtained in the same manner as the first receiving device 222, and the same content will not be repeatedly described here. Through the above signal transmission and reception method, the vehicle computing device 225 can obtain the distances between each anchor point and the key end K, and the vehicle computing device uses these distances to locate the key end K. It can be seen from the above method that the key end K It only needs to send and receive ultra-wideband signals twice, which can save the power consumed by the device and achieve the effect of power saving.

Please refer to Figure 3, which is a flow chart of an ultra-wideband positioning method according to an embodiment of the present invention. As shown in the figure, the ultra-wideband positioning method includes the following steps (S01~S08):

Step S01: Set the key end and the vehicle device. The key end includes an ultra-wideband transceiver device, and the vehicle device is provided with a first transceiver device, a first receiving device, a second receiving device and a vehicle computing device. Set up an ultra-wideband positioning system including the key end and the vehicle device. The ultra-wideband positioning system can be as described in the previous embodiment. The handle end of the vehicle device is set as the anchor point for measurement, and the first transceiver device and the first receiver are set at the anchor point position. device, a second receiving device, a first preset distance between the first transceiver device and the first receiving device, and a second preset distance between the first transceiver device and the second receiving device.

Step S02: Send the first ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device through the ultra-wideband transceiver device. The ultra-wideband transceiver device at the key end sends the first ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device. The ultra-wideband transceiver device only sends the ultra-wideband signal once. Because the first transceiver device, the first receiving device and If the distance between the second receiving device and the ultra-wideband transceiver device is different, the time point at which the signal is received will also be different.

Step S03: Transmit the second ultra-wideband signal to the ultra-wideband transceiver device, the first receiving device and the second receiving device through the first transceiver device. After the first transceiver device of the vehicle device receives the first ultra-wideband signal, the first transceiver device sends the second ultra-wideband signal, which is simultaneously received by the ultra-wideband transceiver device, the first receiving device, and the second receiving device. The purpose of transmitting the ultra-wideband signal back to the key end is to define the distance in a bidirectional ranging manner on both sides, and transmitting it to the first receiving device and the second receiving device is to reduce the power loss of the key end in retransmitting and receiving signals.

Step S04: Send the third ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device through the ultra-wideband transceiver device. After receiving the second ultra-wideband signal, the ultra-wideband transceiver device sends the first ultra-wideband signal to the first transceiver device, the first receiving device, and the second receiving device again.

Step S05: Obtain the first distance between the ultra-wideband transceiver device and the first transceiver device through the time difference between the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal. For the first transceiver device, the transmission time of the signal transmitted from the ultra-wideband transceiver device to the first transceiver device can be obtained through the time difference between the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal. The transmission time defines a first distance between the ultra-wideband transceiver device and the first transceiver device.

Step S06: Obtain the second distance between the ultra-wideband transceiver device and the first receiving device based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the first preset distance. For the first receiving device, through the time difference between the sending and receiving of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal, plus the separation distance between the first sending and receiving device and the first receiving device, the signal can be obtained from the ultra-wideband signal. The transmission time transmitted by the broadband transceiver device to the first receiving device defines a second distance between the ultra-wideband transceiver device and the first receiving device.

Step S07: Obtain the third distance between the ultra-wideband transceiver device and the second receiving device based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the second preset distance. For the second receiving device, through the time difference between the sending and receiving of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal, plus the separation distance between the first sending and receiving device and the second receiving device, the signal can be obtained from the ultra-wideband signal. The transmission time transmitted by the wideband transceiver device to the second receiving device is used to define a third distance between the ultra-wideband transceiver device and the second receiving device.

Step S08: The vehicle computing device locates the key end through the first distance, the second distance and the third distance. After obtaining the first distance, the second distance and the third distance, the vehicle computing device can According to the circular area with the radius of the above distance, the overlapping point is obtained as the key end position, and the key end is positioned. The vehicle computing device can execute the corresponding unlocking or starting vehicle program based on the positioning position.

Please refer to Figure 4, which is a block diagram of an ultra-wideband positioning system according to another embodiment of the present invention. As shown in the figure, the ultra-wideband positioning system 30 includes a key terminal 31 and a vehicle device 32. The key terminal 31 is provided with an ultra-wideband transceiver device 311 and a wireless signal transmission device 312. The ultra-wideband transceiver device 111 can send and receive ultra-wideband signals. The terminal 31 performs positioning, and the wireless signal transmission device 312 can send a notification signal to the vehicle device 32 when it is close to the vehicle device 32, and the vehicle device 32 returns the activation signal to the wireless signal transmission device 312 to activate the ultra-wideband transceiver 311 to send the first An ultra-wideband signal starts the positioning process. The wireless signal transmission device 312 may include a Bluetooth (Blue Tooth) transmission device, a low frequency (LF) transmission device or an ultra high frequency (UHF) transmission device.

The vehicle device 32 includes various gasoline and diesel vehicles, electric vehicles, etc. The vehicle device 32 is provided with a first transceiver device 321, a first receiving device 322, a second receiving device 323, a third receiving device 324 and a vehicle computing device 325. The first transceiver device 321, the first receiving device 322, the second receiving device 323 and the third receiving device 324 are anchor points (Anchors) provided by the vehicle device 32. In this embodiment, the first transceiver device 321, the first receiving device 323 and the third receiving device 324 are anchor points (Anchors) provided by the vehicle device 32. The receiving device 322, the second receiving device 323 and the third receiving device 324 can be disposed on the handle end of the vehicle device 32. For example, the first receiving device 321 and the first receiving device 322 are disposed on the front and rear handles on the left side of the vehicle device 32, and the second receiving device 322 can be disposed on the handle end of the vehicle device 32. The device 323 and the third receiving device are provided on the front and rear handles on the right side of the vehicle device 32, but the present disclosure is not limited thereto. In other embodiments, the anchor points may also be provided at other locations such as the door or the body shell of the vehicle device 32 . The first transceiver device 321 , the first receiving device 322 , the second receiving device 323 and the third receiving device 324 may be the same ultra-wideband signal transceiver device. In this embodiment, the first receiving device 322 and the second receiving device 323 and the third receiving device 324 only uses ultra-wideband signals The receiving function of the transceiver device. In other embodiments, the vehicle device 32 may be provided with more than three receiving devices to increase anchor points for signal transmission and reception, thereby preventing some anchor points from being interfered by signals and affecting positioning judgment.

The first transceiver device 321, the first receiving device 322, the second receiving device 323 and the third receiving device 324 are respectively connected to the vehicle computing device 325. The vehicle computing device 325 is the computing center of the vehicle device 32, which may be a driving computer. Provided in the vehicle device 32 , the vehicle computing device 325 includes a processor and a memory, and performs calculations on information obtained from each anchor point to locate the key terminal 31 by executing a program that controls instructions to access the memory device. When performing the positioning procedure, the ultra-wideband transceiver device 311 sends the first ultra-wideband signal to the first transceiver device 321, the first receiving device 322, the second receiving device 323 and the third receiving device 324, and transmits the first ultra-wideband signal through the first transceiver device 321. The two ultra-wideband signals are sent to the ultra-wideband transceiver device 311, the first receiving device 322, the second receiving device 323, and the third receiving device 324, and then the ultra-wideband transceiver device 311 sends the third ultra-wideband signal to the first transceiver device 321, the third receiving device 324, and the third ultra-wideband signal. A receiving device 322, a second receiving device 323 and a third receiving device 324.

For the first transceiver 321, since the ultra-wideband transceiver 311 transmits the first ultra-wideband signal, when the first transceiver 321 receives the first ultra-wideband signal after a period of time, it returns the second ultra-wideband signal after the time difference. signal, after receiving the second ultra-wideband signal, the ultra-wideband transceiver device 311 transmits the third ultra-wideband signal to the first transceiver device 321 after a time difference. Through the bidirectional ranging method on both sides, the time difference required for the signal to be transmitted from the ultra-wideband transceiver device 311 to the first transceiver device 321 can be obtained through the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal. Time, the transmitting and receiving time includes the time difference from transmitting the first ultra-wideband signal to receiving the second ultra-wideband signal, the time difference from receiving the second ultra-wideband signal to transmitting the third ultra-wideband signal, and the time difference from receiving the first ultra-wideband signal to transmitting the second ultra-wideband signal. The time difference between the broadband signal and the time from sending the second ultra-wideband signal to receiving the third ultra-wideband signal Difference. Then, the first distance between the ultra-wideband transceiver device 311 and the first transceiver device 321 is obtained according to the time-of-flight ranging method.

In this embodiment, since the vehicle device 32 is provided with four measuring anchor points, if the distance between the key end 31 and each anchor point can be obtained, the key end 31 can be positioned using a four-point positioning method. However, if ultra-wideband signals are transmitted to four anchor points respectively, it is necessary to repeat four times of two transmissions and one reception by the ultra-wideband transceiver device 311, which will cause losses to the key end 31 in terms of computing efficiency and power consumption. . Therefore, in addition to the first transceiver device 321, the first ultra-wideband signal transmitted by the ultra-wideband transceiver device 311 is also transmitted to the first receiving device 322, the second receiving device 323, and the third receiving device 324. These three anchor points are The ultra-wideband signal is not transmitted back to the ultra-wideband transceiver 311, but the second ultra-wideband signal transmitted by the first transceiver 321 is received again. Finally, when the third ultra-wideband signal transmitted by the ultra-wideband transceiver 311 is received, the third ultra-wideband signal is also received at the same time. Three ultra-wideband signals.

The first transceiver device 321, the first receiving device 322, the second receiving device 323 and the third receiving device 324 are disposed on the vehicle device 32 and are installed at a fixed position. Therefore, the first transceiver device 321 and the first receiving device 322 have a first Preset distance, the first transceiver device 321 and the second receiving device 323 have a second preset distance, and the first transceiver device 321 and the third receiving device 324 have a third preset distance. These three preset distances Can be obtained in advance, in other words, the time when the ultra-wideband signal is transmitted from the first transceiver device 321 to the first receiving device 322, the time when the first transceiver device 321 is transmitted to the second receiving device 323, and the time when the first transceiver device 321 is transmitted to the third receiving device. The time of the device 324 can also be obtained in advance. After obtaining such a time interval, the first receiving device 322, the second receiving device 323, the third receiving device 324 and the ultra-wideband can be obtained respectively using the first transceiving device 321 as the medium. The distance between the transmitting and receiving devices 311.

The second distance between the ultra-wideband transceiver device 311 and the first receiving device 322 is determined by the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the first preset distance. (the signal flight time of the first transceiver device 321 and the first receiving device 322 can be calculated). The transceiver time includes the time difference between the first ultra-wideband signal transmitted from the ultra-wideband transceiver device 311 to the first transceiver device 321, the time difference of receiving the first ultra-wideband signal. The time difference from sending the ultra-wideband signal to sending the second ultra-wideband signal, the time difference from sending the second ultra-wideband signal to receiving the third ultra-wideband signal, the time difference from receiving the first ultra-wideband signal to receiving the second ultra-wideband signal, and receiving the second ultra-wideband signal The time difference between the signal and the reception of the third ultra-wideband signal. The third distance between the ultra-wideband transceiver device 311 and the second receiving device 323 is calculated based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the second preset distance (the first ultra-wideband signal can be calculated The signal flight time of the transceiver 321 and the second receiving device 323 is obtained). The transceiver time includes the time difference between the first ultra-wideband signal transmitted from the ultra-wideband transceiver 311 to the first transceiver 321, the time difference between receiving the first ultra-wideband signal and sending the second ultra-wideband signal. The time difference between the two ultra-wideband signals, the time difference between sending the second ultra-wideband signal and receiving the third ultra-wideband signal, the time difference between receiving the first ultra-wideband signal and receiving the second ultra-wideband signal, and the time difference between receiving the second ultra-wideband signal and receiving the third ultra-wideband signal. The time difference of broadband signals. The fourth distance between the ultra-wideband transceiver device 311 and the third receiving device 324 is calculated based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the third preset distance (the first ultra-wideband signal can be calculated The signal flight time of the transceiver 321 and the third receiving device 324 is obtained. The transceiver time includes the time difference between the first ultra-wideband signal transmitted from the ultra-wideband transceiver 311 to the first transceiver 321, the time difference between receiving the first ultra-wideband signal and sending the third ultra-wideband signal. The time difference between the two ultra-wideband signals, the time difference between sending the second ultra-wideband signal and receiving the third ultra-wideband signal, the time difference between receiving the first ultra-wideband signal and receiving the second ultra-wideband signal, and the time difference between receiving the second ultra-wideband signal and receiving the third ultra-wideband signal. The time difference of broadband signals.

Since the distance between each anchor point and the key end 31 can be obtained, the vehicle computing device 325 can locate the key end 31 through the first distance, the second distance, the third distance and the fourth distance. For example, a circular range with each anchor point as the center and a distance as the radius is calculated, and the position where the three circular ranges intersect is used as the positioning position of the key end 31 .

Please refer to Figure 5, which is a schematic diagram of an ultra-wideband positioning system according to another embodiment of the present invention. As shown in the figure, the ultra-wideband positioning system 40 includes a key terminal K and a vehicle device 42. The key terminal K is provided with an ultra-wideband transceiver device 411. The ultra-wideband transceiver device 411 sends and receives ultra-wideband signals. The vehicle device 42 is provided with a first transceiver device 421, a first receiving device 422, a second receiving device 423, a third receiving device 424 and a vehicle computing device 425. The first transceiver device 421 is disposed at the anchor point A of the left front handle. The receiving device 422 is disposed at the anchor point B of the left rear handle, the second receiving device 423 is disposed at the anchor point C of the right front handle, and the third receiving device 424 is disposed at the anchor point D of the right rear handle.

First, the ultra-wideband transceiver device 411 sends the first ultra-wideband signal S1 to the first transceiver device 421, the first receiving device 422, the second receiving device 423, and the third receiving device 424, and transmits the second ultra-wideband signal through the first transceiver device 421. S2 to the ultra-wideband transceiver device 411, the first receiving device 422, the second receiving device 423, and the third receiving device 424, and then the ultra-wideband transceiver device 411 sends the third ultra-wideband signal S3 to the first transceiver device 421, the first receiving device 424, and the third ultra-wideband signal S3. device 422, the second receiving device 423 and the third receiving device 424.

For the anchor point A, the distance between the first transceiver device 421 and the ultra-wideband transceiver device 411 can be calculated from the first time t _A when the signal is transmitted from the key terminal K to the anchor point A. The calculation method is as described in the two previous embodiments. Obtained by side two-way ranging. For the anchor point B, the distance between the first receiving device 422 and the ultra-wideband transceiver 411 can be calculated by the second time t _B when the signal is transmitted from the key terminal K to the anchor point B. The calculation method is as in the previous embodiment using the first transceiver. Device 421 is computed for the medium. For anchor points C and D, the distance between the second receiving device 423 and the ultra-wideband transceiver 411 and the distance between the third receiving device 424 and the ultra-wideband transceiver 411 can be obtained in the same way as the first receiving device 422. Please Referring to the foregoing embodiments, the same content will not be repeatedly described here. Through the above signal transmission and reception method, the vehicle computing device 425 can obtain the distances between each anchor point and the key end K, and the vehicle computing device uses these distances to locate the key end K. It can be seen from the above method that the key terminal K only needs to send and receive the ultra-wideband signal twice, which can save the power consumed by the device and achieve the effect of power saving.

Please refer to Figure 6, which is a flow chart of an ultra-wideband positioning method according to another embodiment of the present invention. As shown in the figure, the ultra-wideband positioning method includes the following steps (S11~S20):

Step S11: Set the key end and the vehicle device. The key end includes an ultra-wideband transceiver device, and the vehicle device is provided with a first transceiver device, a first receiving device, a second receiving device, a third receiving device and a vehicle computing device. Set up an ultra-wideband positioning system including the key end and the vehicle device. The ultra-wideband positioning system can be as described in the previous embodiment. The handle end of the vehicle device is set as the anchor point for measurement, and the first transceiver device and the first receiver are set at the anchor point position. device, a second receiving device and a third receiving device, the first transceiver device and the first receiving device have a first preset distance, the first transceiver device and the second receiving device have a second preset distance, the first There is a third preset distance between the transceiving device and the third receiving device.

Step S12: Activate the ultra-wideband transceiver device to send the first ultra-wideband signal through the wireless signal transmission device. When the wireless signal transmission device installed at the key end is close to the vehicle device, the wireless signal transmission device sends a notification signal to the vehicle device, and the vehicle device returns a startup signal from the vehicle computing device to the wireless signal transmission device to activate the ultra-wideband transceiver device to send the first ultra-wideband transceiver. Broadband signal.

Step S13: Send the first ultra-wideband signal to the first transceiver device, the first receiving device, the second receiving device and the third receiving device through the ultra-wideband transceiver device. The ultra-wideband transceiver device at the key end sends the first ultra-wideband signal to the first transceiver device, the first receiving device, the second receiving device and the third receiving device. The ultra-wideband transceiver device only sends the ultra-wideband signal once, and the reception at different anchor point locations The device will receive the signal at different points in time.

Step S14: Transmit the second ultra-wideband signal through the first transceiver device to the ultra-wideband transceiver device, the first receiving device, the second receiving device and the third receiving device. When the first transceiver device of the vehicle device receives the first ultra-wideband signal, the first transceiver device sends the second ultra-wideband signal, and at the same time, the ultra-wideband transceiver device, the first receiving device, the second receiving device and the third receiving device take over. The ultra-wideband signal is transmitted back to the key end in order to define the distance in a two-way distance measurement method on both sides, and the transmission to the first receiving device, the second receiving device and the third receiving device is to reduce the key end's re-sending and receiving signals. Power loss.

Step S15: Send the third ultra-wideband signal to the first transceiver device, the first receiving device, the second receiving device and the third receiving device through the ultra-wideband transceiver device. After the ultra-wideband transceiver device receives the second ultra-wideband signal, it sends the first ultra-wideband signal to the first transceiver device, the first receiving device, the second receiving device and the third receiving device again.

Step S16: Obtain the first distance between the ultra-wideband transceiver device and the first transceiver device through the time difference between the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal. For the first transceiver device, the transmission time of the signal transmitted from the ultra-wideband transceiver device to the first transceiver device can be obtained through the time difference between the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal. The transmission time defines a first distance between the ultra-wideband transceiver device and the first transceiver device.

Step S17: Obtain the second distance between the ultra-wideband transceiver device and the first receiving device based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the first preset distance. For the first receiving device, through the time difference between the sending and receiving of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal, plus the separation distance between the first sending and receiving device and the first receiving device, the signal can be obtained from the ultra-wideband signal. The transmission time transmitted by the broadband transceiver device to the first receiving device is used to define the second distance between the ultra-wideband transceiver device and the first receiving device.

Step S18: Obtain the third distance between the ultra-wideband transceiver device and the second receiving device based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the second preset distance. For the second receiving device, through the time difference between the sending and receiving of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal, plus the separation distance between the first sending and receiving device and the second receiving device, the signal can be obtained from the ultra-wideband signal. The transmission time transmitted by the wideband transceiver device to the second receiving device is used to define a third distance between the ultra-wideband transceiver device and the second receiving device.

Step S19: Obtain the fourth distance between the ultra-wideband transceiver device and the third receiving device based on the transmission and reception time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the third preset distance. For the third receiving device, through the time difference between the sending and receiving of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal, plus the separation distance between the first sending and receiving device and the third receiving device, the signal can be obtained from the ultra-wideband signal. The transmission time transmitted by the wideband transceiver device to the third receiving device defines a fourth distance between the ultra-wideband transceiver device and the third receiving device.

Step S20: The vehicle computing device locates the key end based on the first distance, the second distance, the third distance and the fourth distance. After obtaining the first distance, the second distance, the third distance and the fourth distance, the vehicle computing device can obtain the overlapping point as the key end position based on the circular area with the radius of the above distance, and position the key end. The vehicle computing device The device can execute corresponding unlocking or starting vehicle procedures based on the positioning location. In this embodiment, four anchor points are selected as the reference points for positioning measurement. Although one additional receiving device is added compared to the previous embodiment, which also increases the number and resources required for calculations, by adding anchor points for positioning, it is possible to obtain A more accurate positioning position improves the accuracy of positioning and prevents signals from other anchor points from being interfered with during the positioning process and affecting the overall positioning result.

The above is only illustrative and not restrictive. Any equivalent modifications or changes that do not depart from the spirit and scope of the present invention shall be included in the appended patent scope.

10:Ultra-wideband positioning system

11: Key end

12:Vehicle device

111:Ultra-wideband transceiver device

121: First transceiver device

122: First receiving device

123: Second receiving device

125:Vehicle computing device

Claims (10)

An ultra-wideband positioning system, which includes: a key terminal equipped with an ultra-wideband transceiver device that sends and receives an ultra-wideband signal; and a vehicle device equipped with a first transceiver device and a first A receiving device, a second receiving device and a vehicle computing device, the first receiving device and the first receiving device have a first preset distance, and there is a second receiving device between the first receiving device and the second receiving device. The first transceiver device, the first receiving device and the second receiving device are respectively connected to the vehicle computing device at a preset distance; wherein, the ultra-wideband transceiver device sends a first ultra-wideband signal to the first transceiver device, The first receiving device and the second receiving device send a second ultra-wideband signal to the ultra-wideband transceiver device, the first receiving device, and the second receiving device through the first transceiver device, and then the ultra-wideband signal is transmitted and received by the first receiving device. The device sends a third ultra-wideband signal to the first transceiver device, the first receiving device and the second receiving device; wherein a first distance between the ultra-wideband transceiver device and the first transceiver device is determined by The sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal is obtained. A second distance between the ultra-wideband transceiver device and the first receiving device is obtained by the first ultra-wideband signal. The ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal are obtained by the transmission and reception time difference and the first preset distance. A third distance between the ultra-wideband transceiver device and the second receiving device is obtained by From the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the third ultra-wideband signal Two preset distances are obtained, and the vehicle computing device locates the key end through the first distance, the second distance and the third distance. The ultra-wideband positioning system according to claim 1, wherein the first transceiver device, the first receiving device and the second receiving device are disposed on the handle end of the vehicle device, the first transceiver device and the first receiving device The second receiving device is disposed on one side of the vehicle device, and the second receiving device is disposed on the other side of the vehicle device. The ultra-wideband positioning system of claim 1, wherein the vehicle device further includes a third receiving device, the first transceiving device and the third receiving device have a third preset distance, and the third receiving device is connected to The vehicle computing device; wherein the ultra-wideband transceiver device sends the first ultra-wideband signal to the third receiving device, and sends the second ultra-wideband signal to the third receiving device via the first transceiver device, and then the ultra-wideband signal is sent to the third receiving device via the ultra-wideband transceiver device. The broadband transceiver device sends the third ultra-wideband signal to the third receiving device; a fourth distance between the ultra-wideband transceiver device and the third receiving device is determined by the first ultra-wideband signal, the second ultra-wideband signal The vehicle computing device uses the first distance, the second distance, the third distance and the fourth distance to obtain the signal and the third ultra-wideband signal's sending and receiving time difference and the third preset distance. To position. The ultra-wideband positioning system according to claim 3, wherein the first transceiver device, the first receiving device, the second receiving device and the third receiving device are disposed on the handle end of the vehicle device, and the first transceiver device The first receiving device is disposed on one side of the vehicle device, and the second receiving device and the third receiving device are disposed on the other side of the vehicle device. The ultra-wideband positioning system as described in claim 1, wherein the key terminal is configured with The wire signal transmission device, when the vehicle computing device receives a notification signal from the wireless signal transmission device, returns a start signal to the wireless signal transmission device to start the ultra-wideband transceiver device to send the first ultra-wideband signal. An ultra-wideband positioning method is suitable for an ultra-wideband positioning system including a key terminal and a vehicle device. The ultra-wideband positioning method includes the following steps: setting the key terminal and the vehicle device, and the key terminal includes an ultra-wideband transceiver Device, the vehicle device is provided with a first transceiver device, a first receiving device, a second receiving device and a vehicle computing device, and there is a first preset distance between the first transceiver device and the first receiving device, There is a second preset distance between the first transceiver device and the second receiving device; a first ultra-wideband signal is sent through the ultra-wideband transceiver device to the first transceiver device, the first receiving device and the second A receiving device; transmits a second ultra-wideband signal to the ultra-wideband transceiver device, the first receiving device and the second receiving device through the first transceiver device; sends a third ultra-wideband signal to the ultra-wideband transceiver device through the ultra-wideband transceiver device The first transceiver device, the first receiving device and the second receiving device; obtain the ultra-wideband transceiver device and the second receiving device through the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal. A first distance between the first transceiver device; the ultra-wideband is obtained by the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the first preset distance A second distance between the transceiving device and the first receiving device; obtained by the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal and the third ultra-wideband signal and the second preset distance The ultra-wideband There is a third distance between the transmitting device and the second receiving device; the vehicle computing device locates the key end through the first distance, the second distance and the third distance. The ultra-wideband positioning method according to claim 6, wherein the first transceiver device, the first receiving device and the second receiving device are disposed on the handle end of the vehicle device, the first transceiver device and the first receiving device The second receiving device is disposed on one side of the vehicle device, and the second receiving device is disposed on the other side of the vehicle device. The ultra-wideband positioning method as described in claim 6 further includes the following steps: setting a third receiving device of the vehicle device, the first transceiver device and the third receiving device having a third preset distance; the ultra-wideband The transceiver device sends the first ultra-wideband signal to the third receiving device, sends the second ultra-wideband signal to the third receiving device via the first transceiver device, and then the ultra-wideband transceiver device sends the third ultra-wideband signal. to the third receiving device; obtain the ultra-wideband transceiver device and the third ultra-wideband signal through the sending and receiving time difference of the first ultra-wideband signal, the second ultra-wideband signal, and the third ultra-wideband signal and the third preset distance. A fourth distance between receiving devices; the vehicle computing device locates the key end through the first distance, the second distance, the third distance and the fourth distance. The ultra-wideband positioning method according to claim 8, wherein the first transceiver device, the first receiving device, the second receiving device and the third receiving device are disposed on the handle end of the vehicle device, and the first transceiver device The first receiving device is disposed on one side of the vehicle device, and the second receiving device and the third receiving device are disposed on the other side of the vehicle device. The ultra-wideband positioning method as described in claim 6, wherein the key terminal is provided with a wireless signal transmission device, and when the vehicle computing device receives a notification signal from the wireless signal transmission device, it returns a start signal to the wireless signal The transmission device activates the ultra-wideband transceiver device to send the first ultra-wideband signal.