CN207601626U - A kind of robot local positioning system based on UWB and SINS - Google Patents
A kind of robot local positioning system based on UWB and SINS Download PDFInfo
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- CN207601626U CN207601626U CN201721909291.1U CN201721909291U CN207601626U CN 207601626 U CN207601626 U CN 207601626U CN 201721909291 U CN201721909291 U CN 201721909291U CN 207601626 U CN207601626 U CN 207601626U
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Abstract
A kind of robot local positioning system based on UWB and SINS, it is related to a kind of robot local positioning technology, in order to solve the problems, such as that the reliability of positioning of existing robot local positioning system is poor, precision is low, real-time is low, multiple reference base stations of the utility model are separately mounted at multiple fixed reference positions, and N number of positioning label is separately positioned on the different parts of positioning robot；Multiple reference base stations or N number of positioning label pass through computer host computer free switching；It positions label and its distance with each reference base station is obtained, and calculate Primary Location coordinate by more balls principle that crosses by measurement, Primary Location coordinate and SINS systems are then subjected to data fusion, finally calculate high-precision coordinate；MCU is connected respectively with battery management module, status indicator lamp, UWB sensors, three-axis gyroscope, USB communication interface, three axis geomagnetic sensors and three axis accelerometer；N is the positive integer more than or equal to 1.Advantageous effect is by property is high, precision is high, real-time is good.
Description
Technical field
The utility model is related to a kind of robot local positioning technologies.
Background technology
High-precision ranging information is capable of providing by UWB (Ultra Wideband, ultra wide band) technology, and existing UWB
Alignment system because easily blocked, multi-path jamming etc. influences, positioning will appear outlier, and by directly to UWB location datas into
Row filtering can cause the delay of alignment system to increase, some nominal accuracies are that the alignment system of 10cm often reaches in real work
Less than ideal effect, the multirobot positioning occasion high to reliability of positioning, precision, requirement of real-time can not be directly applied to.
Appearance is capable of providing by SINS (Strapdown inertial navigation system, Strapdown Inertial Navigation System)
The information such as state, course, speed, position, but provided speed, location information long-time can drift about, can not meet substantially
Practical application.
Utility model content
The purpose of this utility model is that the reliability of positioning of existing robot local positioning system is poor, precision in order to solve
A kind of low, the problem of real-time is low, it is proposed that robot local positioning system based on UWB and SINS.
A kind of robot local positioning system based on UWB and SINS described in the utility model is provided in robot
SINS systems are additionally provided with N number of positioning label in robot,；
The multiple reference base station includes identical control unit with N number of positioning label,
Multiple reference base stations or multiple positioning labels pass through computer host computer free switching；
Described control unit includes MCU, battery management module, status indicator lamp, UWB sensors, three-axis gyroscope, USB
Communication interface, three axis geomagnetic sensors and three axis accelerometer；
The power supply signal input/output terminal of MCU is connected with the power supply signal input/output terminal of battery management module；
The status signal input/output terminal of MCU is connected with the status signal input/output terminal of status indicator lamp；
The UWB signal input/output terminal of MCU is connected with the UWB signal input/output terminal of UWB sensors；
The positioning signal input/output terminal of MCU is connected with the positioning signal input/output terminal of three-axis gyroscope；
The signal of communication input/output terminal of MCU is connected with the signal of communication input/output terminal of USB communication interface；
The transducing signal input/output terminal of MCU is connected with the transducing signal input/output terminal of three axis geomagnetic sensors；
The acceleration signal input/output terminal of MCU is connected with the acceleration signal input/output terminal of three axis accelerometer；
The N is the positive integer more than or equal to 1.
The positioning label of the utility model obtains its distance with each reference base station, and pass through more balls and cross by measurement
Principle calculates Primary Location coordinate, and Primary Location coordinate and SINS systems then are carried out data fusion, finally calculate height
Accuracy coordinate；
The beneficial effects of the utility model are to carry out data fusion by Primary Location coordinate and SINS systems, tentatively fixed
There is the positioning accuracy for not losing system in the case of outlier still in position coordinate, can be by low-speed motion feelings by Integrated Navigation Algorithm
Positioning accuracy is increased within 5cm under condition, and the velocity information of low latency, the attitude angle of label can be obtained by method for estimating state
Information, therefore, reliability is high, precision is high, real-time is good；The utility model is simple in structure simultaneously, is readily integrated into all kinds of machines
In device people, local navigator fix information is provided for it.
Description of the drawings
Fig. 1 is four reference base stations and the relation schematic diagram of a positioning label in specific embodiment one；
Fig. 2 is the hardware architecture diagram in specific embodiment one；
Fig. 3 is the circuit diagram of battery management module in specific embodiment two；
Fig. 4 is the circuit diagram of MCU in specific embodiment three；
Fig. 5 is the circuit diagram of UWB sensors in specific embodiment four；
Fig. 6 is the circuit diagram of MEMS Inertial Measurement Units in specific embodiment five；
Fig. 7 is the circuit diagram of three axis geomagnetic sensors in specific embodiment six；
Fig. 8 is the circuit diagram of USB communication interface in specific embodiment seven.
Specific embodiment
Specific embodiment one：Illustrate present embodiment with reference to Fig. 1 and Fig. 2, one kind described in present embodiment is based on UWB
With the robot local positioning system of SINS, SINS systems are provided in robot, and N number of positioning mark is additionally provided in robot
Label install multiple reference base stations respectively indoors or at outdoor multiple fixed reference positions；
The multiple reference base station includes identical control unit with N number of positioning label,
Multiple reference base stations or multiple positioning labels pass through computer host computer free switching；
Described control unit includes MCU1, battery management module 2, status indicator lamp 3, UWB sensors 4, three-axis gyroscope
5th, USB communication interface 6, three axis geomagnetic sensors 7 and three axis accelerometer 8；
The power supply signal input/output terminal of MCU1 is connected with the power supply signal input/output terminal of battery management module 2；Battery
Management module 2 is used to power for MCU1, while is UWB sensors 4, three-axis gyroscope 5, three axis geomagnetic sensors 7 by MCU1
It powers with three axis accelerometer 8, while MCU1 is receiving UWB sensors 4, three-axis gyroscope 5, three axis geomagnetic sensors 7 or three
Control battery management module 2 powers off after the over-pressed signal that axis accelerometer 8 is fed back；
The status signal input/output terminal of MCU1 is connected with the status signal input/output terminal of status indicator lamp 3；State refers to
Show that lamp 3 is used to indicate UWB sensor state in which；
The UWB signal input/output terminal of MCU1 is connected with the UWB signal input/output terminal of UWB sensors 4；UWB sensors 4
For obtaining Primary Location coordinate；
The positioning signal input/output terminal of MCU1 is connected with the positioning signal input/output terminal of three-axis gyroscope 5；Three axis tops
Spiral shell instrument 5 is used to obtain attitude information；
The signal of communication input/output terminal of MCU1 is connected with the signal of communication input/output terminal of USB communication interface 6；USB leads to
Letter interface 6 is used to be powered by data line connection computer and usb communication, and data information is sent to electricity including positioning label
Brain, computer carry out function setting to positioning label；
The transducing signal input/output terminal of MCU1 is connected with the transducing signal input/output terminal of three axis geomagnetic sensors 7；Three
Axis geomagnetic sensor 7 is used to detect change information；
The acceleration signal input/output terminal of MCU1 is connected with the acceleration signal input/output terminal of three axis accelerometer 8；
The acceleration information that three axis accelerometer 8 moves for acquisition；MCU1 for handle power supply signal, status signal, UWB signal,
Positioning signal, signal of communication, transducing signal and acceleration signal；
The N is the positive integer more than or equal to 1.
In the present embodiment, multiple reference base stations are four reference base stations, and four reference base stations are respectively reference base station
1st, reference base station 2, reference base station 3 and reference base station 4；N is equal to 1, that is, positions label and obtain it with four with reference to base by measuring
The distance stood, and Primary Location coordinate is calculated by more balls principle that crosses, then by Primary Location coordinate and SINS systems into
Row data fusion, finally calculates high-precision coordinate；The positioning label can be mounted on unmanned plane, unmanned vehicle, sweeping robot
On carrier, high precision position, speed, posture, course information are provided for it.
Broadband (UWB, Ultra Wideband) technology is a kind of wireless communication technique, it by have extremely steep rising and
The shock pulse of fall time is directly modulated, and is generated with the ultra-narrow pulse below nanosecond or subnanosecond grade；Ultra wide band
Device carries out the transmission and communication of data by the transmitting-receiving of this pulse, so as to obtain accurate timestamp；UWB positioning fields
There are two types of common positioning methods：A kind of is by the flight time between two-way communication principle calculating outgoing label and base station, is multiplied
The distance between to be calculated after the light velocity；Another kind is passes through time synchronization principle, it is only necessary to pass through one-way communication
Determine arrival time (TOA between outgoing label and base station：Time of Arrive) or reaching time-difference (TDOA：Time
Difference of Arrive), and then show that positioning label reaches the distance or poor with base station distance of base station, pass through mathematics
Geometrical principle can calculate the position of positioning label.
Specific embodiment two：Illustrate present embodiment with reference to Fig. 3, present embodiment is to described in specific embodiment one
A kind of robot local positioning system based on UWB and SINS further limit, in the present embodiment, the battery management
Module 2 includes No.1 power supply VCC, voltage stabilizing chip W1, electrolytic capacitor C4 and capacitance C6；
The model MIC5219 of the voltage stabilizing chip W1；
The feeder ear output voltage of the No.1 power supply VCC is 5V；
The No.1 pin of voltage stabilizing chip W1 and No. three pins are connected simultaneously with the feeder ear of No.1 power supply VCC；
No. two pins ground connection of voltage stabilizing chip W1；
No. four pins of voltage stabilizing chip W1 are connected with one end of capacitance C6, the other end ground connection of capacitance C6；
No. five pins of voltage stabilizing chip W1 are connected with the anode of electrolytic capacitor C4, and the common end of the two is 3.3V output terminals,
And as the power supply signal input/output terminal of the battery management module 2；
The cathode ground connection of the electrolytic capacitor C4.
In the present embodiment, the capacitance of capacitance C6 is 470pF；The capacitance of electrolytic capacitor C4 is 2.2 μ F.
Specific embodiment three：Illustrate present embodiment with reference to Fig. 4, present embodiment is to described in specific embodiment two
A kind of robot local positioning system based on UWB and SINS further limit, in the present embodiment, the MCU1 includes
64 pin microcontroller U1, crystal oscillator Y1, resistance R5, resistance R7, resistance R11, capacitance C5, capacitance C7 and capacitance C8；
The model STMF405RGT6 of the 64 pin microcontroller U1；
No.1 pin, ten No. nine pins, 30 No. two pins, 40 No. eight pins and 60 of 64 pin microcontroller U1
No. four pins are connected with the 3.3V output terminals of battery management module 2；
No. five pins of 64 pin microcontroller U1 are connected with the side pin of crystal oscillator Y1, the opposite side pin of crystal oscillator Y1 and 64
No. six pins of pin microcontroller U1 are connected, the middle pin ground connection of crystal oscillator Y1；
No. seven pins of 64 pin microcontroller U1 are connected simultaneously with one end of capacitance C5 and one end of resistance R7, resistance R7
The other end be connected with the 3.3V output terminals of battery management module 2, the other end of capacitance C5 ground connection；
20 No. eight pins of 64 pin microcontroller U1 are connected with one end of resistance R11, the other end ground connection of resistance R11；
The three ride on Bus No. 11 pins of 64 pin microcontroller U1 are connected with one end of capacitance C8, the other end ground connection of capacitance C8；
40 No. seven pins of 64 pin microcontroller U1 are connected with one end of capacitance C7, the other end ground connection of capacitance C7；
Six No. ten pins of 64 pin microcontroller U1 are connected with one end of resistance R5, the other end ground connection of resistance R5.
In the present embodiment, the resistance value of resistance R5 is 10K Ω；The resistance value of resistance R7 is 10K Ω；The resistance value of resistance R11
For 10K Ω；Crystal oscillator Y1 is 8MHz crystal oscillators；The capacitance of capacitance C5 is 0.1 μ F；The capacitance of capacitance C7 is 2.2 μ F；Capacitance C8's
Capacitance is 2.2 μ F.
Specific embodiment four：Illustrate present embodiment with reference to Fig. 5, present embodiment is to described in specific embodiment three
A kind of robot local positioning system based on UWB and SINS further limit, in the present embodiment, UWB sensing
Device 4 includes 24 pin microcontroller U2, resistance R4, resistance R6 and resistance R8；
The status indicator lamp 3 includes light emitting diode D1 and light emitting diode D2；
The model DWM1000 of the 24 pin microcontroller U2；
No. three pins of 24 pin microcontroller U2 are connected with 30 No. eight pins of the 64 pin microcontroller U1 of MCU1；
No. five pins, No. six pins and No. seven pins of 24 pin microcontroller U2 pass through MCU1 and battery management mould simultaneously
The 3.3V output terminals of block 2 are connected；
No. eight pins ground connection of 24 pin microcontroller U2；
Ten No. two pins of 24 pin microcontroller U2 are connected with one end of resistance R8, the other end and light-emitting diodes of resistance R8
The anode of pipe D2 is connected, the minus earth of light emitting diode D2；
Ten No. three pins of 24 pin microcontroller U2 are connected with one end of resistance R6, the other end and light-emitting diodes of resistance R6
The anode of pipe D1 is connected, the minus earth of light emitting diode D1；
Ten No. six pins ground connection of 24 pin microcontroller U2；
Ten No. seven pins of 24 pin microcontroller U2 are connected with 30 No. three pins of the 64 pin microcontroller U1 of MCU1；
Ten No. eight pins of 24 pin microcontroller U2 are connected with 30 No. six pins of the 64 pin microcontroller U1 of MCU1；
Ten No. nine pins of 24 pin microcontroller U2 are connected with 30 No. five pins of the 64 pin microcontroller U1 of MCU1；
Two No. ten pins of 24 pin microcontroller U2 are connected with 30 No. four pins of the 64 pin microcontroller U1 of MCU1；
The two ride on Bus No. 11 pins of 24 pin microcontroller U2 while 20 No. three pins and two with 24 pin microcontroller U2
Ten No. four pins are connected, and be grounded；
20 No. two pins of 24 pin microcontroller U2 are connected with one end of resistance R4, the other end ground connection of resistance R4.
In the present embodiment, status indicator lamp 3 uses 0603 encapsulation；The resistance value of resistance R4 is 100K Ω；Resistance R6's
Resistance value is 1K Ω；The resistance value of resistance R8 is 1K Ω.
Specific embodiment five：Illustrate present embodiment with reference to Fig. 6, present embodiment is to described in specific embodiment three
A kind of robot local positioning system based on UWB and SINS further limit, in the present embodiment, the three axis accelerometer
The MEMS Inertial Measurement Units that instrument 5 is integrated with three axis accelerometer 8；
The MEMS Inertial Measurement Units include 24 foot microcontroller U3, capacitance C9, capacitance C10 and capacitance C11；
The model MPU6500 of the 24 foot microcontroller U3；
No. eight pins of 24 foot microcontroller U3 are simultaneously with one end of capacitance C10 and passing through MCU1 and battery management module 2
3.3V output terminals be connected；
No. nine pins of 24 foot microcontroller U3 are connected with 20 No. two pins of the 64 pin microcontroller U1 of MCU1；
No. ten pins of 24 foot microcontroller U3 are connected simultaneously with one end of capacitance C11；
The ride on Bus No. 11 pin of 24 foot microcontroller U3 is connected simultaneously with the other end of capacitance C10 and the other end of capacitance C11,
And it is grounded；
Ten No. three pins of 24 foot microcontroller U3 are simultaneously with one end of capacitance C9 and passing through MCU1 and battery management module 2
3.3V output terminals be connected, the other end of capacitance C9 ground connection；
Ten No. eight pins ground connection of 24 foot microcontroller U3；
Two No. ten pins ground connection of 24 foot microcontroller U3；
20 No. two pins of 24 foot microcontroller U3 are connected with two No. ten pins of the 64 pin microcontroller U1 of MCU1；
20 No. three pins of 24 foot microcontroller U3 are connected with the two ride on Bus No. 11 pins of the 64 pin microcontroller U1 of MCU1；
20 No. four pins of 24 foot microcontroller U3 are connected with 20 No. three pins of the 64 pin microcontroller U1 of MCU1.
In the present embodiment, the capacitance of capacitance C11 is 0.1 μ F；The capacitance of capacitance C10 is 10nF；Capacitance C9's
Capacitance is 0.1 μ F；
Specific embodiment six：Illustrate present embodiment with reference to Fig. 7, present embodiment is to described in specific embodiment three
A kind of robot local positioning system based on UWB and SINS further limit, in the present embodiment, the three axis earth magnetism
Sensor 7 includes 16 foot microcontroller U4, capacitance C13 and capacitance C15；
The model AK8975 of the 16 foot microcontroller U4；
No. two pins of 16 foot microcontroller U4 are connected with 50 No. eight pins of the 64 pin microcontroller U1 of MCU1；
No. four pins of 16 foot microcontroller U4 are connected with 50 No. five pins of the 64 pin microcontroller U1 of MCU1；
No. five pins of 16 foot microcontroller U4 are connected with 50 No. seven pins of the 64 pin microcontroller U1 of MCU1；
No. six pins of 16 foot microcontroller U4 are connected with 50 No. six pins of the 64 pin microcontroller U1 of MCU1；
No. six pins of 16 foot microcontroller U4 are simultaneously with one end of capacitance C13 and passing through MCU1 and battery management module 2
3.3V output terminals be connected, the other end of capacitance C13 ground connection；
The ride on Bus No. 11 pin of 16 foot microcontroller U4 simultaneously with ten No. three pins of 16 foot microcontroller U4, ten No. five pins and
One end of capacitance C15 is connected, and is grounded；
Ten No. six pins of 16 foot microcontroller U4 are connected with the other end of capacitance C15, the connecting pin of the two by MCU1 with
The 3.3V output terminals of battery management module 2 are connected.
In the present embodiment, the capacitance of capacitance C13 is 0.1 μ F；The capacitance of capacitance C15 is 0.1 μ F.
Specific embodiment seven：Illustrate present embodiment with reference to Fig. 8, present embodiment is to described in specific embodiment three
A kind of robot local positioning system based on UWB and SINS further limit, in the present embodiment, the usb communication
Interface 6 includes Type C USB interfaces, resistance R1, resistance R2, resistance R3, resets fuse L1 and No. two power supply VCC；
The feeder ear output voltage of No. two power supply VCC is 5V；
The No.1 pin of Type C USB interfaces is connected simultaneously with resetting one end of fuse L1 and one end of resistance R3,
The other end for resetting fuse L1 is connected with the feeder ear of No. two power supply VCC；
No. two pins of Type C USB interfaces are connected with one end of resistance R1, and the other end of resistance R1 and the 64 of MCU1 are drawn
40 No. four pins of foot microcontroller U1 are connected；
No. three pins of Type C USB interfaces are connected with one end of resistance R2, and the other end of resistance R2 is another with resistance R3's
One end is connected simultaneously with 40 No. five pins of the 64 pin microcontroller U1 of MCU1；
No. five pins ground connection of Type C USB interfaces.
In the present embodiment, it resets fuse L1 and resets fuse for 0 Ω or 500mA；The resistance value of resistance R1 is 22 Ω；
The resistance value of resistance R2 is 22 Ω；The resistance value of resistance R3 is 1.5K Ω.
The utility model is not limited to above-mentioned preferred forms, anyone can obtain under the enlightenment of the utility model
Other various forms of products, however, make any variation in its shape or structure, it is every that there is same as the present application or phase
Approximate technical solution, all falls within the scope of protection of the utility model.
Claims (7)
1. a kind of robot local positioning system based on UWB and SINS, SINS systems are provided in robot, feature exists
In being additionally provided with N number of positioning label in robot, install multiple ginsengs respectively indoors or at outdoor multiple fixed reference positions
Examine base station；
The multiple reference base station includes identical control unit with N number of positioning label,
Multiple reference base stations or multiple positioning labels pass through computer host computer free switching；
Described control unit includes MCU (1), battery management module (2), status indicator lamp (3), UWB sensors (4), three axis tops
Spiral shell instrument (5), USB communication interface (6), three axis geomagnetic sensors (7) and three axis accelerometer (8)；
The power supply signal input/output terminal of MCU (1) is connected with the power supply signal input/output terminal of battery management module (2)；
The status signal input/output terminal of MCU (1) is connected with the status signal input/output terminal of status indicator lamp (3)；
The UWB signal input/output terminal of MCU (1) is connected with the UWB signal input/output terminal of UWB sensors (4)；
The positioning signal input/output terminal of MCU (1) is connected with the positioning signal input/output terminal of three-axis gyroscope (5)；
The signal of communication input/output terminal of MCU (1) is connected with the signal of communication input/output terminal of USB communication interface (6)；
The transducing signal input/output terminal of MCU (1) is connected with the transducing signal input/output terminal of three axis geomagnetic sensors (7)；
The acceleration signal input/output terminal of MCU (1) is connected with the acceleration signal input/output terminal of three axis accelerometer (8)；
The N is the positive integer more than or equal to 1.
A kind of 2. robot local positioning system based on UWB and SINS according to claim 1, which is characterized in that institute
It states battery management module (2) and includes No.1 power supply VCC, voltage stabilizing chip W1, electrolytic capacitor C4 and capacitance C6；
The model MIC5219 of the voltage stabilizing chip W1；
The feeder ear output voltage of the No.1 power supply VCC is 5V；
The No.1 pin of voltage stabilizing chip W1 and No. three pins are connected simultaneously with the feeder ear of No.1 power supply VCC；
No. two pins ground connection of voltage stabilizing chip W1；
No. four pins of voltage stabilizing chip W1 are connected with one end of capacitance C6, the other end ground connection of capacitance C6；
No. five pins of voltage stabilizing chip W1 are connected with the anode of electrolytic capacitor C4, and the common end of the two is 3.3V output terminals, and make
Power supply signal input/output terminal for the battery management module (2)；
The cathode ground connection of the electrolytic capacitor C4.
A kind of 3. robot local positioning system based on UWB and SINS according to claim 2, which is characterized in that institute
It states MCU (1) and includes 64 pin microcontroller U1, crystal oscillator Y1, resistance R5, resistance R7, resistance R11, capacitance C5, capacitance C7 and capacitance
C8；
The model STMF405RGT6 of the 64 pin microcontroller U1；
The No.1 pin of 64 pin microcontroller U1, ten No. nine pins, 30 No. two pins, 40 No. eight pins and 60 No. four
3.3V output terminal of the pin with battery management module (2) is connected；
No. five pins of 64 pin microcontroller U1 are connected with the side pin of crystal oscillator Y1, the opposite side pin and 64 pins of crystal oscillator Y1
No. six pins of microcontroller U1 are connected, the middle pin ground connection of crystal oscillator Y1；
No. seven pins of 64 pin microcontroller U1 are connected simultaneously with one end of capacitance C5 and one end of resistance R7, and resistance R7's is another
One end is connected with the 3.3V output terminals of battery management module (2), the other end ground connection of capacitance C5；
20 No. eight pins of 64 pin microcontroller U1 are connected with one end of resistance R11, the other end ground connection of resistance R11；
The three ride on Bus No. 11 pins of 64 pin microcontroller U1 are connected with one end of capacitance C8, the other end ground connection of capacitance C8；
40 No. seven pins of 64 pin microcontroller U1 are connected with one end of capacitance C7, the other end ground connection of capacitance C7；
Six No. ten pins of 64 pin microcontroller U1 are connected with one end of resistance R5, the other end ground connection of resistance R5.
A kind of 4. robot local positioning system based on UWB and SINS according to claim 3, which is characterized in that institute
It states UWB sensors (4) and includes 24 pin microcontroller U2, resistance R4, resistance R6 and resistance R8；
The status indicator lamp (3) includes light emitting diode D1 and light emitting diode D2；
The model DWM1000 of the 24 pin microcontroller U2；
No. three pins of 24 pin microcontroller U2 are connected with 30 No. eight pins of the 64 pin microcontroller U1 of MCU (1)；
No. five pins, No. six pins and No. seven pins of 24 pin microcontroller U2 pass through MCU (1) and battery management module simultaneously
(2) 3.3V output terminals are connected；
No. eight pins ground connection of 24 pin microcontroller U2；
Ten No. two pins of 24 pin microcontroller U2 are connected with one end of resistance R8, the other end and the light emitting diode D2 of resistance R8
Anode be connected, the minus earth of light emitting diode D2；
Ten No. three pins of 24 pin microcontroller U2 are connected with one end of resistance R6, the other end and the light emitting diode D1 of resistance R6
Anode be connected, the minus earth of light emitting diode D1；
Ten No. six pins ground connection of 24 pin microcontroller U2；
Ten No. seven pins of 24 pin microcontroller U2 are connected with 30 No. three pins of the 64 pin microcontroller U1 of MCU (1)；
Ten No. eight pins of 24 pin microcontroller U2 are connected with 30 No. six pins of the 64 pin microcontroller U1 of MCU (1)；
Ten No. nine pins of 24 pin microcontroller U2 are connected with 30 No. five pins of the 64 pin microcontroller U1 of MCU (1)；
Two No. ten pins of 24 pin microcontroller U2 are connected with 30 No. four pins of the 64 pin microcontroller U1 of MCU (1)；
The two ride on Bus No. 11 pins of 24 pin microcontroller U2 while 20 No. three pins and 24 with 24 pin microcontroller U2
Number pin is connected, and be grounded；
20 No. two pins of 24 pin microcontroller U2 are connected with one end of resistance R4, the other end ground connection of resistance R4.
A kind of 5. robot local positioning system based on UWB and SINS according to claim 3, which is characterized in that institute
State the MEMS Inertial Measurement Units that three-axis gyroscope (5) is integrated with three axis accelerometer (8)；
The MEMS Inertial Measurement Units include 24 foot microcontroller U3, capacitance C9, capacitance C10 and capacitance C11；
The model MPU6500 of the 24 foot microcontroller U3；
No. eight pins of 24 foot microcontroller U3 are simultaneously with one end of capacitance C10 and passing through MCU (1) and battery management module (2)
3.3V output terminals be connected；
No. nine pins of 24 foot microcontroller U3 are connected with 20 No. two pins of the 64 pin microcontroller U1 of MCU (1)；
No. ten pins of 24 foot microcontroller U3 are connected simultaneously with one end of capacitance C11；
The ride on Bus No. 11 pin of 24 foot microcontroller U3 is connected, and connect simultaneously with the other end of capacitance C10 and the other end of capacitance C11
Ground；
Ten No. three pins of 24 foot microcontroller U3 are simultaneously with one end of capacitance C9 and passing through MCU (1) and battery management module (2)
3.3V output terminals be connected, the other end of capacitance C9 ground connection；
Ten No. eight pins ground connection of 24 foot microcontroller U3；
Two No. ten pins ground connection of 24 foot microcontroller U3；
20 No. two pins of 24 foot microcontroller U3 are connected with two No. ten pins of the 64 pin microcontroller U1 of MCU (1)；
20 No. three pins of 24 foot microcontroller U3 are connected with the two ride on Bus No. 11 pins of the 64 pin microcontroller U1 of MCU (1)；
20 No. four pins of 24 foot microcontroller U3 are connected with 20 No. three pins of the 64 pin microcontroller U1 of MCU (1).
A kind of 6. robot local positioning system based on UWB and SINS according to claim 3, which is characterized in that institute
It states three axis geomagnetic sensors (7) and includes 16 foot microcontroller U4, capacitance C13 and capacitance C15；
The model AK8975 of the 16 foot microcontroller U4；
No. two pins of 16 foot microcontroller U4 are connected with 50 No. eight pins of the 64 pin microcontroller U1 of MCU (1)；
No. four pins of 16 foot microcontroller U4 are connected with 50 No. five pins of the 64 pin microcontroller U1 of MCU (1)；
No. five pins of 16 foot microcontroller U4 are connected with 50 No. seven pins of the 64 pin microcontroller U1 of MCU (1)；
No. six pins of 16 foot microcontroller U4 are connected with 50 No. six pins of the 64 pin microcontroller U1 of MCU (1)；
No. six pins of 16 foot microcontroller U4 are simultaneously with one end of capacitance C13 and passing through MCU (1) and battery management module (2)
3.3V output terminals be connected, the other end of capacitance C13 ground connection；
The ride on Bus No. 11 pin of 16 foot microcontroller U4 while ten No. three pins, ten No. five pins and capacitance with 16 foot microcontroller U4
One end of C15 is connected, and is grounded；
Ten No. six pins of 16 foot microcontroller U4 are connected with the other end of capacitance C15, and the connecting pin of the two passes through MCU (1) and electricity
The 3.3V output terminals of pond management module (2) are connected.
A kind of 7. robot local positioning system based on UWB and SINS according to claim 3, which is characterized in that institute
It states USB communication interface (6) and includes Type C USB interfaces, resistance R1, resistance R2, resistance R3, reset fuse (L1) and No. two
Power supply VCC；
The feeder ear output voltage of No. two power supply VCC is 5V；
The No.1 pin of Type C USB interfaces is connected simultaneously with resetting one end of fuse (L1) and one end of resistance R3, multiple
The other end of position fuse (L1) is connected with the feeder ear of No. two power supply VCC；
No. two pins of Type C USB interfaces are connected with one end of resistance R1, the other end of resistance R1 and 64 pins of MCU (1)
40 No. four pins of microcontroller U1 are connected；
No. three pins of Type C USB interfaces are connected with one end of resistance R2, the other end of resistance R2 and the other end of resistance R3
It is connected simultaneously with 40 No. five pins of the 64 pin microcontroller U1 of MCU (1)；
No. five pins ground connection of Type C USB interfaces.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108969858A (en) * | 2018-08-08 | 2018-12-11 | 黄颖琦 | Oxygen method and system in a kind of full-automatic feeding oxygen robot |
| CN109358622A (en) * | 2018-10-12 | 2019-02-19 | 华北科技学院 | Localization method, electronic equipment and the computer readable storage medium of robot label |
| CN110677906A (en) * | 2019-08-16 | 2020-01-10 | 深圳空循环科技有限公司 | Positioning method, computer device and readable storage medium |
| CN111148022A (en) * | 2019-12-31 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Mobile equipment and positioning method and device thereof |
| CN113660747A (en) * | 2021-08-23 | 2021-11-16 | 广州番禺职业技术学院 | Emergency evacuation guiding system based on UWB positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108969858A (en) * | 2018-08-08 | 2018-12-11 | 黄颖琦 | Oxygen method and system in a kind of full-automatic feeding oxygen robot |
| CN109358622A (en) * | 2018-10-12 | 2019-02-19 | 华北科技学院 | Localization method, electronic equipment and the computer readable storage medium of robot label |
| CN110677906A (en) * | 2019-08-16 | 2020-01-10 | 深圳空循环科技有限公司 | Positioning method, computer device and readable storage medium |
| CN110677906B (en) * | 2019-08-16 | 2022-03-29 | 深圳空循环科技有限公司 | Positioning method, computer device and readable storage medium |
| CN111148022A (en) * | 2019-12-31 | 2020-05-12 | 深圳市优必选科技股份有限公司 | Mobile equipment and positioning method and device thereof |
| CN113660747A (en) * | 2021-08-23 | 2021-11-16 | 广州番禺职业技术学院 | Emergency evacuation guiding system based on UWB positioning |
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