資料來源:https://www.seeedstudio.com/UWB-PK-1000-Basice-Station-Module-p-2918.html
1.Hardware
PK-1000 is a cm-level accurate positioning / distance measuring kit with independent intellectual property rights. It is featured with a scheduling system based on clock synchronization. This in-house developed scheduling system, combined with traditional UWB positioning technology, has enabled PK-1000 with the ability to solve the biggest problem in usual TOA (time of arrive) based UWB positioning method -- poorly configurable mesh network. This deficiency means that global positioning in a large complex environment cannot be achieved by usual UWB, while with PK-1000, it is possible. PK-1000 is suitable for research, as well as for integrating with any third-party products. Following the specification and manual of PK-1000, you can set up the kit by yourself , make use of it or further develop it freely.
1.1Product images
1.2 Hardware components
1.2.1 The tag
As illustrated inFigure 3,the hardware system of PK-100 tag includes 5parts:
MCU acquires the distance data measured by TAG, calculates the absolute coordinates of TAG, and processes data exchanged with outer processors through interfaces like Serial,CAN, and TCP.
TAG communicates with IR-UWB chip, controls the operative mode of IR-UWB,and communicates with Anchors within range.
TCP Server, Serial and CAN interfaces transmit data and receive order wirelessly.
SWD and ISP are interfaces for code upgrade.
TAG is powered through micro USB or independent 5V DC socket.
1.2.2 The anchor
As illustrated in Figure 4, the hardware system of PK-100 anchor includes 3 parts:
MCU communicates with IR-UWB chip, controls the operative mode of IR-UWB,and communicates with Tags within range.
Anchor ID can be set with DIP switch. For detailed instruction, please look into PK-1000 User Manual.
Anchor is powered by 5v micro USB.
1.3 Definition of interfaces
Please look into PK-1000 User Manual.
1.4 Performance index of the hardware modules
IR-UWB chip provided by Decawave has the following data rates:
No. |
Datarates | Preamblelength |
1 | 110Kbps | 3.042m |
2 |
850Kbps | 380.3us |
3 | 6.8Mbps | 103.3us |
IR-UWB chip provided by Decawave has the followingchannels:
No. | Center frequencies(MHz) | Bandwidth(MHz) |
1 | 3494.4 | 499.2 |
2 | 3993.6 | 499.2 |
3 | 4492.8 | 499.2 |
4 | 3993.6 | 1331.2 |
5 | 6489.6 | 499.2 |
6 | 6489.6 | 1081.6 |
By default, PK-1000 kit operates on channel 2, center frequencies is 3.994GHz,data rateis6.8Mbps.
The signal power spectral density that PK-10000 transmits is -41Bm/MHz. With a bandwidth of 500MHz, the power of signal of PK-1000 is -14dBm, which is farbelowthat ofWIFIand Bluetooth.
The average power of both PK-1000 tag and anchor is roughly 0.925w.
1.5 Specification for physical layer
1.5.1Dimensions
The diameter of all four location holes on both PK-1000 tag and anchor is 3.1mm. Use M3 screws to fix PK-1000.
1.5.2Operatingtemperaturerange
The operating temperature range of PK-1000 is from -40℃ to +85℃, this performance is guaranteed by TCXO(TemperatureControlledCrystalOscillator).
2. Software
2.1 Software of the microcontroller
2.1.1Distance measurement
2.1.1.1Theory of distance measurement
The theory of PK-100 measuring distance is:
Distance = Vl*Ttof
(Vlis the velocity of light, Ttof is the duration of electromagnetic wave transmission)
In order to restrain the influence ofcrystal oscillator deviation onTtof,PK-1000 is using Symmetric double-sided two-way ranging (SDSTWR) method, as illustrated in Figure7:
2.1.1.2 Measurement systems
PK-1000 supports 3 different distance measurement systems, all of which are based on UWB TOF method. You can choose among these systems according to your own application scenario.
(1) 1 tag, 1anchor
(2) 1 tag, Nanchors
(3) Mtags, Nanchors
PK-1000 is based on the in-house developed clock synchronization scheduling system, which is compatible for the aforementioned systems in both hardware and software. But for system 3 (M tags, N anchors), to assure the measuring frequency stays at 10Hz when all the tags are being measured, we advise you to use no more than 10 tags in the same system. There’s no restrains on the number of anchors.
Attention:
1. The clock synchronized scheduling system is an important feature of PK-1000. The excellent network capability of PK-1000 is owned to this feature. The positioning accuracy in a large and complex space is 20cm.
2. There’s no restrains on the number of anchors. It means that a random tag can communicate with any four anchors, this random tag can choose and change the anchors it communicates with at any time.
2.1.2 Coordinates calculation
The positioning of PK-1000 refers to 2D positioning with X, Y coordinates.
2.1.2.1 Calculation theory
PK-1000 positioning system is operational with only 3 anchors. The fourth anchor provides more distance data for the user, and therefore improve the accuracy and robustness of the system.
2.1.2.2 Calculation result
You can find the result in the host computer RLKit. For more information please look into PK-1000 User Manual.
2.2 Software of the host computer
2.2.1 Code upgrade
PleaselookintoPK-1000 User Manual.
2.2.2RLKit
The host computer RLKit has the following functions:
(1) Setup the connection between PK-1000 and RLKit.
(2) Setup tag ID, its corresponding anchors’ID and coordinates.
(3) Display the distances between tags and anchors, and the calculated coordinates of the tags in real-time.
Please look into PK-1000 User Manual for more in formation.
2.3 PK-1000 default parameters
2.3.1 The default parameters of UWB
Content | Default value |
Channel |
Channel 2, Center frequency: 3.994GHz, Bandwidth: 500MHz |
Data rate | 6.8MHz |
Measuring frequency | 10Hz |
PANID | DECA |
2.3.2 The default parameters of PK-1000 tag WIFI module
Content | Default value |
Operating mode | TCP Server |
SSID | BeiLa |
Password | 12345678 |
IP address | 192.168.0.19 |
Server port | 8080 |
2.3.3 ThedefaultparametersofPK-1000tag serialports
Content | Default value |
Baud rate | 115200 |
Data bit | 8 |
Stop bit | 1 |
Check bit | None |
3. PK-1000 performance demonstration
3.1 Error performance of outdoor measurement (0-20m)
3.2 Volatility performance of indoor measurement
(1) True value 679cm
(2) True value 423cm
(3) True value 179cm
Attention:
1. PK-1000 UWB distance measuring performance differs between indoor and outdoor environments. This is caused by the indoor multi-path effect, the indoor measurement error is slightly bigger than outdoor, and the stability poorer. But this deviation won’t have big impact on the positioning.
1.硬件
PK-1000是具有自主知識產權的厘米級精確定位/距離測量套件。它具有基於時鐘同步的調度系統。這種內部開發的調度系統,結合傳統的UWB定位技術,使得PK-1000能夠解決通常基於UWB定位方法的TOA(到達時間)的最大問題 - 配置不良的網狀網絡。這種缺陷意味著通過UWB無法實現在復雜環境中的全球定位,而使用PK-1000,這是可能的。 PK-1000適用於研究,以及與任何第三方產品的集成。按照PK-1000的規範和手冊 ,您可以自行設置套件,利用它或進一步開發它。
1.1產品圖片
1.2硬件組件
1.2.1標籤
如圖3所示,PK-100標籤的硬件系統包括5個部分:
MCU獲取由TAG測量的距離數據,計算TAG的絕對坐標,並通過串行端口,CAN端口和TCP端口處理與外部處理器交換的數據。
TAG與IR-UWB芯片通信,控制IR-UWB的工作模式,並與範圍內的錨點進行通信。
TCP服務器,串行和CAN接口傳輸數據並無線接收命令。
SWD和ISP是代碼升級的接口。
TAG通過微型USB或獨立的5V直流插座供電。
1.2.2錨
如圖4所示,PK-100錨的硬件系統包括3部分:
MCU與IR-UWB芯片進行通信,控制IR-UWB的工作模式,並與範圍內的Tag進行通信。
可以用DIP開關設置錨定ID。詳細說明請參考PK-1000用戶手冊 。
錨點由5v微型USB驅動。
1.3接口定義
請查看 PK-1000用戶手冊 。
1.4硬件模塊的性能指標
Decawave提供的IR-UWB芯片具有以下數據速率:
沒有。 | 數據速率 | 前導長度 |
1 | 110Kbps | 3.042米 |
2 | 850Kbps | 380.3us |
3 | 6.8Mbps | 103.3us |
Decawave提供的IR-UWB芯片具有以下通道:
沒有。 | 中心頻率(MHz) | 帶寬(MHz) |
1 | 3494.4 | 499.2 |
2 | 3993.6 | 499.2 |
3 | 4492.8 | 499.2 |
4 | 3993.6 | 1331.2 |
五 | 6489.6 | 499.2 |
6 | 6489.6 | 1081.6 |
默認情況下,PK-1000套件在通道2上工作,中心頻率為3.994GHz,數據速率為6.8Mbps。
PK-10000傳輸的信號功率譜密度為-41Bm / MHz。帶寬為500MHz,PK-1000的信號功率為-14dBm,遠低於WIFI和藍牙。
PK-1000標籤和錨的平均功率約為0.925w。
1.5物理層規格
1.5.1Dimensions
PK-1000標籤和錨點上的所有四個定位孔的直徑為3.1mm。使用M3螺絲固定PK-1000。
1.5.2Operatingtemperaturerange
PK-1000的工作溫度範圍為-40℃〜+ 85℃, 性能由TCXO(TemperatureControlledCrystalOscillator)保證。
軟件
2.1微控制器的軟件
2.1.1距離測量
2.1.1.1距離測量的理論
PK-100測距距離理論為:
距離= Vl * Ttof
( V1是光速,Ttof是電磁波傳輸的持續時間)
為了抑制晶體振盪器偏差對Ttof的影響,PK-1000採用對稱雙向雙向測距(SDSTWR)方法,如圖7所示:
2.1.1.2測量系統
PK-1000支持3種不同的距離測量系統,所有這些系統均基於UWB TOF方法。您可以根據自己的應用場景選擇這些系統。
(1)1標籤,1anchor
(2)1標籤,Nanchors
(3)Mtag,Nanchors
PK-1000是基於內部開發的時鐘同步調度系統,其兼容硬件和軟件上述系統。但是,對於系統3(M個標籤,N個錨點),為了確保在所有標籤被測量時測量頻率保持在10Hz,我們建議您在同一系統中使用不超過10個標籤。錨的數量沒有限制。
注意:
時鐘同步調度系統是PK-1000的重要特徵。 PK-1000的優秀網絡功能屬於此功能。大型複雜空間的定位精度為20cm。
錨的數量沒有限制。這意味著隨機標籤可以與任何四個錨點進行通信,隨機標籤可以隨時選擇和更改與之通信的錨點。
2.1.2坐標計算
PK-1000的定位是指具有X,Y坐標的2D定位。
2.1.2.1計算理論
PK-1000定位系統只能運行3個錨點。第四個錨為用戶提供更多的距離數據,從而提高系統的準確性和魯棒性。
2.1.2.2計算結果
您可以在主機RLKit中找到結果。欲了解更多信息,請查看PK-1000用戶手冊 。
2.2主機軟件
2.2.1代碼升級
Pleaselookinto PK-1000用戶手冊 。
2.2.2RLKit
主機RLKit具有以下功能:
(1)設置PK-1000和RLKit之間的連接。
(2)設置標籤ID,對應的錨點ID和坐標。
(3)實時顯示標籤和錨點之間的距離以及計算出的標籤坐標。
請查看PK-1000用戶手冊了解更多信息。
2.3 PK-1000默認參數
200 200 200 200 200 -40 -40 200 200 -40 -40 -40 -40 -40 -40 -40 -40 -40 -40 200 X-
內容 | 默認值 |
渠道 | 頻道2, 中心頻率:3.994GHz, 帶寬:500MHz |
數據速率 | 6.8MHz |
測量頻率 | 為10Hz |
PANID | DECA |
2.3.2 PK-1000標籤WIFI模塊的默認參數
內容 | 默認值 |
操作模式 | TCP服務器 |
SSID | 貝拉 |
密碼 | 12345678 |
IP地址 | 192.168.0.19 |
服務器端口 | 8080 |
2.3.3PK-1000tag串口的默認參數
內容 | 默認值 |
波特率 | 115200 |
數據位 | 8 |
停止位 | 1 |
檢查位 | 沒有 |
PK-1000性能演示
3.1戶外測量誤差(0-20m)
3.2室內測量波動性能
200的X- 200 200 200 X- 200 200 X- 200 200 X- 200 200 X-
(2)真值423cm
(3)真值179cm
注意:
PK-1000 UWB距離測量性能在室內和室外環境不同。這是室內多路徑效應引起的,室內測量誤差略大於戶外,穩定性差。但這種偏差不會對定位產生很大的影響。