UWB antenna modules and positioning base stations used for omnidirectional positioning and angle measurement

Abstract

This invention discloses a UWB antenna module and positioning base station for omnidirectional positioning and angle measurement. The module includes an antenna base with a grounding layer and control circuitry on its front and back sides, respectively; a circular omnidirectional transmitting antenna mounted on the grounding layer; and three sets of planar directional receiving antennas arranged around the array of the circular omnidirectional transmitting antenna on the periphery of the grounding layer. The circular omnidirectional transmitting antenna includes a column, a circular substrate mounted on the column, and a first radiator and a second radiator, each composed of several sickle-shaped branches arranged in a circular array and connected by a handle, respectively mounted on the front and back sides of the circular substrate. The sickle-shaped branches of the first and second radiators are opposite to each other. Each set of planar directional receiving antennas includes a planar substrate, a third radiator with a diamond-shaped slot in the center of several circular pieces on the outward and inward surfaces of the planar substrate, and a reflective layer. The positioning module of this invention can achieve precise positioning in various spatial directions based on the PODA positioning principle.

Description

Technical Field

[0001] This invention relates to the field of UWB positioning technology, and in particular to a UWB antenna module and positioning base station for omnidirectional positioning angle measurement. Background Technology

[0002] To obtain the accurate location of a tag, UWB positioning systems can use different methods such as TWR (Time of Flight), TDOA (Time Difference of Arrival), and PDOA (Phase Difference of Arrival) for positioning. Existing UWB positioning systems include single-antenna and multi-antenna systems. Single-antenna UWB positioning systems often exhibit varying positioning errors at different distances and azimuths due to issues such as imperfect antenna radiation patterns and insufficient gain.

[0003] For multi-antenna UWB positioning systems, due to the arrangement of multi-antenna modules, the TWR positioning principle is usually used for positioning. However, the positioning accuracy is easily poor due to antenna dispersion and impure polarization. The PDOA positioning principle is difficult to apply to it. Therefore, the existing technology still needs to develop a multi-antenna UWB module that can combine the PDOA positioning principle and achieve higher-precision omnidirectional positioning.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The main objective of this invention is to propose a UWB antenna module for omnidirectional positioning and angle measurement, aiming to solve the problems mentioned in the prior art.

[0006] The first aspect of this invention provides a UWB antenna module for omnidirectional positioning and angle measurement, comprising:

[0007] An antenna base, wherein a grounding layer is provided on the front side of the antenna base and a control circuit is provided on the back side of the antenna base;

[0008] A circular omnidirectional transmitting antenna is disposed on the grounding layer of the antenna base. The circular omnidirectional transmitting antenna includes a column, a circular substrate disposed on the column, and a first radiator and a second radiator disposed on the front and back sides of the circular substrate respectively. The first radiator and the second radiator are each composed of a plurality of sickle-shaped branches arranged in a circular array and connected by a handle. The sickle-shaped branches of the first radiator and the second radiator are opposite to each other.

[0009] A planar directional receiving antenna is provided in three groups around the grounding layer of the antenna base and distributed around the omnidirectional transmitting antenna array of the disk. Each group of planar directional receiving antennas includes a planar substrate, several third radiators disposed on the outer surface of the planar substrate, and a reflective layer disposed on the inner surface of the planar substrate. The third radiators are circular pieces with a central diamond-shaped slot.

[0010] In an optional embodiment of the first aspect of the present invention, the first radiator and the second radiator each have four sickle branches, the handle segments of the four sickle branches are connected together by a central ring, and the handle segments of the four sickle branches form a cross shape; the cross shape of the first radiator and the cross shape of the second radiator are symmetrically arranged.

[0011] In an optional embodiment of the first aspect of the present invention, the length of the handle segment of the sickle branch is 9.7 mm, the diameter of the central ring is 1.6 mm, and the center angle corresponding to the arc segment of the sickle branch is 30°.

[0012] In an optional embodiment of the first aspect of the present invention, each of the three sets of planar directional receiving antennas has two third radiators on the planar substrate; for any one of the planar directional receiving antennas, the geometric centers of the two third radiators are symmetrical about the vertical plane, with the central axis of the column of the disk omnidirectional transmitting antenna as the perpendicular plane.

[0013] In an optional embodiment of the first aspect of the present invention, the diameter of the third radiator is 8.5 mm, the length of the long diagonal of the central rhomboid slot is 5.58 mm, and the length of the short diagonal of the central rhomboid slot is 1.85 mm.

[0014] In an optional embodiment of the first aspect of the present invention, the geometric center of the omnidirectional transmitting antenna of the disk is 18.42 mm away from the inward surface of any of the directional receiving antennas of the flat plate, the geometric center of the third radiator is 6 mm away from the front surface of the antenna base, and the first height of the second radiator on the reverse side of the disk substrate is greater than the second height of the top edge of the flat plate substrate.

[0015] In an optional embodiment of the first aspect of the present invention, the control circuit includes a first SP2T radio frequency switch, a second SP2T radio frequency switch, and an SP3T radio frequency switch.

[0016] Following a clockwise direction around the omnidirectional transmitting antenna of the disk, starting from any of the planar directional receiving antennas, the three groups of planar directional receiving antennas are respectively defined as the first planar directional receiving antenna, the second planar directional receiving antenna, and the third planar directional receiving antenna. The two third radiators of the first planar directional receiving antenna are respectively defined as radiator 1 and radiator 2; the two third radiators of the second planar directional receiving antenna are respectively defined as radiator 3 and radiator 4; and the two third radiators of the third planar directional receiving antenna are respectively radiator 5 and radiator 6.

[0017] The first SP2T RF switch is connected to radiator No. 2 and radiator No. 3 respectively; the second SP2T RF switch is connected to radiator No. 4 and radiator No. 5 respectively; and the SP3T RF switch is connected to radiator No. 6, radiator No. 1 and the disk omnidirectional transmitting antenna respectively.

[0018] In an optional embodiment of the first aspect of the present invention, the field of view of each set of the planar directional receiving antennas is greater than or equal to 120°, and the impedance bandwidth of the disk omnidirectional transmitting antenna covers the CH5~CH9 frequency band of UWB.

[0019] In an optional embodiment of the first aspect of the present invention, the first edge of the flat substrate for connecting the antenna base is provided with a plurality of plug-in pins, and the antenna base is provided with a plurality of sockets that are adapted to the plurality of plug-in pins one by one.

[0020] A second aspect of the present invention provides a positioning base station, the positioning base station comprising the UWB antenna module for omnidirectional positioning and angle measurement as described in any one of the first aspects of the present invention.

[0021] Beneficial Effects: This invention discloses a UWB antenna module and positioning base station for omnidirectional positioning and angle measurement. The module includes an antenna base with a grounding layer and control circuitry on its front and back sides, respectively; a circular omnidirectional transmitting antenna mounted on the grounding layer; and three sets of planar directional receiving antennas arranged around the array of the circular omnidirectional transmitting antenna on the periphery of the grounding layer. The circular omnidirectional transmitting antenna includes a column, a circular substrate mounted on the column, and a first radiator and a second radiator, each composed of several sickle-shaped branches arranged in a circular array and connected by a handle, respectively mounted on the front and back sides of the circular substrate. The sickle-shaped branches of the first and second radiators are opposite to each other. Each set of planar directional receiving antennas includes a planar substrate, a third radiator with a diamond-shaped slot in the center of several circular pieces on the outward and inward surfaces of the planar substrate, and a reflective layer. The positioning module of this invention can achieve precise positioning in various spatial directions based on the PODA positioning principle. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the structure of a UWB antenna module for omnidirectional positioning and angle measurement according to the present invention;

[0024] Figure 2 This is an exploded view of a disk-based omnidirectional transmitting antenna according to the present invention;

[0025] Figure 3 This is an exploded view of a planar directional receiving antenna according to the present invention;

[0026] Figure 4 This is a dimensional diagram of a first radiator and a second radiator according to the present invention;

[0027] Figure 5 This is a dimensional diagram of a third radiator according to the present invention;

[0028] Figure 6 This is a dimensional diagram of a UWB antenna module according to the present invention;

[0029] Figure 7 This is a schematic diagram of the structure of a control circuit according to the present invention;

[0030] Figure 8 This is a horizontal plane pattern of the three sets of planar directional receiving antennas of the present invention.

[0031] Explanation of icon numbers:

[0032] 10. Antenna base; 20. Grounding layer; 30. Circular omnidirectional transmitting antenna; 40. Column; 50. Circular substrate; 60. First radiator; 70. Second radiator; 80. Planar directional receiving antenna; 90. Planar substrate; 100. Third radiator; 110. Reflector layer; 120. First SP2T RF switch; 130. Second SP2T RF switch; 140. SP3T RF switch; 150. First planar directional receiving antenna; 160. Second planar directional receiving antenna; 170. Third planar directional receiving antenna; 180. Radiator No. 1; 190. Radiator No. 2; 200. Radiator No. 3; 210. Radiator No. 4; 220. Radiator No. 5; 230. Radiator No. 6; 240. Connecting pin.

[0033] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0035] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0036] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0037] See Figure 1 The first aspect of the present invention provides a UWB antenna module for omnidirectional positioning and angle measurement, comprising:

[0038] The antenna base 10 has a grounding layer 20 on its front side and a control circuit on its back side. The grounding layer 20 is a metal layer and can be made of copper. The control circuit is used for signal transmission and reception control of the antenna. The antenna base can be made of FR-4 substrate.

[0039] The disk-shaped omnidirectional transmitting antenna 30 is disposed on the grounding layer 20 of the antenna base 10, see [reference]. Figure 2The omnidirectional transmitting antenna 30 includes a column 40, a circular substrate 50 disposed on the column 40, and a first radiator 60 and a second radiator 70 respectively disposed on the front and back sides of the circular substrate 50. Both the first radiator 60 and the second radiator 70 are composed of a plurality of sickle-shaped segments arranged in a circular array and connected by a handle. The sickle segments of the first radiator 60 and the second radiator 70 are opposite to each other. In this invention, the column 40 can penetrate the grounding layer 20 and be integrally connected to the antenna base 10. The interior of the column 40 can be hollow to allow coaxial passage and connection with the first radiator 60 and the second radiator 70. The first radiator 60 and the second radiator 70 can have 2-8 sickle segments. The handle sections are connected to the same center and form an array. The sickle branches of the first radiator 60 and the second radiator 70 are opposite to each other. For example, when viewed from above, the blade tips of the sickle branches of the first radiator 60 and the sickle branches of the second radiator 70 are opposite. For example, the blade tips of the sickle branches of the first radiator 60 are counterclockwise, and the blade tips of the sickle branches of the second radiator 70 are clockwise. The disk omnidirectional transmitting antenna 30 of the present invention is a horizontal omnidirectional antenna. The disk omnidirectional transmitting antenna 30 adopts a multiple dipole synthesis form and can transmit carrier signals in all directions. The impedance bandwidth of the disk omnidirectional transmitting antenna 30 covers the CH5~CH9 frequency band of UWB. The material of the disk substrate can be FR-4 substrate.

[0040] The planar directional receiving antenna 80 is arranged in three groups around the grounding layer 20 of the antenna base 10 and distributed around the omnidirectional transmitting antenna 30 array. See [link to relevant documentation]. Figure 3 Each set of planar directional receiving antennas 80 includes a planar substrate 90, several third radiators 100 disposed on the outer side of the planar substrate 90, and a reflective layer 110 disposed on the inner side of the planar substrate 90. The third radiators 100 are circular pieces with a central rhomboid slot. The field of view of each set of planar directional receiving antennas 80 is greater than or equal to 120°. In this invention, the grounding layer 20 may not completely cover the front of the antenna base 10. The grounding layer 20 can be considered as a hexagon formed by a triangle missing three corners. The three sets of planar directional receiving antennas 80 are respectively disposed on the three non-corner sides of the hexagon. The omnidirectional transmitting antenna 30 is disposed at the center of the hexagon. The inner side of the planar substrate 90 refers to the surface facing the omnidirectional transmitting antenna 30, and the outer side of the planar substrate 90 refers to the surface away from the omnidirectional transmitting antenna 30. The material of the planar substrate 90 can be FR-4 substrate. For ease of installation of the planar substrate 90, see [link to relevant documentation]. Figure 5The flat substrate 90 is used to connect the antenna base 10. The first edge is provided with a plurality of plug-in pins 240. The antenna base 10 is provided with a plurality of plug holes that are adapted to the plurality of plug-in pins 240 one by one. In some other optional embodiments of the invention, the flat directional receiving antenna can also be arranged in 3 or more groups around the disk omnidirectional transmitting antenna 30, for example, 4 groups are arranged in a quadrilateral distribution, 6 groups are arranged in a hexagonal distribution, etc.

[0041] The third radiator 100 (microstrip patch antenna) used in this invention adopts a central diamond-shaped slot to achieve circular polarization and uses a single-fed self-phase-shift structure, which effectively expands the impedance bandwidth of the microstrip antenna (VSWR<2 in the UWB_CH9 band) and further realizes antenna miniaturization. The planar directional receiving antenna 80 of this invention has a good axial ratio in vertical elevation and horizontal azimuth, so that the FOV (field of view) of a single antenna module has good radiation gain and PDOA. It can effectively solve the problem of large fluctuations in test accuracy caused by impure polarization due to the change of tag polarization with position, and fully meet the ±60° FOV internal angle measurement requirements.

[0042] See Figure 4 In an optional embodiment of the first aspect of the present invention, the first radiator 60 and the second radiator 70 are each provided with four sickle branches, the handle segments of the four sickle branches are connected together by a central ring, and the handle segments of the four sickle branches form a cross shape; the cross shape of the first radiator 60 and the cross shape of the second radiator 70 are symmetrically arranged. Specifically, in this invention, each sickle branch includes a handle section and an arc-shaped blade. A first ring (i.e., the central ring) is provided at the center of the front side of the disc substrate 50. The four sickle branches are connected to the first ring at 90° angles to each other via the tail of the handle section. A second ring is provided at the center of the back side of the disc substrate 50. The four sickle branches are also connected to the second ring at 90° angles to each other via the handle section. The handle sections of the four sickle branches on the front side of the disc substrate 50 and the four sickle branches on the back side of the disc substrate 50 are symmetrically overlapped. On the front side of the disc substrate 50, the arc-shaped blades of the four sickle branches are all counterclockwise. On the back side of the disc substrate 50, the arc-shaped blades of the four sickle branches are all clockwise.

[0043] See Figure 4In an optional embodiment of the first aspect of the present invention, the length 'a' of the handle segment of the sickle branch is 9.7 mm, the diameter 'b' of the central ring is 1.6 mm, and the center angle 'c' corresponding to the arc segment (i.e., the arc-shaped blade head) of the sickle branch is 30°. The structure of the disk omnidirectional transmitting antenna 30 of the present invention, through the phase superposition effect of the array, can improve the gain of the horizontal omnidirectional antenna, has a controllable beamwidth in the vertical plane, can reduce unwanted radiation, and has a longer transmission distance and better anti-interference capability.

[0044] See Figure 5 In an optional embodiment of the first aspect of the present invention, each of the three sets of planar directional receiving antennas 80 has two third radiators 100 on the planar substrate 90; for any planar directional receiving antenna 80, the geometric centers of the two third radiators 100 are symmetrical about the vertical plane with respect to the central axis of the column 40 of the disk omnidirectional transmitting antenna 30. In this invention, the structures of the two third radiators 100 on the same planar directional receiving antenna 80 can be completely identical and arranged side by side laterally. Looking at the outward side of the planar directional receiving antenna 80, the two ends of the long diagonal of the middle rhomboid slot of the two third radiators 100 point to the northwest and southeast respectively, and the angle between the long diagonal and the vertical direction is 45°. The reflective layer 110 completely covers the inward side of the planar directional receiving antenna 80. The feed point of the third radiator 100 is located directly below the geometric center of the third radiator 100 at a certain distance and close to the lower edge of the middle rhomboid slot. It extends to the inward side of the planar directional receiving antenna 80 through a metallized via for feed wiring.

[0045] See Figure 5 In an optional embodiment of the first aspect of the present invention, the diameter d of the third radiator 100 is 8.5 mm, the length e of the long diagonal of the central rhomboid slot is 5.58 mm, the length f of the short diagonal of the central rhomboid slot is 1.85 mm, and the distance g between the geometric centers of the two third radiators 100 on the same flat substrate 90 is 18 mm.

[0046] See Figure 6 In an optional embodiment of the first aspect of the present invention, the vertical distance h between the geometric center of the disk omnidirectional transmitting antenna 30 and the inward-facing surface of any of the planar directional receiving antennas 80 is 18.42 mm, and the included angle i between any adjacent vertical distances h is 120°. See [reference needed]. Figure 5The geometric center of the third radiator 100 is 6mm away from the front of the antenna base 10 at a vertical distance j. The first height of the second radiator 70 on the reverse side of the disc substrate 50 is greater than the second height of the top edge of the flat substrate 90. In this invention, the top edge of the flat substrate 90 refers to the edge opposite the connecting edge of the flat substrate 90 after it is mounted on the antenna base 10. The height of the second radiator 70 is higher than the top edge of the flat substrate 90, so that the three sets of flat directional receiving antennas 80 will not affect the signal radiation of the disc omnidirectional transmitting antenna 30.

[0047] The UWB antenna module structure of this invention can effectively improve the radiation pattern of the antenna in the horizontal omnidirectional direction, realize PDOA measurement within a specified range, ensure normal signal reception when the tag is flipped at different positions, significantly reduce error fluctuations within the same range, achieve better flatness, and effectively perform positioning measurements within a specified distance and FOV, with multipath interference being suppressed to a certain extent. Overall, the UWB antenna module of this invention solves several common measurement problems existing in the prior art and can realize angle measurement in the entire horizontal range.

[0048] See Figure 7 In an optional embodiment of the first aspect of the present invention, the control circuit includes a first SP2T RF switch 120, a second SP2T RF switch 130, and an SP3T RF switch 140.

[0049] Following a clockwise direction around the omnidirectional transmitting antenna 30, and taking any one of the planar directional receiving antennas 80 as a starting point, the three groups of planar directional receiving antennas 80 are respectively defined as the first planar directional receiving antenna 150, the second planar directional receiving antenna 160, and the third planar directional receiving antenna 170. The two third radiators 100 of the first planar directional receiving antenna 150 are respectively defined as radiator 180 and radiator 190; and the two third radiators 100 of the second planar directional receiving antenna 160 are respectively defined as radiator 3. Radiators 200 and 4, radiator 210; the two third radiators 100 of the third planar directional receiving antenna 170 are respectively radiator 5, radiator 220 and radiator 6, radiator 230; the first SP2T RF switch 120 is connected to radiator 2, radiator 190 and radiator 3, radiator 200, respectively; the second SP2T RF switch 130 is connected to radiator 4, radiator 210 and radiator 5, radiator 220, respectively; the SP3T RF switch 140 is connected to radiator 6, radiator 230, radiator 1, radiator 180 and the disk omnidirectional transmitting antenna 30, respectively. The UWB antenna module of this invention uses three sets of planar directional receiving antennas 80 to compensate for the signal reception direction of UWB positioning. The main control chip obtains the SNR (signal-to-noise ratio) of the three sets of planar directional receiving antennas 80 by controlling the radio frequency switch. The tag position is accurately determined by analyzing the SNR. The radiation patterns of the first planar directional receiving antenna 150, the second planar directional receiving antenna 160, and the third planar directional receiving antenna 170 in the horizontal plane are as follows: Figure 8 As shown.

[0050] More specifically, the overall control logic of the UWB antenna module of this invention can be as follows: Taking the common NXP (SR150) UWB chip as an example, the chip has three antenna ports, two for receiving and one for transmitting / receiving. Taking two algorithms as examples, one algorithm targets a single tag. At any given time, only one set of antennas acquires the signal. Specifically, the enable pins of the three sets of planar directional receiving antennas 80 are sequentially turned on, and the control pins tune the two sets of received signals to one set of antennas. With a horizontal FOV of 120° for a single antenna, the three antenna modules can achieve 360° omnidirectional detection. Based on the signal-to-noise ratio of each antenna set, the range corresponding to one set of antennas can be determined, thus achieving target positioning. This method combines dynamic and static approaches, i.e., polling to detect the target's azimuth and determining the accurate target location using a single antenna module. The other algorithm detects multiple tags, i.e., continuously polling and receiving short messages from each tag, combining the signal-to-noise ratio to determine which antenna module's FOV the tag is within, and then analyzing the data to obtain the positioning information of each tag. The omnidirectional transmitting antenna 30 (Antenna-7 antenna) is a horizontal antenna, which is controlled by the TX / RX port of the UWB chip in conjunction with the SP3T horizontal control. In order to solve the problem of the tag transmitting TX signals in different directions, it can also be combined with TWR for auxiliary positioning.

[0051] Furthermore, a second aspect of the present invention provides a positioning base station, the positioning base station comprising the UWB antenna module for omnidirectional positioning angle measurement as described in any one of the first aspects of the present invention.

[0052] In summary, this invention discloses a UWB antenna module and positioning base station for omnidirectional positioning and angle measurement. The module includes an antenna base with a grounding layer and control circuitry on its front and back sides, respectively; a circular omnidirectional transmitting antenna mounted on the grounding layer; and three sets of planar directional receiving antennas arranged around the array of the circular omnidirectional transmitting antenna on the periphery of the grounding layer. The circular omnidirectional transmitting antenna includes a column, a circular substrate mounted on the column, and a first radiator and a second radiator, each composed of several sickle-shaped branches arranged in a circular array and connected by a handle, respectively mounted on the front and back sides of the circular substrate. The sickle-shaped branches of the first and second radiators are opposite to each other. Each set of planar directional receiving antennas includes a planar substrate, a third radiator with a diamond-shaped slot in the center of several circular pieces on the outward and inward surfaces of the planar substrate, and a reflective layer. The positioning module of this invention can achieve precise positioning in various spatial directions based on the PODA positioning principle.

[0053] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. For those skilled in the art, the present invention can have various modifications, combinations, and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A UWB antenna module for omnidirectional positioning and angle measurement, characterized in that, include: An antenna base, wherein a grounding layer is provided on the front side of the antenna base and a control circuit is provided on the back side of the antenna base; A circular omnidirectional transmitting antenna is disposed on the grounding layer of the antenna base. The circular omnidirectional transmitting antenna includes a column, a circular substrate disposed on the column, and a first radiator and a second radiator disposed on the front and back sides of the circular substrate respectively. The first radiator and the second radiator are each composed of a plurality of sickle-shaped branches arranged in a circular array and connected by a handle. The sickle-shaped branches of the first radiator and the second radiator are opposite to each other. A planar directional receiving antenna is provided in three groups around the grounding layer of the antenna base and distributed around the omnidirectional transmitting antenna array of the disk. Each group of planar directional receiving antennas includes a planar substrate, several third radiators disposed on the outer surface of the planar substrate, and a reflective layer disposed on the inner surface of the planar substrate. The third radiators are circular pieces with a central diamond-shaped slot.

2. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 1, characterized in that, The first radiator and the second radiator each have four sickle-shaped branches, and the handle segments of the four sickle-shaped branches are connected together by a central ring, forming a cross shape; the cross shape of the first radiator and the cross shape of the second radiator are symmetrically arranged.

3. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 2, characterized in that, The length of the handle section of the sickle branch is 9.7 mm, the diameter of the central ring is 1.6 mm, and the center angle corresponding to the arc section of the sickle branch is 30°.

4. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 2, characterized in that, Each of the three sets of planar directional receiving antennas has two third radiators on its planar substrate; for any planar directional receiving antenna, the geometric centers of the two third radiators are symmetrical about the vertical plane drawn from the central axis of the column of the omnidirectional transmitting antenna.

5. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 4, characterized in that, The diameter of the third radiator is 8.5 mm, the length of the long diagonal of the central rhomboid slot is 5.58 mm, and the length of the short diagonal of the central rhomboid slot is 1.85 mm.

6. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 4, characterized in that, The geometric center of the omnidirectional transmitting antenna is 18.42 mm away from the inward-facing surface of any of the planar directional receiving antennas. The geometric center of the third radiator is 6 mm away from the front of the antenna base. The first height of the second radiator on the reverse side of the omnidirectional transmitting antenna is greater than the second height of the top edge of the planar substrate.

7. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 4, characterized in that, The control circuit includes a first SP2T RF switch, a second SP2T RF switch, and an SP3T RF switch; Following a clockwise direction around the omnidirectional transmitting antenna of the disk, starting from any of the planar directional receiving antennas, the three groups of planar directional receiving antennas are respectively defined as the first planar directional receiving antenna, the second planar directional receiving antenna, and the third planar directional receiving antenna. The two third radiators of the first planar directional receiving antenna are respectively defined as radiator 1 and radiator 2; the two third radiators of the second planar directional receiving antenna are respectively defined as radiator 3 and radiator 4; and the two third radiators of the third planar directional receiving antenna are respectively radiator 5 and radiator 6. The first SP2T RF switch is connected to radiator No. 2 and radiator No. 3 respectively; the second SP2T RF switch is connected to radiator No. 4 and radiator No. 5 respectively; and the SP3T RF switch is connected to radiator No. 6, radiator No. 1 and the disk omnidirectional transmitting antenna respectively.

8. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 4, characterized in that, Each set of the planar directional receiving antennas has a field of view greater than or equal to 120°, and the impedance bandwidth of the disk omnidirectional transmitting antenna covers the CH5~CH9 frequency band of UWB.

9. The UWB antenna module for omnidirectional positioning and angle measurement according to claim 1, characterized in that, The flat substrate is provided with a plurality of plug-in pins on its first edge for connecting to the antenna base, and the antenna base is provided with a plurality of sockets that are adapted to each of the plurality of plug-in pins.

10. A positioning base station, characterized in that, The positioning base station includes the UWB antenna module for omnidirectional positioning and angle measurement as described in any one of claims 1-9.

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