Data transmission system and UWB-based fusion sensor

Abstract

This invention discloses a data transmission system and a UWB-based fusion sensor. The system includes a UWB-based fusion sensor and a base station. The base station periodically generates and broadcasts beacon signals. The fusion sensor, after successfully linking with the base station, receives the beacon signals, collects IMU data, preprocesses the IMU data using its internal main control MCU module and UWB module, and generates and sends data frames. The base station also receives the data frames, sends acknowledgment frames to the fusion sensor, and processes the IMU data within the data frames. This embodiment integrates the IMU unit and the UWB module to form a fusion sensor and establishes a communication link with the base station, optimizing the high-speed multi-device data transmission process and reducing data transmission latency under heavy channel load.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a data transmission system and a UWB-based fusion sensor. Background Technology

[0002] Global Navigation Satellite System (GNSS) provides users with global autonomous positioning and navigation services and is now widely used in various fields. However, due to interference from satellite clock errors, ephemeris data errors, ionospheric effects, and multipath effects, traditional satellite positioning can only achieve a positioning accuracy of about 10 meters, which is far from meeting the needs of some applications requiring high positioning accuracy. The emergence of carrier phase differential technology, or Real-Time Kinematic (RTK), has improved satellite positioning accuracy to the centimeter level, further expanding the application scenarios of satellite positioning technology. However, RTK is expensive and cannot be used in indoor environments. With the increasing demand for regional positioning services, Location Position Server (Location Position Server) has become a research hotspot, with common technologies including WiFi fingerprinting, UWB, and Bluetooth.

[0003] Ultra-wideband (UWB) positioning technology offers superior positioning accuracy compared to other methods such as WiFi and RFID. Its bandwidth advantage also provides stronger anti-interference capabilities, lower power consumption, and faster data transmission speeds. UWB positioning accuracy can reach decimeter levels, making it suitable for high-speed data transmission. However, traditional UWB systems often require multiple UWB base stations and a single UWB tag to accurately locate a target. This system architecture is prone to interference during high-speed, low-latency data transmission from multiple devices simultaneously. Therefore, optimizing the high-speed, multi-device data transmission process is a pressing issue that needs to be addressed. Summary of the Invention

[0004] In a first aspect, the present invention provides a data transmission system, including at least one UWB-based fusion sensor and base station;

[0005] The base station is used to periodically generate and broadcast beacon signals;

[0006] The fusion sensor is used to receive beacon signals from the base station after successfully linking with the base station, collect IMU data at each time point, and preprocess the IMU data through the main control MCU module and UWB module inside the fusion sensor to generate and send data frames.

[0007] The base station is also used to receive data frames from each of the fusion sensors, send confirmation frames to each of the fusion sensors, and parse the data frames to obtain IMU data at the same time point.

[0008] In an optional implementation, the fusion sensor is also used to monitor the beacon signal, and if a target network indicated by the beacon signal is detected, to send a link request to the base station.

[0009] The base station is also used to allocate a communication address and guarantee a time slot for the fusion sensor after receiving the link request;

[0010] The fusion sensor is also used to change its own communication address and register the guaranteed time slot information according to the communication address and the guaranteed time slot, so that the fusion sensor can successfully link with the base station.

[0011] In an optional implementation, the preprocessing of the IMU data via the main control MCU module and UWB module inside the fusion sensor includes:

[0012] The main control MCU module parses the IMU data at each time point to obtain the raw data; wherein, the IMU data includes acceleration data and gyroscope data, and each IMU consists of a data header, IMU data and a check bit; the raw data contains acceleration, angle and time information;

[0013] According to the IEEE 802.15.4 protocol, the raw data is converted into communication protocol data packets;

[0014] The UWB module encapsulates the communication protocol data packets into data frames and sends the data frames.

[0015] In an optional implementation, the communication protocol data packet consists of an MHR field, a data payload, and an MFR field, wherein the data payload includes raw data; the step of encapsulating the communication protocol data packet into a data frame using the UWB module and sending the data frame includes:

[0016] The UWB module converts the data payload in the communication protocol data packet into a physical payload and encapsulates the physical payload into a data frame. The data frame consists of a preamble, a start-of-frame delimiter, a physical layer frame header, and the physical payload.

[0017] In an optional implementation, the base station is further configured to generate a network ID and a communication address at the MAC layer of the base station and send a test beacon frame during initialization.

[0018] Secondly, the present invention provides a UWB-based fusion sensor, including a communication-connected IMU unit, a main control MCU module, a UWB module, a power management module, and a power supply module;

[0019] The IMU unit is used to receive beacon signals from the base station and collect IMU data at each time point after a successful connection with the base station.

[0020] The main control MCU module is used to communicate with the IMU unit and the UWB module respectively, and to preprocess the IMU data through the UWB module to generate and send data frames;

[0021] The power management module is used to control the charging and discharging of the built-in rechargeable battery, and to cut off the charging and discharging of the built-in rechargeable battery when connected to an external power source.

[0022] The power supply module is used to power the various modules inside the fusion sensor.

[0023] In an optional implementation, the main control MCU module includes an MCU chip;

[0024] The MCU chip is used to parse the IMU data at the same time point to obtain raw data, and convert the raw data into communication protocol data packets. The raw data includes acceleration, angle, and time information.

[0025] In an optional implementation, the UWB module includes a UWB chip and a high-precision crystal oscillator;

[0026] The high-precision crystal oscillator is used to provide a clock signal for the UWB chip;

[0027] The UWB chip is used for communication connection with the UWB antenna, encapsulates the communication protocol data packets into data frames, and transmits the data frames through the clock signal and the UWB antenna.

[0028] In an optional implementation, the power supply module includes an LDO circuit;

[0029] The LDO circuit is used to power the fusion sensor;

[0030] The UWB module is also used to control the on and off of part of the LDO circuit.

[0031] In an optional implementation, the fusion sensor is also used to connect to a debugger;

[0032] The fusion sensor is used for initialization and debugging via the debugger.

[0033] The embodiments of the present invention have the following beneficial effects:

[0034] This embodiment integrates the IMU unit and the UWB module to form a fused sensor and establishes a communication link with the base station. This avoids mutual interference between multiple devices during high-speed, low-latency data transmission, optimizes the data transmission process, and solves the problem of excessive delay caused by methods such as Carrier Sense Multiple Access (CSMA) that avoid mutual interference based on the listening channel when the channel load is heavy by dividing the time slots. Attached Figure Description

[0035] To more clearly illustrate the technical solution of the present invention, the accompanying drawings used in the embodiments will be briefly described below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope of protection of the present invention. In the various drawings, similar components are numbered similarly.

[0036] Figure 1 A schematic diagram of the structure of a UWB-based fusion sensor according to an embodiment of the present invention is shown;

[0037] Figure 2 A schematic diagram of the IMU data processing flow according to an embodiment of the present invention is shown;

[0038] Figure 3 A schematic diagram of the data transmission system according to an embodiment of the present invention is shown;

[0039] Figure 4 The diagram illustrates the data communication interaction between a UWB-based fusion sensor and a base station according to an embodiment of the present invention. Detailed Implementation

[0040] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0041] The components of the embodiments of the invention described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0042] In the following, the terms “comprising,” “having,” and their cognates, which may be used in various embodiments of the invention, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as excluding, firstly, the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations thereof.

[0043] Furthermore, the terms "first," "second," and "third" are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0044] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of the invention pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be interpreted as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of the invention.

[0045] IMU (Inertial Measurement Unit): An inertial measurement unit used to measure the three-axis attitude angles (or angular rates) and acceleration of an object;

[0046] UWB (Ultra Wide Band) is a wireless carrier communication technology.

[0047] LDO (Low-dropout regulator): A low-dropout linear regulator that provides a stable DC voltage power supply.

[0048] MAC layer: Media Access Control layer, a sublayer below the data link layer in the OSI model, defines how data frames are transmitted over the medium.

[0049] PAN (Personal Area Network) uses radio or infrared light instead of traditional wired cables to achieve intelligent interconnection of personal information terminals and build a personalized information network.

[0050] Example

[0051] Please refer to Figure 1 This embodiment provides a UWB-based fusion sensor 10, including an IMU unit 11, a main control MUC module 12, a UWB module 13, a power management module 14, and a power supply module 15, all connected in communication.

[0052] Optionally, the fusion sensor 10 is also connected to a debugger 40, or the fusion sensor 10 further includes a debugger 40, which is used for initialization processing via the debugger 40, and for debugging after the fusion sensor 10 has completed initialization.

[0053] Exemplary configurations include: IMU unit 11 receiving beacon signals from base station 20 after successful connection with base station 20, and collecting IMU data at each time point; main control MCU module 12 communicating with IMU unit 11 and UWB module 13 respectively, preprocessing IMU data at the same time point through UWB module 13, generating and sending data frames; power management module 14 controlling the charging and discharging of the built-in rechargeable battery, and cutting off the charging and discharging of the built-in rechargeable battery when connected to an external power source; and power supply module 15 stepping down the voltage of the built-in rechargeable battery or external power source to supply power to the various modules inside the fusion sensor 10.

[0054] For example, the main control MCU module 12 includes an MCU chip 121, which is used to parse the IMU data at the same time point to obtain the raw data and convert the raw data into communication protocol data packets. The raw data includes information such as acceleration, angle, and time information.

[0055] In one embodiment, the main control MCU module 12 further includes an MCU power filter circuit 122, which is used to filter the communication data of the MCU chip 121.

[0056] Optionally, the main control MCU module 12 also includes at least two crystal oscillators with different frequencies; the MCU power supply filtering circuit 122 uses at least two crystal oscillators to provide clock references for the real-time clock and main clock of the MCU chip 121, respectively. This clock reference enables the MCU chip 121 to process IMU data within a specified clock cycle, reducing latency and ensuring the real-time performance of data processing.

[0057] Optionally, the MCU power supply filter circuit 122 includes several capacitors, the specific number of which can be set according to the actual situation and is not limited here. Two crystal oscillators with different frequencies can be a high-frequency crystal oscillator and a tuning fork crystal oscillator, respectively.

[0058] In one embodiment, the main control MCU module 12 further includes a debugging circuit 123, which is used to communicate with the debugger 40 through the debugging circuit 123 to debug the main control MCU module 12 or the fusion sensor 10 using the debugger 40.

[0059] Furthermore, the MCU chip 121 communicates with the IMU unit 11 and the UWB module 13 through corresponding interfaces to coordinate and manage the operation of the IMU unit 11 and the UWB module 13. Additionally, the MCU chip 121 is also used to connect to the debugger 40 via an interface, enabling rapid debugging when circuit problems occur. The debugger 40 is also used to initialize the fusion sensor 10 to determine its communication address, network ID, and other information.

[0060] Examplely, the UWB module 13 includes a UWB chip 131, which is used to communicate with the UWB antenna 30 to receive UWB signals and to encode and decode the UWB signals to obtain UWB data.

[0061] In one embodiment, the UWB module 13 further includes a UWB power filter circuit 132 and a high-precision crystal oscillator; the UWB power filter circuit 132 is used to filter the power supply of each power input port; the high-precision crystal oscillator 133 is used to provide a clock signal for the UWB chip 131.

[0062] Examplely, the power management module 14 includes a charge / discharge management unit 141 and a power supply selection unit 142; optionally, the charge / discharge management unit 141 includes a charge / discharge management chip and peripheral circuitry for controlling the charge / discharge current of the built-in rechargeable battery; the power supply selection unit 142 includes a field-effect transistor and multiple resistors and capacitors for cutting off the charge / discharge of the built-in rechargeable battery when connected to an external power source.

[0063] The charge / discharge management unit 141 is also used to extend the life of the built-in rechargeable battery and protect circuit safety. Optionally, the charge / discharge management unit 141 includes a control chip and several resistors, photodiodes, etc., connected to the pins of the control chip.

[0064] The power supply selection unit 142 is also used to charge only when connected to an external power source, reducing the loss of the built-in rechargeable battery and improving the stability of the circuit. Optionally, the power supply selection unit 142 includes a VMOS transistor, a diode, several capacitors, and resistors.

[0065] The power supply module 15 includes an LDO circuit, which steps down the voltage of the built-in rechargeable battery or external power supply to power the various modules of the fusion sensor 10. Optionally, the power supply module 15 may include multiple LDO circuits, which are combined to meet actual power supply requirements. For example, if the power supply module 15 includes two LDO circuits, the first-stage LDO circuit 151 powers the fusion sensor 10; the second-stage LDO circuit 152 lowers the supply voltage of the first-stage LDO to power the UWB module 13; the UWB module 13 also controls the on and off of some LDO circuits; in this embodiment, the UWB module 13 controls the on and off of the second-stage LDO circuit 152. The first-stage LDO circuit 151 is the main power source, stabilizing the power supply voltage of the power supply module 15 at 3.3V to power the main control MCU module 12 and the UWB module 13. The second-stage LDO circuit 152 further reduces the voltage, providing power solely to the UWB section, thus lowering overall power consumption. Controlled by the UWB chip 131, it can be completely shut down when needed, further reducing power consumption. It should be noted that the UWB chip 131 provided in this embodiment requires an additional low-voltage power supply. Therefore, the power supply module 15 in this embodiment includes a special LDO circuit with a control terminal to prevent malfunctions due to abnormal voltage.

[0066] Optionally, both the first-stage LDO circuit 151 and the second-stage LDO circuit 152 include a low-dropout linear regulator chip and several capacitors.

[0067] In this embodiment, the process by which the fusion sensor 10 acquires and processes IMU data through the IMU unit 11 and the main control MCU module 12 is as follows: Figure 2As shown, IMU unit 11 acquires IMU data, and then the MCU chip 121 processes the IMU data, extracting data such as acceleration data and gyroscope data collected by IMU unit 11 according to the IMU data format. The specific data collected by IMU unit 11 (such as acceleration data and gyroscope data) is determined by the actual IMU chip used; this embodiment does not limit the type or category of data collected by IMU unit 11. The IMU data packets corresponding to the above data are then parsed to obtain raw data, which may include information such as acceleration, gyroscope, magnetic field, angle, and time. This raw data is then converted into communication protocol data packets (IEEE 802.15.4 data packets) that can be transmitted on the MAC layer. The UWB chip 131 in the UWB module 13 encapsulates the communication protocol data packet into a UWB data packet that can be transmitted using UWB technology. That is, the communication protocol data packet is encapsulated into a data frame. Then, the UWB chip 131 transmits the data frame using UWB technology through the connected UWB antenna 30, based on the clock signal provided by the high-precision crystal oscillator 133 inside the UWB chip 131. The base station 20 can receive the data frame, extract IMU data from the data frame, and then process the IMU data accordingly.

[0068] Based on the UWB-based fusion sensor 10 provided in the above embodiments, please refer to... Figure 3 This embodiment also provides a data transmission system, including at least one UWB-based fusion sensor 10 and a base station 20.

[0069] See also Figure 4 Before starting to work, the fusion sensor 10 and the base station 20 are pre-initialized in their respective application layers, and then a communication address (ADDR) is generated in their respective MAC layers. The base station 20 also generates a network ID (PAN ID) in the base station MAC layer and sends a test beacon frame. Then, the internal components of the fusion sensor 10 and the base station 20 are tested to see if they are working properly.

[0070] In one embodiment, the fusion sensor 10 is connected to a debugger 40, or the fusion sensor 10 may include a debugger 40 for initializing the fusion sensor 10; in addition, the debugger 40 may also be used to debug the fusion sensor 10 after it has completed initialization.

[0071] After initialization, base station 20 periodically generates and broadcasts beacon signals. Specifically, after initialization, base station 20 begins periodically generating and sending beacon signals or beacon frames to maintain the existing network. The interval between each beacon frame is called a superframe, which is the basic unit of data transmission. Beacon signals or beacon frames are periodically generated at the application layer and broadcast at the MAC layer. Each beacon signal or beacon frame contains information such as the network ID and link permission of base station 20.

[0072] Each fusion sensor 10 is used to perform a network scan at the MAC layer after initialization processing to listen for beacon signals, obtain network IDs and other information, and prepare to connect to the existing network of the base station 20. After the network scan is completed, the relevant network information obtained is returned to the application layer, for example, in the form of a network list.

[0073] The fusion sensor 10 is also used to send a link request to the base station 20 when it detects a target network indicated by a beacon signal. Upon receiving the link request, the base station 20 is also used to allocate an independent communication address and a guaranteed time slot (GTS) to the fusion sensor 10. The fusion sensor 10 is further used to change its own address and register the GTS information according to the communication address and GTS, so that the fusion sensor 10 can successfully link with the base station 20. That is, if the fusion sensor 10 receives the communication address and GTS returned by the base station 20 through the link reply, and changes its own address and registers the GTS information, it indicates that the fusion sensor 10 has successfully linked with the base station 20.

[0074] In this embodiment, the purpose of ensuring time slots is to allocate independent time slots for each IMU unit 11 in the fusion sensor 10 in the time domain. Within the specified time slots, the fusion sensor 10 can perform UWB communication through its internal UWB module 13 without interference from other devices, thus ensuring the communication quality and real-time performance of the fusion sensor 10.

[0075] Each fusion sensor 10 is also used to receive beacon signals from the base station 20 after successfully linking with the base station 20, collect IMU data at each time point, and preprocess the IMU data through the UWB module 13 to generate and send data frames. Specifically, the fusion sensor 10 scans and receives beacon signals periodically sent by the base station 20, collects IMU data at each time point through the IMU unit 11, and processes the IMU data accordingly through the main control MCU module 12 and the UWB module 13 to generate data frames (UWB data packets); then, when its guaranteed time slot arrives, it sends the data frame.

[0076] It is important to note that if the data transmission system includes multiple UWB-based fusion sensors 10, each IMU unit 11 can collect IMU data at multiple time points. When multiple IMU units 11 operate simultaneously, without a scheduling mechanism, severe latency and conflict issues can arise. Therefore, this embodiment introduces a complex scheduling mechanism based on the IEEE 802.15.4 protocol. This allows the main control MCU module 12 to process the IMU data collected by each IMU unit 11 at the same time point according to the IEEE 802.15.4 protocol, thereby achieving processing of IMU data at each time point and avoiding latency. If the data transmission system includes a single UWB-based fusion sensor 10, the main control MCU module 12 processes the IMU data collected at the current time point each time.

[0077] The base station 20 is also used to send an acknowledgment frame to each of the fusion sensors 10 after receiving data frames from each of the fusion sensors 10, parse the data frame to obtain the IMU data at the same time point, and then perform corresponding processing on the IMU data contained in the data frame, such as... Figure 4 As shown, this forms a complete superframe cycle.

[0078] Specifically, such as Figure 2 As shown, the IMU data collected by IMU unit 11 includes data such as acceleration data, gyroscope data, magnetic field data, and angle data. The data format of each IMU data (such as acceleration data, gyroscope data, magnetic field data, and angle data) consists of a data header, IMU data, and a check bit. The main control MCU module 12 parses the IMU data packet containing multiple IMU data to obtain data such as acceleration data, gyroscope data, magnetic field data, and angle data. Then, it parses the acceleration data, gyroscope data, magnetic field data, and angle data respectively to obtain the raw data such as acceleration, gyroscope, magnetic field, angle, and time. The main control MCU module 12 also uses the IEEE protocol to convert the raw data into a communication protocol data packet (IEEE 802.15.4 data packet) that can be transmitted at the data link layer. Each data in the communication protocol data packet consists of an MHR field (MAC layer frame header), a data payload, and an MFR field (MAC layer frame tail). UWB module 13 encapsulates communication protocol data packets into data frames through its internal UWB chip 131 and transmits these data frames through UWB antenna 30. Specifically, UWB chip 131 converts the data payload in the communication protocol data packets into physical payload, and then encapsulates the physical payload into a data frame. This data frame consists of a preamble (Ipatov Preamble), a start-of-frame delimiter (SFD), a physical layer header (PHR), and physical payload.

[0079] In this embodiment, a data transmission system is formed by integrating at least one UWB module 13 and IMU unit 11, which is linked and communicates with a single base station 20 to collect and transmit relevant location information data (IMU data). This enables rapid transmission of positioning data. Furthermore, the accuracy and reliability of the acquired positioning data can be improved by combining the base station 20, IMU unit 11, and UWB module 13, thereby enhancing positioning precision and meeting positioning requirements.

[0080] At the software implementation level, this embodiment modifies and configures the IEEE 802.15.4 MAC layer built into the IoT operating system (Zephyr system) of the fused sensor 10 to achieve UWB-based communication and data transmission. Specifically, the MAC layer adds or improves functions such as coordinator initialization, beacon frame generation and periodic generation, link request response process, automatic address allocation and time slot guarantee, beacon frame identification, link request, data frame generation, and event callback for key time nodes. Modifications to the IEEE 802.15.4 protocol include extending the GTS mechanism, increasing the maximum number of GTSs allocated simultaneously from 7 to 15 (15 GTSs allocated in one superframe cycle); customizing address area data to reduce bandwidth loss; re-adapting to the superframe specification; and customizing superframe and time slot lengths. Furthermore, software or programs are used to control the fused sensor 10 and base station 20 to perform data transmission tasks respectively.

[0081] In addition, this embodiment can acquire UWB positioning data through base station 20 during the subsequent positioning process and fuse it with IMU data to obtain high-precision location information. Among them, the real-time fusion of IMU data and UWB data can greatly compensate for the inherent deficiency of UWB being susceptible to non-line-of-sight errors by the superior instantaneous performance of IMU, effectively improving the positioning accuracy and robustness of the system.

[0082] This embodiment constructs a communication link between the UWB-based fusion sensor 10 and the base station 20, avoiding mutual interference between multiple devices during high-speed, low-latency data transmission and optimizing the data transmission process. It also addresses the excessive latency issues caused by methods like Carrier Sense Multiple Access (CSMA) that rely on listening channels to avoid mutual interference when the channel load is heavy by dividing the data into guaranteed time slots. Furthermore, UWB positioning data can be acquired simultaneously during data communication between the UWB fusion sensor 10 and the base station 20. Increasing the number of base stations 20 allows for increased positioning dimensions of the UWB fusion sensor 10; for example, a single base station 20 enables ranging, two base stations 20 enable line positioning, three base stations 20 enable area positioning, and four base stations 20 enable spatial positioning. This lays the foundation for subsequently fusing UWB positioning data acquired through base stations 20 with IMU data to obtain high-precision positioning data, effectively improving positioning accuracy and IMU angle calculation accuracy.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative; for example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, as an alternative implementation, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0084] In addition, the functional modules or units in the various embodiments of the present invention can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0085] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0086] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A data transmission system, characterized by The fusion sensor comprises at least one UWB-based fusion sensor and a base station. The base station is configured to generate a network ID and a communication address at a MAC layer during an initialization process, send a test beacon frame, and periodically generate and broadcast a beacon signal. Each fusion sensor is allocated an independent communication address and a guaranteed time slot after receiving a link request from the fusion sensor; the guaranteed time slot is set based on an IEEE 802.15.4 protocol extension, and a maximum of 15 guaranteed time slots are allocated in a single superframe period. The fusion sensor is configured to listen to the beacon signal, send a link request to the base station if a target network indicated by the beacon signal is scanned, change a communication address and register guaranteed time slot information according to the communication address and the guaranteed time slot, and successfully link with the base station; and after successfully linking with the base station, receive a beacon signal from the base station, collect IMU data at each time point, and preprocess the IMU data through a master MCU module and a UWB module in the fusion sensor to generate and send a data frame; wherein the preprocessing of the IMU data comprises: obtaining raw data by analyzing the IMU data at each time point through the master MCU module, wherein the raw data comprises acceleration, angle, and time information; converting the raw data into a communication protocol data packet, wherein the communication protocol data packet comprises an MHR field, a data payload, and an MFR field; converting the data payload in the communication protocol data packet into a physical payload through the UWB module, and encapsulating the physical payload into a data frame, wherein the data frame comprises a preamble, a frame start delimiter, a physical layer frame header, and the physical payload. The base station is further configured to receive data frames from each fusion sensor, send an acknowledgement frame to each fusion sensor, and analyze the data frames to obtain IMU data at the same time point.

2. The data transmission system of claim 1, wherein, The IMU data comprises acceleration data and gyroscope data, and each IMU comprises a data header, IMU data, and a check bit.

3. A fusion sensor based on UWB, characterized by, The IMU unit, the master MCU module, the UWB module, the power management module, and the power supply module are communicatively connected. The IMU unit is configured to receive a beacon signal from the base station after successfully linking with the base station, and collect IMU data at each time point. The master MCU module is used for being communicatively connected with the IMU unit and the UWB module respectively, listening to the beacon signal, sending a link request to the base station when the target network indicated by the beacon signal is scanned, changing the communication address and registering the guaranteed time slot information according to the communication address, preprocessing the IMU data through the UWB module, generating and sending a data frame; wherein the preprocessing the IMU data includes: analyzing the IMU data at each time point to obtain original data, the original data containing acceleration, angle and time information; converting the original data into a communication protocol data packet, the communication protocol data packet being composed of an MHR field, a data payload and an MFR field; converting the data payload in the communication protocol data packet into a physical payload through the UWB module, and encapsulating the physical payload into a data frame, the data frame being composed of a preamble, a frame start delimiter, a physical layer frame header and the physical payload; The power management module is used for controlling charging and discharging of the built-in charging battery, and cutting off the charging and discharging of the built-in charging battery when the external power source is connected. The power supply module is used for supplying power to each module inside the fusion sensor after step-down processing of the built-in charging battery or the external power source.

4. The UWB-based fusion sensor according to claim 3, characterized in that, The master MCU module includes an MCU chip; The MCU chip is used for analyzing the IMU data to obtain original data, and converting the original data into a communication protocol data packet, the original data containing acceleration, angle and time information.

5. The UWB-based fusion sensor according to claim 3, wherein, The UWB module includes a UWB chip and a high-precision crystal oscillator; The high-precision crystal oscillator is used for providing a clock signal for the UWB chip; The UWB chip is used for communicatively connecting a UWB antenna, encapsulating the communication protocol data packet into a data frame, and sending the data frame through the clock signal and the UWB antenna.

6. The UWB-based fusion sensor according to claim 3, wherein, The power supply module includes an LDO circuit; The LDO circuit is used for supplying power to the fusion sensor; The UWB module is also used for controlling the conduction and shutdown of part of the LDO circuit.

7. The UWB-based fusion sensor according to claim 3, wherein, The fusion sensor is also used for connecting a debugger; The fusion sensor is used for initialization processing and debugging through the debugger.

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