Cooperative positioning device based on GNSS and UWB

Abstract

The embodiment of the invention discloses a cooperative positioning device based on GNSS and UWB. A specific implementation mode of the device comprises a bottom shell, a battery fixing plate, a central prismatic table, an antenna fixing plate, a middle shell and a top shell, wherein the bottom shell is provided with a counter bore hexagonal threaded hole and is in threaded connection with the middle shell; two square platforms are arranged at the bottom of the bottom shell and used for placing an antenna, a UWB antenna connecting line reserving position is arranged in the middle of each platform, two cylinders are arranged on the two sides of each platform and provided with M2 threaded holes, a battery fixing plate is screwed into the two threaded holes through screws, and the battery fixing plate and the platforms fix and extrude a battery up and down. The antenna fixing plate and the center prismatic table are fixed through three screws, fixation is achieved by extruding the GNSS ceramic antenna, and the UWB antenna is fixed through a round hole of the antenna fixing plate and a round hole of the inner circuit board; and the central prismatic table is fixed with the top shell through three screws. According to the embodiment, the problems that single GNSS positioning is shielded by the environment, and UWB positioning needs to arrange base stations in advance are solved.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of collaborative positioning, and in particular to a collaborative positioning device based on GNSS and UWB. Background Art

[0002] Mainstream GNSS systems have been widely used in social production and life. They meet the positioning accuracy requirements of most social production and daily life in open outdoor environments. However, satellite signals have poor penetration capabilities, and it is difficult to obtain correct positioning results in covered areas, especially indoors.

[0003] Most wireless communication signals are blocked by obstacles during transmission, changing the path to the receiver and causing non-line-of-sight (NLOS) transmission. Indoors, complex environments with numerous obstacles exacerbate interference, severely impacting ranging results and leading to inaccurate positioning and low precision.

[0004] Changes in the indoor spatial layout and topology will alter the basic indoor environmental information. Using a combination of various sensors to identify and compare feature points to determine the state of the device makes it difficult to obtain stable location information. Summary of the Invention

[0005] The content of this disclosure is used to briefly introduce concepts that will be described in detail in the detailed description section below. The content of this disclosure is not intended to identify key features or essential features of the claimed technical solution, nor is it intended to limit the scope of the claimed technical solution.

[0006] Some embodiments of the present disclosure propose a collaborative positioning device based on GNSS and UWB to solve the technical problems mentioned in the above background technology section.

[0007] In the first aspect, some embodiments of the present disclosure provide a collaborative positioning device based on GNSS and UWB, which collaborative positioning device includes: a bottom shell, a battery fixing plate, a central prism, an antenna fixing plate, a middle shell and a top shell; wherein the bottom shell is provided with a countersunk hexagonal threaded hole, which is connected to the middle shell by a thread; there are two square platforms at the bottom of the bottom shell for placing the antenna, and a position is reserved in the middle of the platform for the UWB antenna connecting line. There are two cylinders on both sides of the platform with M2 threaded holes, and the battery fixing plate is screwed into the two threaded holes by screws. The battery fixing plate and the platform are fixed up and down to squeeze the battery; the antenna fixing plate and the central prism are fixed by three screws, and the fixation is achieved by squeezing the GNSS ceramic antenna, and the circular hole of the antenna fixing plate and the circular hole of the inner circuit board fix the UWB antenna; the central prism and the top shell are fixed by three screws.

[0008] Optionally, there are two square platforms at the bottom of the bottom shell for placing two lithium batteries, and the battery fixing plate and the bottom shell are fixed by screws screwed downwards from the fixing plate.

[0009] Optionally, the above-mentioned central pyramid is a hollow pyramid with a quadrilateral as the base and drawn outward, and the circuit board is fixed to the surface by screws on the outer sides of two of the four sides, the UWB antenna is fixed on the inner side of one side, and the switch is placed on a square slot on one side.

[0010] Optionally, the switch is installed in a rocker-type switch manner.

[0011] Optionally, the above-mentioned collaborative positioning device based on GNSS and UWB also includes: a serial port and a voltage stabilizing plate; the front slots of the serial port and the voltage stabilizing plate are placed inside the central prism and are fixed by screwing in three screws.

[0012] Optionally, the circuit controller of the collaborative positioning device based on GNSS and UWB includes: a data receiving and processing block, a battery charging and discharging block, a serial port and a voltage stabilization block; wherein, the data receiving and processing block is equipped with a GNSS chip and a single-chip microcomputer, and contains two 4-pin female sockets and one 2-pin female socket, which are connected to the battery charging and discharging block, the serial port and the voltage stabilization block, and the single-chip microcomputer communicates with the GNSS chip through pin PB10, pin PB11, and serial port 3; connector J4 uses a 1.25MM 4-pin wire-to-board connector to connect to the UWB chip, power the UWB chip, and exchange information with the UWB chip through pin PA9, pin PA10, and serial port 1; connector J1 connects the single-chip microcomputer reset pin and pin PC13, 3V3, and GND to the battery charging and discharging block for system reset and display of the single-chip microcomputer working status; connector J3 is a 1.25MM 2-pin GH wire-to-board connector, which connects pin PA2, pin PA3 and serial port 2 to the serial port and voltage stabilization block for program burning.

[0013] Optionally, the battery charging and discharging block is equipped with a mobile power charging and discharging management chip for battery charging and discharging and overvoltage protection, and has two switches and five indicator lights; among them, switch S1 is the reset switch of the microcontroller, switch J5 is the power switch of the collaborative positioning device, and connector J6 is connected to the serial port and connector J4 of the voltage stabilizing block for current conduction between blocks; connector J1 is the output end of the battery charging and discharging block, connector J2 connects the serial port and the voltage stabilizing block and is the input end of the battery charging and discharging block, connector J3 is connected to the battery, and connector J4 is connected to connector J1 of the data receiving and processing block.

[0014] Optionally, the serial port and voltage regulator board are used for charging and program burning, and are connected to the computer through 6 pins. After downloading the firmware program, it is used as a downloader; connector J1 is connected to connector J2 of the battery charging and discharging board. When charging the battery, the Type-C voltage is supplied to the VIN end of the battery charging and discharging board, and the J2 connector is connected to the connector J1 and the output end of the charging and discharging end; when the battery is powered, the serial port and voltage regulator board are in boost mode, and the output end outputs 5V voltage, which is connected to the 5V line of the battery charging and discharging board through the pin of connector J1, and is converted to 3.3V through a low-voltage difference linear regulator; connector J3 is connected to the serial port 2 of the microcontroller, and Type-C is connected to the computer end for program burning.

[0015] The above-mentioned embodiments of the present disclosure have the following beneficial effects: through the collaborative positioning device based on GNSS and UWB in some embodiments of the present disclosure, GNSS outdoor positioning and UWB indoor positioning are combined, and indoor positioning data is obtained by utilizing the positioning information obtained outdoors and the distance relationship between indoor and outdoor, thereby achieving a smooth transition of positioning in different scenarios, and switching to the indoor positioning mode to achieve the connection between indoor and outdoor positioning, thus solving the problem that single GNSS positioning is blocked by the environment and the limitation that UWB positioning requires the prior deployment of base stations. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The above and other features, advantages, and aspects of the various embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and that components and elements are not necessarily drawn to scale.

[0017] Figure 1 is a structural diagram of a collaborative positioning device based on GNSS and UWB according to the present disclosure; Figure 2 This is a schematic diagram of the external structure of the collaborative positioning device based on GNSS and UWB disclosed in the present invention; Figure 3 is a schematic diagram of a battery fixing plate in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 4 is a schematic diagram of a UWB fixed surface in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 5 This is a schematic diagram of the installation method of the rocker switch in the collaborative positioning device based on GNSS and UWB disclosed in the present invention; Figure 6 It is a schematic diagram of a method for fixing a battery charging and discharging plate in a collaborative positioning device based on GNSS and UWB disclosed in the present invention; Figure 7This is a schematic diagram of a method for fixing a serial port and a voltage stabilizing plate in a collaborative positioning device based on GNSS and UWB disclosed herein; Figure 8 This is a control system architecture diagram of the collaborative positioning device based on GNSS and UWB disclosed in the present invention; Figure 9-A This is a circuit diagram of a left area of a data receiving and processing section in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 9-B This is a schematic diagram of a circuit in the lower area of a data receiving and processing section in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 9-C This is a circuit diagram of the right area of a data receiving and processing section in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 10 This is a circuit diagram of a battery charging and discharging section in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 11-A This is a left circuit diagram of the serial port and voltage regulator section in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 11-B This is a right circuit diagram of the serial port and voltage regulator section in the GNSS and UWB-based collaborative positioning device disclosed herein; Figure 12 This is a schematic diagram of the working process of the collaborative positioning device based on GNSS and UWB disclosed in the present invention; Figure 13 This is a schematic diagram of an outdoor working process of the GNSS and UWB-based collaborative positioning device disclosed in the present invention; Figure 14 This is a schematic diagram of the indoor working process of the collaborative positioning device based on GNSS and UWB disclosed in the present invention. DETAILED DESCRIPTION

[0018] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are for illustrative purposes only and are not intended to limit the scope of protection of the present disclosure.

[0019] It should also be noted that, for ease of description, only the parts related to the invention are shown in the drawings. In the absence of conflict, the embodiments and features in the embodiments of the present disclosure may be combined with each other.

[0020] It should be noted that the concepts of "first" and "second" mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0021] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, they should be understood as "one or more".

[0022] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0023] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0024] Figure 1 The following are some structural diagrams of a GNSS-UWB-based collaborative positioning device according to some embodiments of the present disclosure. The GNSS-UWB-based collaborative positioning device comprises: a bottom shell 1, a battery fixing plate 2, a central prism 3, an antenna fixing plate 4, a middle shell 5, and a top shell 6.

[0025] When using a collaborative positioning device based on GNSS and UWB, the orientation of the UWB antenna affects ranging, positioning, and communication distance. Because this device involves UWB ranging, communication, and positioning, it has strict requirements for antenna orientation. Although it uses a rod-shaped omnidirectional antenna, the actual gain pattern of a rod antenna is not completely consistent with its performance. To ensure the antenna's proper function when the device is deployed, this collaborative positioning device is designed to resemble a tumbler, ensuring that it can automatically return to its original position within a 60-degree tilt range. The specific structure is shown in Figure 2.

[0026] In some embodiments, to facilitate assembly and protect the circuit boards, the design is based on an eggshell-shaped housing, with the structural components divided into two parts. The protective housing comprises a bottom shell 1, a middle shell 5, and a top shell 6; the circuit supports comprise a battery mounting plate 2, a central prism 3, and an antenna mounting plate 4. For example, the assembled GNSS and UWB-based collaborative positioning device has an overall height of 82 mm and a maximum diameter of 74 mm.

[0027] In some embodiments, the bottom shell 1 is provided with a countersunk hexagonal threaded hole, which is threadedly connected to the middle shell 5. The bottom shell is provided with three countersunk hexagonal threaded holes, which are threadedly connected to the middle shell.

[0028] In some embodiments, there are two square platforms at the bottom of the bottom shell 1 for placing the antenna. There is a space in the middle of the platform for the UWB antenna connecting line. There are two cylindrical M2 threaded holes on both sides of the platform. The battery fixing plate 2 is screwed into the two threaded holes by screws. The battery fixing plate 2 and the platform are fixed up and down to squeeze the battery.

[0029] The antenna fixing plate 4 is fixed to the central prism 3 by three screws. The GNSS ceramic antenna is fixed by squeezing it. The circular hole of the antenna fixing plate 4 and the circular hole of the inner circuit board are fixed to the UWB antenna. The central prism 3 and the top shell 6 are fixed by three screws.

[0030] Optionally, there are two square platforms at the bottom of the bottom shell for placing two lithium batteries, and the battery fixing plate and the bottom shell are fixed by screws screwed downwards from the fixing plate. Figure 3 As shown, the bottom shell 1 and the battery fixing plate 2, the bottom of the bottom shell 1 has two square platforms for placing two 3.7V / 300mAh lithium batteries, Figure 3 The middle straight line shows the connection between the battery fixing plate 2 and the bottom shell 1, and the two are screwed downward from the fixing plate.

[0031] Optionally, the central prism 3 is a hollow prism with a quadrilateral as the base and drawn outward, with the circuit board fixed to the surface by screws on the outer sides of two of the four sides, the UWB antenna is fixed on the inner side of one side, and the switch is placed on a square slot on one side. Figure 4 The central pyramid is a hollow pyramid with a quadrilateral base and is molded outward. The circuit board is fixed to the surface with screws on two of the four sides. The UWB is fixed on the inside of one side, and the switch is placed in a square slot on the other side.

[0032] Optionally, the switch is installed in a rocker-type switch manner. Figure 5 The example shown is a schematic diagram of the installation method of a rocker switch.

[0033] Optionally, the above-mentioned collaborative positioning device based on GNSS and UWB further includes: a battery charging and discharging plate. Figure 6 The example shown is a method for fixing the battery charging and discharging plate.

[0034] Optionally, the above-mentioned collaborative positioning device based on GNSS and UWB further includes: a serial port and a voltage stabilizing plate; the slots on the front side of the serial port and the voltage stabilizing plate are placed inside the central prism and fixed by three screws. Figure 7 In the example, the front slots of the serial port and voltage regulator plate are placed inside the central prism and screwed in with 3 screws. Figure 7 Fix in the position shown in .

[0035] Optionally, the circuit controller of the GNSS and UWB-based collaborative positioning device includes: a data receiving and processing module, a battery charging and discharging module, a serial port and voltage stabilization module. The circuit controller may be a circuit board.

[0036] Among them, the data receiving and processing board is equipped with a GNSS chip and a single-chip microcomputer, and contains two 4-pin female sockets and one 2-pin female socket, which are connected to the battery charging and discharging board, the serial port and the voltage regulator board. The single-chip microcomputer communicates with the GNSS chip through pins PB10, PB11 and serial port 3; connector J4 uses a 1.25MM 4-pin wire-to-board connector to connect to the UWB chip, power the UWB chip, and exchange information with the UWB chip through pins PA9, PA10 and serial port 1; connector J1 connects the single-chip microcomputer reset pin and pin PC13, 3V3, and the wire ground terminal GND to the battery charging and discharging board for system reset and display of the single-chip microcomputer working status; connector J3 is a 1.25MM 2-pin GH wire-to-board connector, which connects pins PA2, PA3 and serial port 2 to the serial port and voltage regulator board for program burning.

[0037] GNSS chip selection: This device uses ATGM336H-5N-31 as the GNSS chip. This GNSS chip can receive both GPS and BDS signals. The input power supply is 2.7V~3.6V, and it has two serial ports that can output data according to the NMEAO0183 protocol format. It has built-in antenna detection and antenna protection functions, cold start capture sensitivity of -148dBm, tracking sensitivity of -162dBm, first positioning time of 32 seconds, and can achieve meter-level positioning.

[0038] UWB chip selection: The LinkTrack P-BS2 is used as the UWB chip. LinkTrack is a PNTC local positioning device based on UWB wireless communication technology. It supports multi-dimensional positioning, with a typical positioning accuracy of 10cm in two-dimensional space and 30cm in three-dimensional space. It can simultaneously support the positioning of up to 200 tags or 120 base stations. It has distributed ranging and data transmission functions, supports pure data transmission mode, has a bandwidth of up to 3Mbps, and a maximum refresh rate of 200Hz. It has three operating modes: LP local positioning, DR distributed ranging, and DT data transmission.

[0039] Based on size and antenna considerations, this device ultimately uses the LinkTrack P-BS2. This module uses an external rod antenna, has a maximum communication distance of 500M, a power supply voltage of 3.6V~5.5V, 1.3W power consumption, a single communication serial port, and operates in the [3744,4243] and [4243,4742] frequency bands.

[0040] CPU Selection: This device requires a CPU for two purposes: positioning data processing and the ST-Link downloader. Considering GNSS and UWB signal transmission and reception, program download, and backup, the data processing CPU requires at least four communication interfaces, including three asynchronous serial ports.

[0041] This device uses the STM32f103c8t6 with 64KB of flash memory as its central processor. It uses the high-performance ARM® Cortex™-M3 32-bit RISC core, operating at 72MHz. Built-in high-speed memory (up to 128KB of flash memory and 20KB of SRAM) meets the device's data processing needs. Three timers, three asynchronous serial ports, one USB, two I2C interfaces, and an SPI interface are sufficient to meet the device's communication needs.

[0042] Movie Management Design: This device contains two microcontrollers, the STM32f103c8t6 and the ST-Link processor STM 32cbt6. The circuit consumes a maximum of 72mAh per hour. The UWB radio module consumes a maximum of 400mAh per hour, and a GNSS chip consumes 25mAh per hour. The five LED chips in the design consume 13mAh*5. The device requires 600mAh of power for one hour of operation. However, a single 600mAh battery has a minimum size of 36mm*30mm*6m. When placed inside the device, there's insufficient space for the antenna. Therefore, two 300mAh batteries are connected in series for power.

[0043] Antenna Selection: The device primarily obtains information from GNSS and UWB, both of which rely on antennas to transmit and receive data. The GNSS antenna uses a widely available and proven active ceramic antenna. A connector is provided on the hardware circuit board to connect the GNSS patch antenna. The device must be portable and compact, limiting the size of the GNSS patch antenna. A small 10*10mm active GNSS antenna was selected.

[0044] UWB involves two functions: ranging and communication. It has high requirements for antenna performance and must have omnidirectional high-gain characteristics. At the same time, there are multiple restrictions on the antenna position and size. Taking all three aspects into consideration, it was finally decided to use a high-gain 90-degree bendable rod antenna.

[0045] Controller circuit design: In order to be easy for single person to use, the size of this device cannot be too large and it must be easy to throw and carry. Therefore, the circuit size must be small and the position and wiring of each component must be reasonable.

[0046] The circuit controller architecture of this system includes: data receiving and processing module, battery charging and discharging module, serial port and voltage stabilization module, etc. Its control system architecture diagram is as follows: Figure 8When TYPEC is connected, the lithium battery is charged and the STM32f103c8t6 is powered directly by TYPEC. When no TYPEC is connected, the lithium battery is used for power supply.

[0047] Data receiving and processing section such as Figure 9-A to Figure 9-C In the example shown, the data receiving and processing module is equipped with the GNSS chip ATGM336H-5N31 and the microcontroller STM32f103c8t6. It contains two 4-pin 1.5mm female connectors and one 2-pin 1.5mm female connector, which are connected to the battery charging and discharging module, the serial port, and the voltage regulator module. Among them, the single-chip microcomputer STM32f103c8t6 communicates with the GNSS chip through pin PB10, pin PB11, and serial port 3 (USART3). When there is a GNSS signal, it is responsible for receiving GNSS data and parsing it according to the protocol to achieve positioning and obtain its own position information; connector J4 uses a 1.25MM4-pin HDGC1251WR-S-4P wire-to-board connector to connect the UWB chip, power the UWB chip, and exchange information with the UWB chip through pin PA9, pin PA10, and serial port 1 (USART1); connector J1 connects the single-chip microcomputer STM32f103c8t6 reset pin NRST and pin PC13, 3V3, and bottom line GND to the battery charge and discharge board for system reset and display of the single-chip microcomputer STM32f103c8t6 working status; connector J3 is 1.25MM 2-pin GH wire-to-board connector, connects pins PA2, PA3, and serial port 2 (USART2) to the serial port and voltage regulator board for program burning. Figure 9-A 、 Figure 9-B 、 Figure 9-C The illustrated diagram combination is a complete circuit diagram of the data receiving and processing block.

[0048] Optionally, the battery charging and discharging module is equipped with a mobile power supply charging and discharging management chip for battery charging and discharging and overvoltage protection. It has two switches and five indicator lights. Switch S1 is the microcontroller reset switch, switch J5 is the power switch for the collaborative positioning device, and connector J6 connects to the serial port and connector J4 of the voltage stabilization module to ensure current conduction between the modules. Connector J1 is the output terminal of the battery charging and discharging module, connector J2 connects the serial port and the voltage stabilization module and is the input terminal of the battery charging and discharging module, connector J3 connects to the battery, and connector J4 connects to connector J1 of the data receiving and processing module.

[0049] Further references Figure 10 The battery charging and discharging section is responsible for charging and discharging the lithium battery, and displays the device power supply status and battery power. The power supply of the entire device can be controlled and reset through the switch.

[0050] The battery charging and discharging module is equipped with a mobile power supply charge and discharge management chip (IP5306 chip), which is responsible for battery charging and discharging and overvoltage protection. It has two switches and five LED indicators. Switch S1 is the reset switch for the STM32f103c8t6 microcontroller. Switch J5 is the power switch for the collaborative positioning device, connecting 3V3 to connector J6. Connector J6 is connected to the serial port and connector J4 of the voltage regulator module, ensuring current conduction between the modules. Connector J1 is the output of the IP5306 battery charging and discharging module. Connector J2 connects the serial port and the voltage regulator module and is the input of the battery charging and discharging module. Connector J3 is connected to the battery. Connector J4 is connected to connector J1 of the data receiving and processing module.

[0051] Version 1 had a problem with the power supply between the lithium battery and the board. The entire board could only charge the lithium battery, not power the system. The system would function only when voltage was present at connector J2, meaning the serial port and voltage regulator board received voltage via USB. Version 2 addressed this issue by adding a touch switch to the KEY pin, leaving it floating. When the IP5306 switches to boost mode, a continuous current is output at the OUT pin. Pin 2 of J4 is no longer connected to the board's power connector 3V3, forcing the central chip to power the entire device through the J5 rocker switch.

[0052] Optionally, the serial port and voltage regulator board are used for charging and program burning, and are connected to the computer through 6 pins. After downloading the firmware program, it is used as a downloader; connector J1 is connected to connector J2 of the battery charging and discharging board. When charging the battery, the voltage of the universal serial bus Type-C is supplied to the VIN end of the battery charging and discharging board, and the J2 connector is connected to the connector J1 and the output end of the charging and discharging end; when the battery is powered, the serial port and voltage regulator board are in boost mode, and the output end outputs 5V voltage through the pin of connector J1 to the 5V line of the battery charging and discharging board, and is converted to 3.3V through a low voltage difference linear regulator; connector J3 is connected to the serial port 2 of the microcontroller, and Type-C is connected to the computer end for program burning.

[0053] Further references Figure 11-A and Figure 11-BThe serial port and voltage regulator board is responsible for external power supply and program burning during charging. Based on the STM32f103cbt6, the serial port and voltage regulator board connects to a computer via six pins on U3. After downloading the ST-LINK firmware, it can be used as a downloader. Connector J1 connects to connector J2 on the battery charge and discharge board. When charging the battery, the 5V voltage from Type C is supplied to the VIN terminal of the battery charge and discharge board IP5306. Connector J2 connects to the charge and discharge terminals J1 and the output terminal. When powered by a lithium battery, the serial port and voltage regulator board is in boost mode. The 5V output from the output terminal is connected to the 5V line of the battery charge and discharge board through the 1st corner of connector J2. It is then converted to 3.3V by a low-dropout linear regulator AMS1117. Connector J3 connects to serial port 2 of the STM32F103C8T6 microcontroller, and the Type-C port is connected to the computer for program burning. Figure 11-A and Figure 11-B The complete circuit diagram of the serial port and voltage regulator board.

[0054] This circuit board is designed for the STLINK-V2 programmer, converting the traditional programmer's USB port to a TAPEC port. It uses the STM32F103CBT6 with greater memory. It features four wire-to-board connectors and four LEDs. U2 connects to the center board's PA13 and PA14 pins for ST-Link programming and provides 3V3 voltage to the center board. J1 connects to the charging board's J2. When the lithium battery needs charging, a TYPEC connection provides 5V to the IP5306's VIN pin, putting it in charging mode. U3 connects to a separate ST-Link, allowing the STM32 ST-LINK Utility to input the ST-Link programming program and firmware updates to the STM32F103CBT6 on this board. J2 connects to the charger chip's output to provide system power.

[0055] The device was developed based on Keil uVision5 software, with ST-Link used for program downloading and debugging. Through the TAPYC port, the system can be directly connected to a computer using a USB cable, entering debug mode, setting breakpoints and monitoring, monitoring data, observing data changes, optimizing the positioning program, and updating the positioning program.

[0056] Further references Figure 12-14 , is a schematic diagram of the working process of some embodiments of the collaborative positioning method based on the collaborative positioning device of GNSS and UWB in some embodiments of the present disclosure. The collaborative positioning method includes the following steps: The first step is to locate the outdoor tag in real time using the GNSS chip in a collaborative positioning device based on GNSS and UWB. The outdoor tag is a UWB tag that people or machines carry with them when moving outdoors.

[0057] In the second step, when a person or machine is about to enter a room, several GNSS-UWB collaborative positioning devices are dropped indoors as anchor points. Leveraging the wall-penetrating and communication capabilities of UWB signals, the relative distance between the outdoor tag and the indoor device (anchor point) and the outdoor tag's location coordinates are determined. Finally, the coordinates of the indoor anchor point are calculated using relevant algorithms. Examples of these algorithms include anchor point positioning algorithms, distributed filtering algorithms (such as particle filtering or EKF), and assisted positioning algorithms (AGPS).

[0058] The third step is that when the indoor anchor point is placed inside the house and cannot receive satellite signals, and the coordinates of the indoor anchor point are unknown, outdoor personnel or machines carrying outdoor tags receive satellite signals for positioning and obtain their own position coordinates in real time. When the person or machine carrying the tag moves along a certain trajectory, the outdoor tag is located in real time by satellite and sends its own position coordinates to the indoor anchor point in real time at certain time intervals. Figure 13 The example above illustrates the working process of an outdoor anchor point. Thus, the indoor anchor point receives the distance data between the outdoor tag and itself at the corresponding time, as well as the coordinate data requested by the outdoor tag, and calculates its own coordinates through the anchor point positioning algorithm.

[0059] The fourth step is to obtain the coordinates of at least three located outdoor anchor points through the outdoor working process. When a person or machine carries multiple tags into the indoor and outdoor interface, the GNSS chip of the collaborative positioning device based on GNSS and UWB can be used for positioning outdoors; and the coordinate data of the three located indoor anchor points and the distance measurement information are used to calculate the coordinates of the indoor tag using the anchor positioning algorithm. Figure 14 The example shows the working process of the indoor anchor point.

[0060] In the fifth step, upon confirming a person or machine has entered a room, they leave a tag at intervals along their route. When the tag is no longer moving, it is solved using the anchor point positioning algorithm and provides data for the calculation of other indoor tags. To ensure accurate positioning, the distance between the person and each anchor point must be constantly assessed. If the distance between a particular anchor point and the person exceeds a set distance threshold, the data provided by that anchor point is no longer used.

[0061] Therefore, the present invention combines GNSS outdoor positioning with UWB indoor positioning, and uses the positioning information obtained outdoors and the distance relationship between indoor and outdoor to obtain indoor positioning data, thereby achieving a smooth transition of positioning in different scenarios, and switching to indoor positioning mode to achieve indoor and outdoor positioning connection, solving the problem that single GNSS positioning is blocked by the environment and the limitation that UWB positioning requires the prior deployment of base stations.

[0062] The above descriptions are merely some preferred embodiments of the present disclosure and illustrate the underlying technical principles. Those skilled in the art should understand that the scope of the invention encompassed by the embodiments of the present disclosure is not limited to technical solutions formed by specific combinations of the aforementioned technical features. It also encompasses other technical solutions formed by any combination of the aforementioned technical features or their equivalents, without departing from the aforementioned inventive concept. For example, a technical solution formed by replacing the aforementioned features with (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A collaborative positioning device based on GNSS and UWB, characterized in that: include: Bottom shell, battery fixing plate, central prism, antenna fixing plate, middle shell and top shell; among them, The bottom shell is provided with a countersunk hexagonal threaded hole and is connected to the middle shell by threads; There are two square platforms at the bottom of the bottom shell for placing antennas. The middle of the platform is reserved for the UWB antenna connection line. There are two cylindrical M2 threaded holes on both sides of the platform. The battery fixing plate is screwed into the two threaded holes. The battery fixing plate and the platform are fixed up and down to squeeze the battery. The antenna fixing plate and the central prism are fixed with three screws, and the GNSS ceramic antenna is fixed by squeezing. The circular hole of the antenna fixing plate and the circular hole of the inner circuit board are fixed to the UWB antenna; The center prism is fixed to the top shell by three screws.

2. The collaborative positioning device based on GNSS and UWB according to claim 1, characterized in that: There are two square platforms at the bottom of the bottom shell for placing two lithium batteries. The battery fixing plate and the bottom shell are fixed by screws that are screwed downwards from the fixing plate.

3. The collaborative positioning device based on GNSS and UWB according to claim 2, characterized in that: The central pyramid is a hollow pyramid with a quadrilateral as the base and drawn outward. The circuit board is fixed to the surface by screws on the outer sides of two of the four sides, the UWB antenna is fixed on the inner side of one side, and the switch is placed on a square slot on one side.

4. The collaborative positioning device based on GNSS and UWB according to claim 3, characterized in that: The installation method of the switch is a rocker switch installation method.

5. The collaborative positioning device based on GNSS and UWB according to claim 4, characterized in that: The collaborative positioning device based on GNSS and UWB also includes: a serial port and a voltage stabilizing plate; the front slots of the serial port and the voltage stabilizing plate are placed inside the central prism and are fixed by screwing in three screws.

6. The collaborative positioning device based on GNSS and UWB according to any one of claims 1 to 5, characterized in that: The circuit controller of the collaborative positioning device based on GNSS and UWB includes: a data receiving and processing module, a battery charging and discharging module, a serial port and a voltage stabilization module; The data receiving and processing module is equipped with a GNSS chip and a single-chip microcomputer. It contains two 4-pin female connectors and one 2-pin female connector, which are connected to the battery charging and discharging module, the serial port, and the voltage regulator module. The single-chip microcomputer communicates with the GNSS chip through pins PB10, PB11, and serial port 3. Connector J4 uses a 1.25MM 4-pin wire-to-board connector to connect to the UWB chip, power the UWB chip, and exchange information with the UWB chip through pins PA9, PA10, and serial port 1; Connector J1 connects the MCU reset pin and pin PC13, the power connector 3V3, the wire ground terminal GND and the battery charge and discharge board to reset the system and display the MCU working status; Connector J3 is a 1.25MM 2-pin GH wire-to-board connector, which connects pins PA2, PA3, and serial port 2 to the serial port and voltage regulator board for program burning.

7. The collaborative positioning device based on GNSS and UWB according to claim 6, characterized in that: The battery charging and discharging section is equipped with a mobile power charging and discharging management chip for battery charging and discharging and overvoltage protection. It has two switches and five indicator lights. Among them, switch S1 is the reset switch of the single-chip microcomputer, switch J5 is the power switch of the cooperative positioning device, and connector J6 is connected to the serial port and connector J4 of the voltage regulator board for current conduction between the boards; Connector J1 is the output end of the battery charging and discharging module, connector J2 connects the serial port and the voltage regulator module and is the input end of the battery charging and discharging module, connector J3 connects the battery, and connector J4 connects to connector J1 of the data receiving and processing module.

8. The collaborative positioning device based on GNSS and UWB according to claim 7, characterized in that: The serial port and voltage regulator board are used for charging and program burning. They are connected to the computer through 6 pins and used as a downloader after downloading the firmware program. Connector J1 is connected to connector J2 of the battery charging and discharging board. When charging the battery, the voltage of the universal serial bus Type-C is supplied to the VIN terminal of the battery charging and discharging board. Connector J2 is connected to connector J1 and the output terminal of the charging and discharging terminal. When the battery is supplying power, the serial port and the voltage regulator are in boost mode. The output 5V voltage is connected to the 5V line of the battery charge and discharge board through the pin of connector J1, and is converted to 3.3V through the low voltage drop linear regulator. Connector J3 is connected to the serial port 2 of the microcontroller, and Type-C is connected to the computer for program burning.

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