Connector integrating high-precision positioning circuit and system and positioning method thereof

Abstract

The invention discloses a connector integrating a high-precision positioning circuit and system and a positioning method thereof, the connector comprises a positioning module, a base station module and a comprehensive processing platform module, the connector can actively feed back high-precision spatial position information by integrating the high-precision positioning module in the connector, and the connector does not depend on external positioning equipment in an approaching section; through reasonable wiring layout and two-stage DC-DC Buck power management, the positioning circuit module can be highly integrated in the connector without affecting the original functions of the connector. The precise positioning and real-time tracking of the connector are realized through the circular distribution of the four base stations and the Levenberg-Marquardt positioning algorithm adopted by the comprehensive processing platform, the positioning precision and the docking reliability in the docking process of the spatial approximation section can be remarkably improved, and 100% mos state test coverage can be realized by leading out DS connection points of each group of series mos transistors.

Description

Technical Field

[0001] This invention relates to a connector that integrates a high-precision positioning circuit and system, and a positioning method thereof. Background Technology

[0002] In large-scale modular space engineering projects, traditional observation and docking methods, such as using optical radar to position and align connector plugs and sockets before connection, are inefficient during on-orbit docking and assembly. Furthermore, there are concerns about docking accuracy and reliability during the approach phase. While ultra-wideband (UWB) positioning technology can obtain extremely high-precision time-delay information, achieving centimeter-level positioning accuracy, existing structures struggle to deploy it effectively and cannot achieve optimal UWB signal coverage, thus failing to meet the requirements of specific application scenarios. Summary of the Invention

[0003] The purpose of this invention is to address the problem of low docking efficiency in existing connectors by providing a connector positioning system that uses ultra-wideband positioning technology for precise connection positioning.

[0004] The technical solution of this invention: A connector integrating a high-precision positioning circuit and system, and its positioning method, includes a positioning module, a base station module, and a comprehensive processing platform module. The base station module includes four identical base stations arranged in a circular layout on the XY-axis plane. The positioning module sends a UWB signal to the base station module. The base station module measures the UWB signal delay from the positioning module to the base station module and converts the delay into UWB signal propagation distance data. The comprehensive processing platform module receives the distance data uploaded by the base station module via WiFi through an Ethernet interface circuit, and performs position calculation and tracking of the connector plug / socket end based on the Levenberg-Marquardt positioning algorithm. The calculated target position is input to the host device through a serial port circuit.

[0005] The positioning circuit includes an interface circuit, which is connected to the input terminal of a low-power power management circuit. The output terminal of the low-power power management circuit is connected to both a radio frequency transceiver circuit and a main controller circuit. The radio frequency transceiver circuit is connected to an antenna circuit.

[0006] The low-power power management circuit includes a first-stage DC-DC Buck circuit and a second-stage DC-DC Buck circuit. The first-stage DC-DC Buck circuit is connected to the 3.3V power supply of the interface circuit, which is converted to 2.5V and then input to the second-stage DC-DC Buck circuit and the RF transceiver circuit. The second-stage DC-DC Buck circuit converts the 2.5V input voltage to 1.8V.

[0007] The radio frequency transceiver circuit includes a radio frequency chip U3, which communicates with the main controller circuit through an SPI interface. The radio frequency chip U3 obtains a stable clock source of 38.4MHz through a crystal oscillator and displays the transmission and reception status through an indicator circuit.

[0008] The main controller circuit includes a main control chip U2A. The main control chip U2A obtains an external high-speed clock source through a crystal oscillator circuit, and realizes chip programming and system reset through a download circuit and a reset circuit, respectively.

[0009] A positioning method for a connector integrating a high-precision positioning circuit and system, comprising the following steps: Step 1: The positioning module transmits a pulsed UWB signal, and the base station module measures the propagation delay of the UWB signal from the positioning circuit module to the base station, and converts the delay into the actual distance based on the propagation speed of the UWB signal. Step 2: The base station module uploads the converted distance data to the integrated processing platform module via WIFI wireless communication. The integrated processing platform receives the distance data from the four base stations via Ethernet interface circuit to form a distance dataset of "location target - each base station". Step 3: The integrated processing platform verifies the legality of the received distance data and removes outliers that exceed the physical range or abruptly change. Step 4: Use Kalman filtering to dynamically smooth the distance data, remove noise caused by electromagnetic interference to the UWB signal, and predict and correct the distance value for the next moment. Step 5: Using the base station's known coordinates and preprocessed distance data, perform positioning calculations; Step Six: The integrated processing platform module repeats steps one through five at a fixed cycle to continuously track the motion trajectory of the connector.

[0010] The specific steps for the positioning calculation are as follows: Step 51: Establish a three-dimensional rectangular coordinate system O-XYZ: The four base stations are evenly distributed in a circle within the coordinate system. Let the center of the circle be the origin O (0, 0, 0), and the radius of the circle be R. The coordinates of the four base stations can be represented as follows: Base Station 1: (R, 0, Z1), Base Station 2: (0, R, Z2), Base Station 3: (-R, 0, Z3), Base Station 4: (0, -R, Z4), where Z1-Z4 represent the heights of each base station, pre-calibrated and stored in the integrated processing platform; let the three-dimensional coordinates of the connector be the unknowns: ; Step 52: Construct the measured distance dᵢ from the positioning circuit module to the i-th base station and the coordinates to be determined. Nonlinear equations: , in, For the first Known coordinates of each base station , Measurement errors that follow a normal distribution; The goal is to minimize the sum of squared errors, i.e., to solve for: ; Step 53: Set the initial coordinates as Set the initial damping factor , Set the position iteration precision threshold to a value between 0.01 and 0.1. Residual error threshold ; Regarding the current iteration position Calculate the difference between the measured distance and the model-predicted distance for each base station. To form a residual vector : The sum of squared residuals is: ; Step 54: Construct the residual vector pair with position parameters The partial derivative Jacobian matrix : right beg Partial derivatives: , Similarly, for , The partial derivatives are as follows: , in Predict the distance for the model at the current location; Final Jacobian Matrix for: ; Step 55: Establish the incremental equation with damping factor using the Levenberg-Marquardt method to obtain the position correction: Δ p k =(Δ x k， Δ y k Δ z k ) ᵀ, , in, It is a 3×3 identity matrix. for The transpose of the matrix; Solving the above system of linear equations, we obtain Δ p k ; Update location: P k+1 = P k +Δ p k ,Right now x k+1 = x k +Δ x k , y k+1 = y k +Δ y k , z k+1 = z k +Δ z k ; Steps five and six: Adjusting the damping factor and determining convergence; Calculate the updated sum of squared residuals :like This indicates that the current step size is valid and the iteration direction is correct, so the damping factor should be reduced. Continue to the next iteration; if If the step size is ineffective, then increase the damping factor. Solve the incremental equation again and update the position; Step 57: Stop iterating if any of the following conditions are met, and return to the current position. This is the high-precision positioning result of the connector: ① Position difference between two iterations ; ② Sum of squared residuals: ; ③ The number of iterations reaches the preset maximum value; It also includes a data smoothing process: Step 58: Based on the integrated processing platform module continuously receiving new UWB distance data at fixed intervals, recalculate the positioning result; Step 59: Employ a "sliding window" strategy, combining historical positioning results to smooth the current result, thereby achieving continuous tracking of the connector's motion trajectory; Step 60: The integrated processing platform module transmits the final calculated 3D coordinates via a standard serial port interface. Output to the host device.

[0011] The initial coordinates can be set as the center coordinates of the station area or the tracking result of the previous frame. If it is the first positioning, it is set as the initial value near the origin.

[0012] The beneficial effects of this invention are: By integrating a high-precision positioning module within the connector, the connector can actively feedback high-precision spatial position information, eliminating the need for external positioning equipment during the approach phase. Through a rational wiring layout and two-stage DC-DC Buck power management, this positioning circuit module can be highly integrated within the connector without affecting its original functionality. Precise positioning and real-time tracking of the connector are achieved through a circular deployment of four base stations and the Levenberg-Marquardt positioning algorithm employed by the integrated processing platform, significantly improving the positioning accuracy and docking reliability during the spatial approach phase. Attached Figure Description

[0013] Figure 1 This is a structural diagram of the high-precision positioning system of the present invention; Figure 2 This is a structural diagram of the positioning circuit module of the present invention; Figure 3 This is the schematic diagram of the first-stage DC-DC Buck of this invention; Figure 4 This is the schematic diagram of the second-stage DC-DC Buck of the present invention; Figure 5 This is a structural diagram of the main control circuit of the present invention; Figure 6 This is the schematic diagram of the main control circuit of the present invention; Figure 7 This is a schematic diagram of the radio frequency transceiver circuit of the present invention; Figure 8 This is the schematic diagram of the antenna circuit of the present invention; Figure 9 This is a physical image of the positioning module integrated inside the connector. Figure 10 This is a design drawing of the positioning connector of the present invention.

[0014] Reference numerals: 10-Positioning module, 101-Power supply interface, 102-Low power management circuit, 103-Main controller circuit, 104-RF transceiver circuit, 105-Antenna circuit, 11-Base station module, 12-Integrated processing platform module, 13-Host device. Detailed Implementation

[0015] Example 1: like Figure 1The embodiment provides a high-precision positioning circuit and system integrated inside a connector, including a positioning circuit module 10, a base station module 11, and an integrated processing platform module 12. It also includes a host device 13.

[0016] The positioning circuit module 10, acting as the initiator of positioning communication, connects to the base station module 11 via a UWB signal. UWB is defined as a signal with an absolute bandwidth greater than 500MHz or a relative bandwidth greater than 20%, with a spectrum range of 3.1~10.6GHz and a maximum transmit power generally not exceeding -41.3dBm / MHz. In this embodiment, the UWB band used is ch5, with a center frequency of 6489.6MHz and a bandwidth of 500MHz.

[0017] The base station module 11 includes four base stations: base station 0, base station 1, base station 2, and base station 3. The positioning circuit module 10 communicates with each base station via bilateral two-way ranging communication (DS-TWR). In this embodiment, positioning from the positioning circuit module 10 to the four base stations can be completed after sending only two messages and receiving four messages, significantly reducing the amount of information required. Furthermore, using intermittent pulse transmission instead of continuous carrier wave transmission reduces the power consumption of the positioning circuit module 10.

[0018] In base station module 11, the four base stations are strategically positioned in a circular layout during positioning, meaning they are arranged in a circular structure on the XY-axis plane. In traditional multi-base station positioning methods, base stations are typically deployed at the apex of a three-dimensional area, forming a cube or cuboid structure. Since the positioning connector is usually located on one side of the deployment space, and the positioning circuit module 10 is integrated inside the connector cavity, traditional structures are difficult to implement and cannot achieve optimal UWB signal coverage, failing to meet the requirements of specific application scenarios. Therefore, this embodiment innovatively adopts a circular layout, placing the four base stations in a circular structure on the XY-axis plane at different heights. This layout ensures significant differences in the X, Y, and Z axes of the four base stations, satisfying the geometrical precision factor (GDOP) while ensuring the positioning connector remains always on one side of base station module 11. After acquiring the delay information from the positioning circuit module 10, the four base stations complete the delay-distance conversion and transmit the distance and related information to the integrated processing platform module 12 via Wi-Fi.

[0019] The integrated processing platform module 12 is the central hub of the system. Its main control signal processor circuit is responsible for collecting and processing data from multiple base stations, executing positioning algorithms, and outputting results. The integrated processing platform module 12 is based on a high-performance Arm® Cortex®-M4 32-bit RISC core with an operating frequency of up to 168MHz. The Cortex®-M4 core features a single-precision floating-point unit (FPU) and supports all Arm single-precision data processing instructions and data types. The integrated processing platform module 12 also incorporates an Ethernet interface circuit to forward and process data from multiple base stations. It first starts a TCP server and listens for client connections. When a new client (base station) connects, the system creates an independent task to process its data. Each client continuously sends distance data. Upon receiving the data, the system first performs data preprocessing, including validity verification and outlier detection. Then, it smooths the data using a Kalman filter, and finally uses the Levenberg-Marquardt algorithm for positioning calculation, outputting the results to the host device 13 for display.

[0020] The Levenberg-Marquardt algorithm performs the localization calculation as follows: 1. Determine the base station coordinate system The base station coordinate system is determined based on a circular layout of four base stations. A three-dimensional rectangular coordinate system (denoted as O-XYZ) is established: the four base stations are evenly distributed in a circle in the XY plane, with the center of the circle being the origin O(0, 0, 0) and the radius of the circle being R (set according to the actual application scenario, such as 1-5m). The coordinates of the four base stations can be expressed as: Base Station 1: (R, 0, Z1), Base Station 2: (0, R, Z2), Base Station 3: (-R, 0, Z3), Base Station 4: (0, -R, Z4) (Z1-Z4 are the heights of each base station, which need to be calibrated in advance and stored in the integrated processing platform); the three-dimensional coordinates of the connector (the location of the positioning circuit module) are to be determined. .

[0021] 2. Constructing nonlinear distance equations According to the "distance formula between two points", the measured distance dᵢ (the preprocessed value) from the positioning circuit module to the i-th base station satisfies a nonlinear equation with respect to the coordinates (x, y, z): Where: (Xᵢ, Yᵢ, Zᵢ) are the known coordinates of the i-th base station (i=1, 2, 3, 4), εᵢ is the measurement error (following a normal distribution), and the objective is to minimize the sum of squared errors, i.e., to solve: .

[0022] 3. Initial position estimation: Based on the application scenario of the connector (such as on-orbit docking of large modular space engineering), set the initial coordinates. (It can be set to the center coordinates of the deployment area, or the tracking result of the previous frame. If it is the first positioning, it can be set to the initial value near the origin.) 4. Set the initial damping factor λ0 (usually 0.01~0.1, to balance the stability of gradient descent and the convergence speed of Gauss-Newton method; the larger λ is, the closer it is to gradient descent, and the smaller λ is, the closer it is to Gauss-Newton method). 5. Set the position iteration accuracy threshold (e.g., 1mm, meaning the difference in position coordinates between two iterations is less than) Then it is considered convergence), residual error threshold (e.g., 0.1mm, meaning the sum of squared errors is less than) Then stop iterating); 6. Regarding the current iteration position Calculate the residual rᵢ corresponding to each base station. k (The difference between the measured distance and the model predicted distance) forms the residual vector r. k : ; The sum of squared residuals is: .

[0023] 7. Construct the Jacobian matrix Jacobian matrix J k It is the residual vector with respect to position parameters The partial derivative matrix has a dimension of 4×3 (4 rows for 4 base stations and 3 columns for 3 location parameters), and its element derivation is as follows: For rᵢ k Find the partial derivative of x: , Similarly, the partial derivatives with respect to y and z are as follows: , in Predict the distance for the model at the current location.

[0024] Final Jacobian matrix J k for: .

[0025] 8. Solve the incremental equation to update the position estimate. The core of the Levenberg-Marquardt method is to solve the incremental equation with a damping factor to obtain the position correction Δ. p k =(Δ x k， Δ yk Δ z k ) ᵀ: ; in I It is a 3×3 identity matrix. for The transpose of .

[0026] Solving the above system of linear equations (which can be solved using numerical methods such as Cholesky decomposition and QR decomposition, avoiding the numerical instability problem of matrix inversion) yields Δ. p k ; 9. Update location: P k+1 = P k +Δ p k ,Right now x k+1 = x k +Δ x k , y k+1 = y k +Δ y k , z k+1 = z k +Δ z k .

[0027] 10. Adjusting the damping factor and determining convergence Calculate the updated sum of squared residuals S k +1: If S k +1 k This indicates that the current step size is valid and the iteration direction is correct, so the damping factor λ should be reduced. k +1=λ k / 10, continue to the next iteration; if S k +1≥S k If the step size is ineffective, then increase the damping factor λ. k +1=λ k ×10, resolve the incremental equation and update the position; Convergence Criterion: If any of the following conditions are met, the iteration stops and the current position P is determined. k +1 represents the high-precision positioning result of the connector: ① Position difference between two iterations ; ② Sum of squared residuals: S​k+1 <Δ2; ③ The number of iterations reaches the preset maximum value (e.g., 50 times, to avoid infinite iteration).

[0028] 10. Based on the integrated processing platform module, the cycle is fixed (e.g., 10ms / cycle, adjusted according to the connector movement speed; the faster the speed, the shorter the cycle): Continuously receive new UWB distance data and recalculate the positioning results; A "sliding window" strategy is adopted, which combines historical positioning results (such as the five most recent convergence positions) to smooth the current results, avoid position jumps caused by instantaneous interference, and achieve continuous tracking of the connector's motion trajectory.

[0029] 11. The integrated processing platform module outputs the final calculated three-dimensional coordinates (x, y, z) to the host device through a standard serial port interface.

[0030] like Figure 1 As shown, this embodiment of the invention provides a high-precision positioning circuit and system integrated inside a connector, and also includes a host device 13, wherein the host device 13 is a graphics display and processing terminal, including a display screen terminal and an electronic computer. In this embodiment, the host device 13 is an electronic computer that runs corresponding computer programs to realize the display function.

[0031] Example 2: Please see Figure 2 , Figure 2 This is a structural diagram of a positioning circuit module disclosed in an embodiment of the present invention, including a power supply interface circuit 101, a low-power power management circuit 102, a main controller circuit 103, an RF transceiver circuit 104, and an antenna circuit 105.

[0032] The power supply interface circuit 101 is powered through connector contacts, providing the power input interface required for system operation; Figure 3 This is a structural diagram of a connector contact element power supply disclosed in an embodiment of the present invention. The positioning circuit module 10 can be integrated inside the connector. Please refer to... Figure 3 To house the positioning circuit module 10 within the connector cavity, the power supply interface circuit 101, low-power power management circuit 102, main controller circuit 103, RF transceiver circuit 104, and antenna circuit 105 are arranged from left to right and from bottom to top. This arrangement reduces the wiring length between the circuit components and lowers the probability of cross-wiring, significantly reducing the size of the positioning circuit module 10. Simultaneously, keeping the low-power power management circuit 102 away from the RF transceiver circuit 104 and antenna circuit 105 prevents crosstalk from the high-frequency switching signals of the step-down chip.

[0033] The low-power power management circuit 102 uses a two-stage DC-DC Buck regulator for voltage conversion. The first stage of the DC-DC Buck regulator converts the 3.3V input voltage to 2.5V. (See also...) Figure 4 , Figure 4 This is a schematic diagram of the first-stage DC-DCBuck circuit disclosed in an embodiment of the present invention, which supplies power to a portion of the power supply ports of the RF transceiver circuit 104. The 3.3V is provided by the connector power supply interface circuit 101, and the converted 2.5V supplies power only to a portion of the ports of the RF transceiver circuit 104. The second-stage DC-DCBuck circuit converts the 2.5V input voltage to 1.8V. Please refer to [link / reference]. Figure 5 , Figure 5 This is a schematic diagram of the second-stage DC-DCBuck circuit disclosed in an embodiment of the present invention, which supplies power to some of the power supply ports of the RF transceiver circuit 104. The low-power power management circuit 102 includes components such as resistors, capacitors, inductors, and a DC-DCBuck chip, as well as corresponding output ports. The low-power power management circuit can ensure that the overall power consumption of the positioning circuit module meets specific requirements.

[0034] The main controller circuit 103 consists of a main control chip and its peripheral circuits, including a crystal oscillator circuit, a download circuit, a reset circuit, and a filter circuit. Please refer to [link / reference]. Figure 6 , Figure 6 This is a structural diagram of the main control circuit disclosed in an embodiment of the present invention. The crystal oscillator circuit provides an external high-speed clock source for the main control chip, and the chip can obtain a high-speed clock signal internally through frequency multiplication; the download circuit assists in program burning; the reset circuit performs a system reset operation; and the filter circuit filters out high-frequency signals from the regulated power supply. Please refer to [link to relevant documentation]. Figure 7 , Figure 7 This is a schematic diagram of the main control circuit disclosed in an embodiment of the present invention.

[0035] The radio frequency transceiver circuit 104 is the core hardware component of the positioning circuit module 10. Please refer to [link / reference]. Figure 8 , Figure 8 This is a schematic diagram of the radio frequency transceiver circuit disclosed in an embodiment of the present invention. It mainly completes the ranging task through a certain information exchange method, and the accuracy of the ranging directly affects the positioning accuracy of the entire system. The RF transceiver circuit 104 uses the Qorvo DW3220 RF chip, which integrates an ultra-wideband transceiver, power management, and clock circuitry, supporting a data transmission rate of 6.8 Mbps. It communicates with the main controller circuit via an SPI interface to achieve UWB signal transmission and reception. The RF transceiver circuit 104 includes an RF chip and corresponding filtering circuits, a crystal oscillator circuit, and a signal indication circuit. The filtering circuit filters DC power supply ripple through high-frequency and low-frequency capacitors and an output inductor; the crystal oscillator circuit provides a stable 38.4MHz clock source for the RF chip; and the signal indication circuit indicates whether the circuit is transmitting or receiving UWB signals. To achieve maximum isolation between the RF chip's power supply pins, the power supply traces for each voltage pin are laid out in a star topology. To address high-frequency noise generated within the integrated circuit, decoupling capacitors are arranged according to the principle of "low impedance values ​​near pins, high impedance values ​​away from pins." Furthermore, a ferrite bead with an impedance of approximately 33Ω at 100MHz is added between the VDD2a and VDD2b pins of the RF chip to achieve electromagnetic interference (EMI) suppression and signal filtering.

[0036] Antenna circuit 105 employs an ultra-wideband patch antenna with a peak gain (azimuth angle) of up to 4.16 dBi, used for UWB signal transmission and reception with a bandwidth of 500 MHz. Please refer to... Figure 9 , Figure 9 This is a schematic diagram of an antenna circuit disclosed in an embodiment of the present invention. The antenna circuit 105 requires 50Ω impedance matching when designing PCB RF traces.

[0037] Example 3: In addition, the base station module 11 includes dual ultra-wideband patch antennas for PDOA (phase difference of arrival) measurement, which helps improve positioning accuracy. The base station module 11 adopts an integrated base station and tag design, and the base station and tag functions can be switched through software configuration, improving system flexibility.

[0038] Please see Figure 10 , Figure 10 This is a physical diagram of the positioning module integrated inside the connector disclosed in an embodiment of the present invention. The positioning circuit module 10 adopts a 4-layer PCB design, with the components arranged on the surface layer and two holes reserved for embedding the connector contacts for power supply.

[0039] The high-precision positioning circuit and system integrated inside the connector achieves precise positioning and real-time tracking of the connector through a circular deployment of four base stations and the Levenberg-Marquardt positioning algorithm used in the integrated processing platform. This can significantly improve the positioning accuracy and docking reliability of the space approach segment docking process.

[0040] In summary, this embodiment provides a connector development technology that integrates high-precision positioning circuits and systems. By utilizing ultra-wideband (UWB) positioning technology, it obtains highly accurate time delay information, achieving centimeter-level positioning accuracy. It also features low power consumption and strong anti-interference capabilities, enabling the connector to possess high-precision long-distance autonomous positioning capabilities. It can actively feedback spatial position information, and no external equipment is required to position the connector during the approach phase, ensuring high-precision on-orbit docking for large-scale modular space engineering projects.

Claims

1. A connector integrating a high-precision positioning circuit and system, characterized in that: The system includes a positioning module, a base station module, and an integrated processing platform module. The base station module comprises four identical base stations arranged in a circular layout on the XY-axis plane. The positioning module sends a UWB signal to the base station module. The base station module measures the UWB signal delay from the positioning module to the base station module and converts the delay into UWB signal propagation distance data. The integrated processing platform module receives the distance data uploaded by the base station module via WiFi through an Ethernet interface circuit and performs position calculation and tracking of the connector plug / socket end based on the Levenberg-Marquardt positioning algorithm. The calculated target position is then input to the host device via a serial port circuit.

2. The connector for the integrated high-precision positioning circuit and system according to claim 1, characterized in that: The positioning circuit includes an interface circuit, which is connected to the input terminal of a low-power power management circuit. The output terminal of the low-power power management circuit is connected to both a radio frequency transceiver circuit and a main controller circuit. The radio frequency transceiver circuit is connected to an antenna circuit.

3. The connector for the integrated high-precision positioning circuit and system according to claim 2, characterized in that: The low-power power management circuit includes a first-stage DC-DC Buck circuit and a second-stage DC-DC Buck circuit. The first-stage DC-DC Buck circuit is connected to the 3.3V power supply of the interface circuit, which is converted to 2.5V and then input to the second-stage DC-DC Buck circuit and the RF transceiver circuit. The second-stage DC-DC Buck circuit converts the 2.5V input voltage to 1.8V.

4. The connector for the integrated high-precision positioning circuit and system according to claim 2, characterized in that: The radio frequency transceiver circuit includes a radio frequency chip U3, which communicates with the main controller circuit through an SPI interface. The radio frequency chip U3 obtains a stable clock source of 38.4MHz through a crystal oscillator and displays the transmission and reception status through an indicator circuit.

5. The connector for the integrated high-precision positioning circuit and system according to claim 1, characterized in that: The main controller circuit includes a main control chip U2A. The main control chip U2A obtains an external high-speed clock source through a crystal oscillator circuit, and realizes chip programming and system reset through a download circuit and a reset circuit, respectively.

6. The connector for the integrated high-precision positioning circuit and system according to claim 1, characterized in that: The base station uses dual ultra-wideband patch antennas to measure PDOA.

7. The positioning method for a connector integrating a high-precision positioning circuit and system according to any one of claims 1 to 6, specifically comprising the following steps: Step 1: The positioning module transmits a pulsed UWB signal, and the base station module measures the propagation delay of the UWB signal from the positioning circuit module to the base station, and converts the delay into the actual distance based on the propagation speed of the UWB signal. Step 2: The base station module uploads the converted distance data to the integrated processing platform module via WIFI wireless communication. The integrated processing platform receives the distance data from the four base stations via Ethernet interface circuit to form a distance dataset of "location target - each base station". Step 3: The integrated processing platform verifies the legality of the received distance data and removes outliers that exceed the physical range or abruptly change. Step 4: Use Kalman filtering to dynamically smooth the distance data, remove noise caused by electromagnetic interference to the UWB signal, and predict and correct the distance value for the next moment. Step 5: Using the base station's known coordinates and preprocessed distance data, perform positioning calculations; Step Six: The integrated processing platform module repeats steps one through five at a fixed cycle to continuously track the motion trajectory of the connector.

8. The positioning method for a connector integrating a high-precision positioning circuit and system according to claim 7, characterized in that: The specific steps for the positioning calculation are as follows: Step 51: Establish a three-dimensional rectangular coordinate system O-XYZ: The four base stations are evenly distributed in a circle within the coordinate system. Let the center of the circle be the origin O (0, 0, 0), and the radius of the circle be R. The coordinates of the four base stations can be represented as follows: Base station 1: (R, 0, Z1), Base station 2: (0, R, Z2), Base station 3: (-R, 0, Z3), Base station 4: (0, -R, Z4), where Z1-Z4 are the heights of each base station, which are pre-calibrated and stored in the integrated processing platform. Let the three-dimensional coordinates of the connector be the quantities to be determined: ; Step 52: Construct the measured distance dᵢ from the positioning circuit module to the i-th base station and the coordinates to be determined. Nonlinear equations: , in, For the first Known coordinates of each base station , Measurement errors that follow a normal distribution; The goal is to minimize the sum of squared errors, i.e., to solve for: ； Step 53: Set the initial coordinates as Set the initial damping factor , Set the position iteration precision threshold to a value between 0.01 and 0.

1. Residual error threshold ; Regarding the current iteration position Calculate the difference between the measured distance and the model-predicted distance for each base station. To form a residual vector : The sum of squared residuals is: ; Step 54: Construct the residual vector pair with position parameters The partial derivative Jacobian matrix : right beg Partial derivatives: ， Similarly, for , The partial derivatives are as follows: ， in Predict the distance for the model at the current location; Final Jacobian Matrix for: ; Step 55: Establish the incremental equation with damping factor using the Levenberg-Marquardt method to obtain the position correction: D p k =(D x k， D y k ,D z k ) ᵀ, ， in, It is a 3×3 identity matrix. for The transpose of the matrix; Solving the above system of linear equations, we obtain Δ p k ; Update location: P k+1 = P k +Δ p k ,Right now x k+1 = x k +Δ x k , y k+1 = y k +Δ y k , z k+1 = z k +Δ z k ; Steps five and six: Adjusting the damping factor and determining convergence; Calculate the updated sum of squared residuals :like This indicates that the current step size is valid and the iteration direction is correct, so the damping factor should be reduced. Continue to the next iteration; if If the step size is ineffective, then increase the damping factor. Solve the incremental equation again and update the position; Step 57: Stop iterating if any of the following conditions are met, and return to the current position. This is the high-precision positioning result of the connector: ① Position difference between two iterations ; ② Sum of squared residuals: ; ③ The number of iterations reaches the preset maximum value.

9. The positioning method for a connector integrating a high-precision positioning circuit and system according to claim 8, characterized in that: It also includes a data smoothing process: Step 58: Based on the integrated processing platform module continuously receiving new UWB distance data at fixed intervals, recalculate the positioning result; Step 59: Employ a "sliding window" strategy, combining historical positioning results to smooth the current result, thereby achieving continuous tracking of the connector's motion trajectory; Step 60: The integrated processing platform module transmits the final calculated 3D coordinates via a standard serial port interface. Output to the host device.

10. The positioning method for a connector integrating a high-precision positioning circuit and system according to claim 7, characterized in that... The initial coordinates can be set as the center coordinates of the station area or the tracking result of the previous frame. If it is the first positioning, it is set as the initial value near the origin.

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