High-precision positioning module with UWB and IMU

Abstract

The utility model relates to a high-precision positioning module with UWB and IMU. The high-precision positioning module with the UWB and the IMU comprises a Bluetooth chip, a UWB module and an IMU module, wherein the UWB module is electrically connected with the Bluetooth chip; and the IMU module is electrically connected with the Bluetooth chip. According to the scheme provided by the invention, the positioning precision of the UWB module in the motion state can be improved.

Description

Technical Field

[0001] The utility model relates to the UWB technical field, in particular to a high-precision positioning module with UWB and IMU. Background Art

[0002] The UWB module is a positioning device with higher positioning accuracy than WIFI, Bluetooth, etc., and can achieve centimeter-level positioning.

[0003] In the related technology, the current Bluetooth module usually adds a UWB module for positioning. However, although the addition of the UWB module achieves high-precision positioning indoors, there will be measurement errors in the moving state, which leads to low real-time positioning accuracy of the product. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies in the prior art and provide a high-precision positioning module with UWB and IMU, which can improve the positioning accuracy of the UWB module in a moving state.

[0005] The purpose of this utility model is achieved through the following technical solutions:

[0006] The first aspect of the present application provides a high-precision positioning module with UWB and IMU, including: a Bluetooth chip; a UWB module, the UWB module is electrically connected to the Bluetooth chip; and an IMU module, the IMU module is electrically connected to the Bluetooth chip.

[0007] It also includes an interface module, which includes a first pin, which is arranged on the Bluetooth chip, and the UWB module is electrically connected to the first pin.

[0008] The interface module also includes a second pin, which is arranged on the Bluetooth chip, and the IMU module is electrically connected to the second pin.

[0009] The IMU module includes a chip U2, a capacitor C65, a capacitor C1 and a capacitor C2, the chip U2 is electrically connected to the second pin, the first end of the capacitor C65 is electrically connected to the chip U2, the second end of the capacitor C65 is grounded, the first end of the capacitor C1 is electrically connected to the chip U2, the second end of the capacitor C1 is grounded, the first end of the capacitor C2 is electrically connected to the chip U2, and the second end of the capacitor C2 is grounded.

[0010] It also includes an antenna module, which is electrically connected to the UWB module.

[0011] The antenna module includes a first antenna, a second antenna and a third antenna, and the first antenna, the second antenna and the third antenna are electrically connected to the UWB module respectively.

[0012] It also includes a level conversion module, which is electrically connected to the Bluetooth chip.

[0013] It also includes a first buck module, which is electrically connected to the Bluetooth chip, the UWB module and the chip U2 respectively.

[0014] It also includes a second step-down module, which is electrically connected to the Bluetooth chip and the chip U2 respectively.

[0015] Compared with the prior art, the utility model has at least the following advantages:

[0016] This application adds an IMU module, which has the advantages of real-time acquisition of the angular velocity and acceleration information of the device and stable data collection in a short period of time. Combined with the advantages of the UWB module, which has high-precision positioning, strong anti-interference ability, and stable positioning data collection over a long period of time, the entire positioning module can achieve high-precision positioning even in motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for use in the embodiments are briefly introduced below.

[0018] Figure 1 This is a functional module diagram of a high-precision positioning module with UWB and IMU in one embodiment of the utility model;

[0019] Figure 2 A circuit diagram of a Bluetooth chip in an embodiment of the present utility model;

[0020] Figure 3 is a circuit diagram of a UWB module in one embodiment of the utility model;

[0021] Figure 4 1 is a circuit diagram of an IMU module in one embodiment of the utility model;

[0022] Figure 5 is a circuit diagram of a level conversion module in an embodiment of the utility model;

[0023] Figure 6 A circuit diagram of a first step-down module in an embodiment of the utility model;

[0024] Figure 7 FIG. 4 is a circuit diagram of a second voltage reduction module in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0026] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] Unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, or a detachable connection or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] At present, Bluetooth modules usually add UWB modules for positioning. However, although the addition of UWB modules achieves high-precision positioning indoors, there will be measurement errors in the moving state, which leads to low real-time positioning accuracy of the product.

[0029] In response to the above problems, an embodiment of the present application provides a high-precision positioning module with UWB and IMU, which can improve the positioning accuracy of the UWB module in a moving state.

[0030] The technical solution of the embodiments of the present application is described in detail below with reference to the accompanying drawings.

[0031] See also Figure 1 A high-precision positioning module with UWB and IMU includes: a Bluetooth chip 100, a UWB module 200 and an IMU module 300, the UWB module 200 is electrically connected to the Bluetooth chip 100; the IMU module 300 is electrically connected to the Bluetooth chip 100.

[0032] It should be noted that the positioning module of the present application is composed of a Bluetooth chip 100, a UWB module 200 and an IMU module 300, and has Bluetooth function. The UWB module 200 is used for positioning, and the IMU module 300 is an inertial measurement unit for obtaining the angular velocity and acceleration information of the device in real time, thereby improving the positioning accuracy of the UWB module 200 in motion.

[0033] It is also necessary to note that, please refer to Figure 2 , U8 represents the Bluetooth chip 100, capacitors C51, C5, C7, C39, C10, C43, C22, C21, C16, C14, and C12 are all filter capacitors for the power pins of the Bluetooth chip, and the buck circuit inside pin 31 is matched with the power inductor L1 and capacitor C7 to make the output voltage 1.2V to power pin 30. Resistor R41 is a pull-up resistor, capacitor C17, resistor R1, capacitor C18, capacitor C15, capacitor C19, inductor L3, and capacitor C20 are matching components of the RF circuit of the Bluetooth chip 100 to adjust the RF link to meet the optimal RF performance. Component X1 is a crystal oscillator that provides a clock signal for the Bluetooth chip 100, and capacitors C63 and C64 are matching capacitors of the crystal oscillator to adjust the crystal oscillator frequency deviation. Pins 22, 24, 25, and 26 are connected to the IMU chip for communication. Pins 15, 16, 17, 18, 19, 33, and 34 are connected to the UWB module for communication. Pins 35 and 36 are connected to the serial port chip for communication to realize the Debug function. Pin 23 is used to bring out the test point and enter the burning mode when it is pulled down to GND.

[0034] In one embodiment, a high-precision positioning module with UWB and IMU also includes an interface module, the interface module includes a first pin, the first pin is arranged on the Bluetooth chip 100, and the UWB module is electrically connected to the first pin.

[0035] It should be noted that the first pin may be an SPI interface for connecting and communicating with the UWB module.

[0036] In one embodiment, the interface module further includes a second pin, the second pin is disposed on the Bluetooth chip 100, and the IMU module is electrically connected to the second pin.

[0037] It should be noted that the second pin can be an I2C interface for connecting and communicating with the IMU module.

[0038] See also Figure 3 In one embodiment, the antenna module is further included, and the antenna module is electrically connected to the UWB module 200. Specifically, the antenna module includes the first antenna, the second antenna, and the third antenna, and the first antenna, the second antenna, and the third antenna are electrically connected to the UWB module 200, respectively.

[0039] It should be noted that the first antenna is A1, the second antenna is A2, the third antenna is A3, and the chip M1 in the UWB module 200 communicates with the Bluetooth chip 100 via the SPI interface through pins 1, 3, 4, 5, 6, 8, and 28.

[0040] See also Figure 4 In one embodiment, the IMU module 300 includes a chip U2, a capacitor C65, a capacitor C1 and a capacitor C2, the chip U2 is electrically connected to the second pin, the first end of the capacitor C65 is electrically connected to the chip U2, the second end of the capacitor C65 is grounded, the first end of the capacitor C1 is electrically connected to the chip U2, the second end of the capacitor C1 is grounded, the first end of the capacitor C2 is electrically connected to the chip U2, and the second end of the capacitor C2 is grounded.

[0041] It should be noted that capacitor C65, capacitor C1 and capacitor C2 are all filter capacitors, and chip U2 communicates with Bluetooth chip U8 via I2C interface through pins 4, 9, 13 and 14.

[0042] See also Figure 1 In one embodiment, a high-precision positioning module with UWB and IMU also includes a level conversion module, and the level conversion module is electrically connected to the Bluetooth chip 100.

[0043] It should be noted that Figure 5 The first part is the 5V to 1.8V level conversion circuit. Figure 5 The second and third parts are the circuits for converting the USB interface to the UART interface. Furthermore, U3 is a level conversion chip, and pins 1 and 4 are connected to resistors R8 and R13 pulled up to 1.8V, and are also connected to the UART interface pins of the Bluetooth chip 100. Pins 3 and 6 are connected to the UART interface pins of the conversion element chip U5 in the USB to UART circuit. Further, J1 represents the Type C terminal, and after pins A6 and B6, and A7 and B7 are connected, they are connected to pins 1 and 2 of the USB to UART conversion chip U5. Pins 8 and 9 of the USB to UART conversion chip U5 are connected to the level conversion chip U3, and are also connected to the pull-up resistors R3 and R6.

[0044] See also Figure 6 In one embodiment, a high-precision positioning module with UWB and IMU further includes a first buck module, which is electrically connected to the Bluetooth chip 100, the UWB module 200 and the chip U2. Figure 7 In one embodiment, specifically, it also includes a second buck module, and the second buck module is electrically connected to the Bluetooth chip 100 and the chip U2 respectively.

[0045] It should be noted that the first step-down module is used to convert 5V to 1.8V, and the second step-down module is used to convert 5V to 3V. The converted 1.8V is used to power the UWB module 200, the chip U2, and the Bluetooth chip 100, and the converted 3V is used to power the chip U2 and the Bluetooth chip U8 simultaneously. Components U1 and U6 are DC-DC voltage converters, resistors R7 and R9 are matching resistors, so that the output voltage is 3V, and resistors R10 and R11 are matching resistors, so that the output voltage is 1.8V.

[0046] The scheme of the present application has been described in detail above with reference to the accompanying drawings. In the above embodiments, the descriptions of the various embodiments have their own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments. Those skilled in the art should also be aware that the actions and modules involved in the specification are not necessarily required for the present application. In addition, it can be understood that the steps in the method of the embodiment of the present application can be adjusted in order, merged and deleted according to actual needs, and the modules in the device of the embodiment of the present application can be merged, divided and deleted according to actual needs.

[0047] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein.

Claims

1. A high-precision positioning module with UWB and IMU, characterized in that: include: Bluetooth chip; A UWB module, the UWB module is electrically connected to the Bluetooth chip; An IMU module is electrically connected to the Bluetooth chip.

2. The high-precision positioning module with UWB and IMU according to claim 1, characterized in that: It also includes an interface module, which includes a first pin, which is arranged on the Bluetooth chip, and the UWB module is electrically connected to the first pin.

3. The high-precision positioning module with UWB and IMU according to claim 2, characterized in that: The interface module also includes a second pin, which is arranged on the Bluetooth chip, and the IMU module is electrically connected to the second pin.

4. The high-precision positioning module with UWB and IMU according to claim 3, characterized in that: The IMU module includes a chip U2, a capacitor C65, a capacitor C1 and a capacitor C2, the chip U2 is electrically connected to the second pin, the first end of the capacitor C65 is electrically connected to the chip U2, the second end of the capacitor C65 is grounded, the first end of the capacitor C1 is electrically connected to the chip U2, the second end of the capacitor C1 is grounded, the first end of the capacitor C2 is electrically connected to the chip U2, and the second end of the capacitor C2 is grounded.

5. The high-precision positioning module with UWB and IMU according to claim 1, characterized in that: It also includes an antenna module, which is electrically connected to the UWB module.

6. The high-precision positioning module with UWB and IMU according to claim 5, characterized in that: The antenna module includes a first antenna, a second antenna and a third antenna, and the first antenna, the second antenna and the third antenna are electrically connected to the UWB module respectively.

7. The high-precision positioning module with UWB and IMU according to claim 1, characterized in that: It also includes a level conversion module, which is electrically connected to the Bluetooth chip.

8. The high-precision positioning module with UWB and IMU according to claim 4, characterized in that: It also includes a first buck module, which is electrically connected to the Bluetooth chip, the UWB module and the chip U2 respectively.

9. The high-precision positioning module with UWB and IMU according to claim 8, characterized in that: It also includes a second step-down module, which is electrically connected to the Bluetooth chip and the chip U2 respectively.

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