A dynamic environment compensation and hardware decision management and control circuit for UWB positioning

Abstract

The utility model discloses a kind of dynamic environment compensation and hardware decision-making management and control circuit for UWB positioning, including environment compensation module, UWB base station module, multipath effect simulator module, hardware decision-making module and execution module.Environment compensation module senses temperature and humidity by hygrostat RH, thermistor RT, generates compensation signal after processing, corrects the radio frequency signal of UWB chip in UWB base station module, is transmitted to hardware decision-making module simultaneously;Multipath effect simulator module sets delay and generates multipath interference signal, is fed back to UWB chip;Hardware decision-making module realizes risk classification, controls multipath simulator and drives execution module;Execution module completes safety action and provides protection.The circuit cooperates through hardware level, solves the problems, such as compensation delay, multipath simulation distortion of traditional scheme, improves the precision, anti-interference ability and security of UWB positioning system.

Description

Technical Field

[0001] This utility model belongs to the field of UWB personnel positioning and tracking technology, and relates to a dynamic environmental compensation and hardware decision control circuit for UWB positioning. Background Technology

[0002] In UWB personnel positioning and tracking scenarios, existing technologies suffer from significant deficiencies due to the lack of the hardware architecture presented in this solution. In densely populated areas such as stadiums, temperature and humidity fluctuate drastically with pedestrian flow and ventilation. Without the hardware compensation circuit comprised of a humidity-sensitive resistor (RH), a thermistor (RT), and an operational amplifier in the environmental compensation module, software filtering alone cannot correct the UWB signal phase shift in real time, resulting in personnel positioning coordinate drift exceeding 0.5 meters, making it difficult to accurately pinpoint the location of specific individuals. Furthermore, the multipath reflection signals generated by the walls and columns within the stadium lack a hardware interference simulation architecture consisting of a delay line chip and a mixer in the multipath effect simulator. Traditional software simulations cannot reproduce the actual attenuation characteristics, causing frequent disconnections in personnel movement trajectories. When personnel exhibit abnormal behavior, such as lingering in dangerous areas or rapidly crossing boundaries, existing systems do not employ the rapid classification circuit of comparators and encoders in the hardware decision module, relying instead on MCU software judgment, resulting in a response delay exceeding 100ms and lagging safety control. Moreover, the execution module lacks the optocoupler and back EMF protection design found in this solution, making relay operation susceptible to interference, further impacting the reliability and safety of personnel tracking. Summary of the Invention

[0003] To address the problems existing in the background technology, this utility model proposes a dynamic environmental compensation and hardware decision control circuit for UWB positioning.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: a dynamic environment compensation and hardware decision control circuit for UWB positioning, comprising: an environment compensation module, a UWB base station module, a multipath effect simulator module, a hardware decision module, and an execution module; The environmental compensation module is connected to the hardware decision module and the UWB base station module, respectively. The UWB base station module is connected to the multipath effect simulator module, and the hardware decision module is connected to the execution module and the multipath effect simulator module, respectively.

[0005] Specifically, the environmental compensation module includes: humidity sensor RH, thermistor RT, resistor R1, resistor R3, operational amplifier, resistor R2, RC filter network, and diode D1; The 3.3V power supply is connected to the first common terminal of the humidity sensor RH and the thermistor RT. The second common terminal of the humidity sensor RH and the thermistor RT is connected to the first terminal of resistor R1 and the non-inverting input terminal of the operational amplifier. The second terminal of resistor R1 is connected to ground. The inverting input terminal of the operational amplifier is connected to the first terminals of resistors R3 and R2. The second terminal of resistor R3 is connected to ground. The second terminal of resistor R2 is connected to the output terminal of the operational amplifier and the input terminal of the RC filter network. The intermediate node of the RC filter network is connected to the hardware decision module. The output terminal of the RC filter network is connected to the anode of diode D1. The cathode of diode D1 is connected to the UWB base station module.

[0006] Specifically, the multipath effect simulator module includes: a delay line chip, a DIP switch S1, resistors R4, R5, R6, and R7, capacitor C1, a mixer, capacitors C2 and C3, resistor R8, MOSFET Q1, resistor R9, diode D2, resistor R10, capacitor C4, a power divider, capacitor C5, resistor R11, and capacitor C6. The delay line chip's DELAY pin is connected to DIP switch S1. The three pins of DIP switch S1 are connected to ground via resistors R4, R5, and R6, respectively. The delay line chip's CLK_IN pin is connected to the UWB base station module via series resistor R7. The delay line chip's OUTPUT pin is connected to the mixer's RFIN pin via series capacitor C1. The mixer's LOIN pin is connected to the UWB base station module via series capacitor C2. The mixer's IFOUT pin is connected to the first terminal of resistor R8 via series capacitor C3. The second terminal of resistor R8 is connected to the MOSFET. The drain of Q1 is connected, the gate of MOSFET Q1 is connected to the hardware decision module through series resistor R10, the source of MOSFET Q1 is connected to ground through series resistor R9, the source of MOSFET Q1 is connected to the IN pin of the power divider through series capacitor C4, diode D2 is connected in parallel between the gate and source of MOSFET Q1, the VCC pin of the power divider is connected to the 3.3V power supply through series capacitor C5, the OUT pin of the power divider is connected to the first end of capacitor C6 through series resistor R11, and the second end of capacitor C6 is connected to the UWB base station module.

[0007] Specifically, the UWB base station module includes: a UWB chip, a crystal oscillator, capacitors C7, C8, and C9, and resistor R22; The ANT_CAL pin of the UWB chip is connected to the cathode of diode D1 in the environmental compensation module. The RX_IN pin of the UWB chip is connected to capacitor C6 and resistor R11 in the multipath effect simulator module. The CLK_OUT pin of the UWB chip is connected to the delay line chip through resistor R7 in the multipath effect simulator module. The TX_OUT pin of the UWB chip is connected to the mixer through capacitor C2 in the multipath effect simulator module. The first terminal of the crystal oscillator is connected to the XTA pin of the UWB chip and the first terminal of capacitor C9, respectively. The second terminal of capacitor C9 is connected to ground. The second terminal of the crystal oscillator is connected to the XTB pin of the UWB chip and the first terminal of capacitor C8, respectively. The second terminal of capacitor C8 is connected to ground. The RST pin of the UWB chip is connected to the first terminal of resistor R22 and the first terminal of capacitor C7. The second terminal of resistor R22 is connected to the 3.3V power supply, and the second terminal of capacitor C7 is connected to ground.

[0008] Specifically, the hardware decision module includes: potentiometer, comparator, resistor R12, environmental compensation module, encoder, resistor R16, LED1, LED2, LED3, resistor R17, resistor R18, resistor R19, resistor R13, resistor R14, resistor R15, and FPGA chip. The potentiometer's power supply terminal is connected to a 3.3V power supply, its ground terminal is connected to ground, and its output terminal is connected to the inverting input terminal of the comparator. The intermediate node of the RC filter network in the environmental compensation module is connected to the non-inverting input terminal of the comparator via a series resistor R12. The comparator's output terminal is connected to the EI pin of the encoder. The encoder's GS pin is connected to a 3.3V power supply via a series resistor R16. The encoder's Y0 pin is connected to ground via a series LED1 and resistor R19. The encoder's Y1 pin is connected to ground via a series LED2 and resistor R18. The encoder's Y2 pin is connected to ground via a series LED3 and resistor R17. The encoder's A0 pin is connected to the GPIO0 pin of the FPGA chip via a series resistor R13. The encoder's A1 pin is connected to the GPIO1 pin of the FPGA chip via a series resistor R14. The encoder's A2 pin is connected to the GPIO2 pin of the FPGA chip via a series resistor R15. The FPGA chip's PWM pin is connected to resistor R10 in the multipath effect simulator module. The encoder's OUIT pin is connected to the execution module.

[0009] Specifically, the execution module includes: resistor R20, resistor R21, LED4, LED5, optocoupler isolator, diode D3, and relay; The anode of the optocoupler is connected to the output terminal of the encoder, the cathode of the optocoupler is connected to ground, the collector 1 of the optocoupler is connected to the anode of LED4 and the first terminal of resistor R20, the cathode of LED4 is connected to ground, and the second terminal of resistor R20 is connected to a 5V power supply. The collector 2 of the optocoupler is connected to the anode of LED5 and the first terminal of resistor R21, the cathode of LED5 is connected to ground, and the second terminal of resistor R21 is connected to a 5V power supply. The collector 3 of the optocoupler is connected to the anode of diode D3 and the first terminal of the relay coil, and the second terminal of the relay coil is connected to the cathode of diode D3 and a 12V power supply.

[0010] Compared with existing technologies, this invention has the following advantages: This invention significantly improves UWB positioning and tracking performance through hardware-level collaboration of each module. The environmental compensation module, using a hardware circuit composed of a humidity-sensitive resistor, a thermistor, and an operational amplifier, corrects the influence of temperature and humidity on the UWB signal in real time, significantly reducing positioning deviation and ensuring stable position data. The multipath effect simulator, through a delay line chip, a mixer, and a dynamic load circuit, effectively reproduces multipath interference in real-world scenarios, improving the continuity of positioning trajectories in complex environments. The hardware decision module, using comparators, encoders, and FPGA hardware logic, quickly completes risk classification and control signal output, significantly shortening the response delay in abnormal positioning states. The execution module, through optocoupler isolators and back EMF protection design, ensures reliable triggering of risk response actions. Attached Figure Description

[0011] Figure 1 This is a block diagram of a dynamic environmental compensation and hardware decision control circuit for UWB positioning according to this utility model; Figure 2 This is the circuit connection diagram of the environmental compensation module of this utility model; Figure 3 This is the circuit connection diagram of the multipath effect simulator module of this utility model; Figure 4 This is a circuit connection diagram of the UWB base station module of this utility model; Figure 5 This is the circuit connection diagram of the hardware decision module of this utility model; Figure 6 This is the circuit connection diagram of the execution module of this utility model. Detailed Implementation

[0012] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0013] like Figures 1-6 As shown, the technical solution adopted by this utility model is as follows: a dynamic environment compensation and hardware decision control circuit for UWB positioning, comprising: an environment compensation module, a UWB base station module, a multipath effect simulator module, a hardware decision module, and an execution module.

[0014] The environmental compensation module is connected to the hardware decision module and the UWB base station module, respectively. The UWB base station module is connected to the multipath effect simulator module, and the hardware decision module is connected to the execution module and the multipath effect simulator module, respectively.

[0015] Specifically, the environmental compensation module includes: humidity sensor RH, thermistor RT, resistor R1, resistor R3, operational amplifier, resistor R2, RC filter network, and diode D1.

[0016] The 3.3V power supply is connected to the first common terminal of the humidity sensor RH and the thermistor RT. The second common terminal of the humidity sensor RH and the thermistor RT is connected to the first terminal of resistor R1 and the non-inverting input terminal of the operational amplifier. The second terminal of resistor R1 is connected to ground. The inverting input terminal of the operational amplifier is connected to the first terminals of resistors R3 and R2. The second terminal of resistor R3 is connected to ground. The second terminal of resistor R2 is connected to the output terminal of the operational amplifier and the input terminal of the RC filter network. The intermediate node of the RC filter network is connected to the hardware decision module. The output terminal of the RC filter network is connected to the anode of diode D1. The cathode of diode D1 is connected to the UWB base station module.

[0017] The humidity sensor RH (model HS1101LF) detects ambient humidity and converts humidity changes into resistance changes. The thermistor RT (model MF52-3950) detects ambient temperature and converts temperature changes into resistance changes. Resistors R1 (20kΩ), R3 (10kΩ), and R2 (100kΩ) form a voltage divider and feedback circuit, working with an operational amplifier to amplify the signal. The operational amplifier (model LM358) amplifies the voltage signal from the temperature and humidity sensing network. The RC filter network, consisting of resistor R0 (1kΩ) and capacitor C0 (100nF), filters out high-frequency noise. Diode D1 (model 1N4148) provides unidirectional isolation, preventing the UWB chip signal from flowing back into the compensation module.

[0018] Ambient humidity and temperature are detected in real time by a humidity sensor (RH) and a thermistor (RT). Changes in temperature and humidity are converted into changes in resistance. After voltage division by resistor R1, the corresponding voltage signal is input to an operational amplifier. The operational amplifier, through resistors R3 and R2, forms an amplification circuit to generate a compensation signal reflecting environmental changes. After high-frequency noise is filtered out by an RC filter network, one path of the compensation signal is transmitted through an intermediate node to the hardware decision module, providing environmental parameters for risk assessment. The other path is isolated by diode D1 and transmitted to the UWB base station module to achieve real-time phase compensation of the UWB radio frequency signal.

[0019] Specifically, the multipath effect simulator module includes: a delay line chip, a DIP switch S1, resistors R4, R5, R6, and R7, capacitor C1, a mixer, capacitors C2 and C3, resistor R8, MOSFET Q1, resistor R9, diode D2, resistor R10, capacitor C4, a power divider, capacitor C5, resistor R11, and capacitor C6.

[0020] The delay line chip's DELAY pin is connected to DIP switch S1. The three pins of DIP switch S1 are connected to ground via resistors R4, R5, and R6, respectively. The delay line chip's CLK_IN pin is connected to the UWB base station module via series resistor R7. The delay line chip's OUTPUT pin is connected to the mixer's RFIN pin via series capacitor C1. The mixer's LOIN pin is connected to the UWB base station module via series capacitor C2. The mixer's IFOUT pin is connected to the first terminal of resistor R8 via series capacitor C3. The second terminal of resistor R8 is connected to the MOSFET. The drain of Q1 is connected, the gate of MOSFET Q1 is connected to the hardware decision module through series resistor R10, the source of MOSFET Q1 is connected to ground through series resistor R9, the source of MOSFET Q1 is connected to the IN pin of the power divider through series capacitor C4, diode D2 is connected in parallel between the gate and source of MOSFET Q1, the VCC pin of the power divider is connected to the 3.3V power supply through series capacitor C5, the OUT pin of the power divider is connected to the first end of capacitor C6 through series resistor R11, and the second end of capacitor C6 is connected to the UWB base station module.

[0021] The delay line chip, model DS1023S-50, is used to generate delay signals of 10ns / 30ns / 50ns. DIP switch S1 is a 3-position mechanical DIP switch to switch the delay levels. Resistors R4 (1kΩ), R5 (1kΩ), and R6 (1kΩ) are grounding resistors for the delay levels. Resistor R7 (50Ω) is a signal matching resistor. Capacitors C1 (10nF) and C2 (10nF) are DC blocking capacitors to prevent DC signals from interfering with the RF path. The mixer, model ADL5801, is used to mix and superimpose the delayed signal with the original UWB signal to simulate multipath interference. MOSFET Q1, model IRF540N, forms a dynamic load adjustment circuit. Resistor R8 (50Ω) is a current-limiting resistor, resistor R9 (1kΩ) is a source grounding resistor, and R10 (10kΩ) is a gate drive resistor. Diode D2, model 1N4733A, provides voltage regulation and protection for the gate of MOSFET Q1. Capacitor C4 (100nF) is a filter capacitor. The power divider is an SP2T RF power divider used to feed back analog multipath signals to the UWB chip. Capacitor C5 (100nF) is the power divider's power supply filter capacitor, R11 (50Ω) is a matching resistor, and C6 (10nF) is a DC blocking capacitor.

[0022] The delay line chip receives the clock signal output from the UWB base station module. Using DIP switch S1 and resistors R4, R5, and R6, different delay levels are set, allowing the delay line chip to output a signal with a specific delay to simulate multipath interference sources at different distances. The delayed signal output from the delay line chip is transmitted to the RFIN pin of the mixer via capacitor C1, while the transmit signal from the UWB base station module is transmitted to the LOIN pin of the mixer via capacitor C2. The mixer mixes and superimposes the two signals to generate a signal with multipath interference characteristics. The signal output from the mixer is transmitted to the drain of MOSFET Q1 via capacitor C3 and resistor R8. Under the control of the hardware decision module's output signal (transmitted via resistor R10), MOSFET Q1, along with resistor R9, diode D2, and capacitor C4, forms a dynamic load circuit to adjust the signal attenuation level to simulate signal loss in real-world scenarios. The dynamically adjusted signal input power divider, powered by a 3.3V power supply (filtered by capacitor C5), feeds the signal back to the receiver of the UWB base station module via resistor R11 and capacitor C6, providing a hardware-level multipath interference scenario for the UWB system to test and optimize the system's anti-multipath interference capability.

[0023] Specifically, the UWB base station module includes: a UWB chip, a crystal oscillator, capacitors C7, C8, and C9, and resistor R22.

[0024] The ANT_CAL pin of the UWB chip is connected to the cathode of diode D1 in the environmental compensation module. The RX_IN pin of the UWB chip is connected to capacitor C6 and resistor R11 in the multipath effect simulator module. The CLK_OUT pin of the UWB chip is connected to the delay line chip through resistor R7 in the multipath effect simulator module. The TX_OUT pin of the UWB chip is connected to the mixer through capacitor C2 in the multipath effect simulator module. The first terminal of the crystal oscillator is connected to the XTA pin of the UWB chip and the first terminal of capacitor C9, respectively. The second terminal of capacitor C9 is connected to ground. The second terminal of the crystal oscillator is connected to the XTB pin of the UWB chip and the first terminal of capacitor C8, respectively. The second terminal of capacitor C8 is connected to ground. The RST pin of the UWB chip is connected to the first terminal of resistor R22 and the first terminal of capacitor C7. The second terminal of resistor R22 is connected to the 3.3V power supply, and the second terminal of capacitor C7 is connected to ground.

[0025] The UWB chip model is DW1000, which processes UWB positioning signals. The crystal oscillator is a 32MHz passive crystal oscillator, providing the clock signal. Capacitors C7 (100nF), C8 (22pF), and C9 (22pF) are filter and load capacitors. Resistor R22 (10kΩ) is a reset pull-up resistor.

[0026] Centered around the UWB chip, this system handles the transmission and reception of UWB positioning signals and performs core calculations. The UWB chip's ANT_CAL pin receives the compensation signal output from the cathode of diode D1 in the environmental compensation module, used to correct its own RF signal parameters in real time and offset signal phase shifts caused by changes in ambient temperature and humidity. The UWB chip's RX_IN pin receives a signal with multipath interference characteristics output from capacitor C6 in the multipath effect simulator module, used to test and optimize its signal processing capabilities against multipath interference. The UWB chip's CLK_OUT pin outputs a clock signal, transmitted to the delay line chip via resistor R7 in the multipath effect simulator module, providing a reference clock for multipath interference simulation. The UWB chip's TX_OUT pin outputs a transmit signal, transmitted to the mixer via capacitor C2 in the multipath effect simulator module, serving as the raw signal source for multipath interference simulation. A crystal oscillator provides a stable clock oscillation signal for the UWB chip, ensuring stable chip timing. The UWB chip's RST pin ensures reliable reset and normal startup upon power-up.

[0027] Specifically, the hardware decision module includes: potentiometer, comparator, resistor R12, environmental compensation module, encoder, resistor R16, LED1, LED2, LED3, resistor R17, resistor R18, resistor R19, resistor R13, resistor R14, resistor R15, and FPGA chip.

[0028] The potentiometer's power supply terminal is connected to a 3.3V power supply, its ground terminal is connected to ground, and its output terminal is connected to the inverting input terminal of the comparator. The intermediate node of the RC filter network in the environmental compensation module is connected to the non-inverting input terminal of the comparator via a series resistor R12. The comparator's output terminal is connected to the EI pin of the encoder. The encoder's GS pin is connected to a 3.3V power supply via a series resistor R16. The encoder's Y0 pin is connected to ground via a series LED1 and resistor R19. The encoder's Y1 pin is connected to ground via a series LED2 and resistor R18. The encoder's Y2 pin is connected to ground via a series LED3 and resistor R17. The encoder's A0 pin is connected to the GPIO0 pin of the FPGA chip via a series resistor R13. The encoder's A1 pin is connected to the GPIO1 pin of the FPGA chip via a series resistor R14. The encoder's A2 pin is connected to the GPIO2 pin of the FPGA chip via a series resistor R15. The FPGA chip's PWM pin is connected to resistor R10 in the multipath effect simulator module. The encoder's OUIT pin is connected to the execution module.

[0029] The potentiometer is a 10kΩ adjustable potentiometer used to set the risk threshold voltage. The comparator is an LM393 used to compare the environmental compensation signal with the threshold voltage. Resistor R12 (10kΩ) is a signal current-limiting resistor. The encoder is a 74HC148, which converts the comparator output into a 3-bit risk level code. Resistor R16 (4.7kΩ) is the encoder pull-up resistor, and resistors R13 (220Ω), R14 (220Ω), and R15 (220Ω) are current-limiting resistors for the encoder output. LEDs 1, 2, and 3 are green, yellow, and red light-emitting diodes, respectively, indicating the three risk levels. Resistors R17 (1kΩ), R18 (1kΩ), and R19 (1kΩ) are LED current-limiting resistors. The FPGA chip is a Cyclone IV EP4CE6, which receives the encoded signal and outputs PWM to control the dynamic load.

[0030] The potentiometer, connected to a 3.3V power supply and ground, outputs the set risk threshold voltage to the inverting input of the comparator. The environmental parameter signal output from the intermediate node of the RC filter network in the environmental compensation module is transmitted to the non-inverting input of the comparator via resistor R12. The comparator compares the two signals and outputs the corresponding level signal to the EI pin of the encoder. Upon receiving this signal, the encoder converts it into a risk level code. The GS pin is connected to a 3.3V power supply via resistor R16 to ensure code stability. The Y0, Y1, and Y2 pins are grounded via series connections of LED1, LED2, and LED3, and resistors R19, R18, and R17, respectively, providing a visual indication of the three risk levels. The encoder's A0, A1, and A2 pins are connected to the GPIO0, GPIO1, and GPIO2 pins of the FPGA chip via resistors R13, R14, and R15, respectively, transmitting the encoded signal to the FPGA chip. The FPGA chip's PWM pin is connected to resistor R10 in the multipath effect simulator module to control the dynamic load of the multipath effect simulation according to the risk level. Meanwhile, the encoder's output is connected to the execution module, providing the execution module with a risk level signal to achieve hardware-level decision control of the execution action.

[0031] Specifically, the execution module includes: resistor R20, resistor R21, LED4, LED5, optocoupler isolator, diode D3, and relay.

[0032] The anode of the optocoupler is connected to the output terminal of the encoder, the cathode of the optocoupler is connected to ground, the collector 1 of the optocoupler is connected to the anode of LED4 and the first terminal of resistor R20, the cathode of LED4 is connected to ground, and the second terminal of resistor R20 is connected to a 5V power supply. The collector 2 of the optocoupler is connected to the anode of LED5 and the first terminal of resistor R21, the cathode of LED5 is connected to ground, and the second terminal of resistor R21 is connected to a 5V power supply. The collector 3 of the optocoupler is connected to the anode of diode D3 and the first terminal of the relay coil, and the second terminal of the relay coil is connected to the cathode of diode D3 and a 12V power supply.

[0033] The optocoupler is model TLP521-4, providing electrical isolation and preventing interference. LED4 and LED5 are red light-emitting diodes, indicating the operating status. Resistors R20 (1kΩ) and R21 (1kΩ) are LED current-limiting resistors. Diode D3 is model P6KE18A, suppressing the back electromotive force of the relay coil. The relay model G5LE-1 performs safety actions such as emergency stop.

[0034] The anode of the optocoupler receives the output signal from the encoder in the hardware decision module, while the cathode is grounded. Opto-isolation achieves electrical isolation between the control signal and the execution circuit, preventing interference. The collector 1 of the optocoupler connects to the anode of LED4 and the first terminal of resistor R20. The cathode of LED4 is grounded, and the second terminal of resistor R20 is connected to a 5V power supply, forming the first status indication circuit. The on / off state of LED4 reflects the execution status of the corresponding risk level. The collector 2 of the optocoupler connects to the anode of LED5 and the first terminal of resistor R21. The cathode of LED5 is grounded, and the second terminal of resistor R21 is connected to a 5V power supply, forming the second status indication circuit. The on / off state of LED5 reflects the execution status of another risk level. The collector 3 of the optocoupler connects to the anode of diode D3 and the first terminal of the relay coil. The second terminal of the relay coil is connected to the cathode of diode D3 and a 12V power supply. The relay engages or disengages according to the output signal of the optocoupler, performing the corresponding safety action. Diode D3 absorbs the back electromotive force generated when the relay coil is disconnected, protecting the circuit components.

[0035] In the scenario of personnel positioning in a factory workshop, the humidity-sensitive resistor RH and the thermistor RT of the environmental compensation module sense the temperature and humidity fluctuations in the workshop in real time caused by changes in equipment heat dissipation and ventilation. The compensation signal generated by the resistance change is sent to the UWB chip of the UWB base station module through diode D1, which directly corrects the phase offset of the radio frequency signal, ensuring that the positioning coordinates of the operator are not affected by temperature and humidity and maintain an accuracy within ±30cm.

[0036] Another synchronous input is sent to the hardware decision module, providing real-time environmental parameters to determine whether personnel are in a high-temperature, high-humidity hazardous work area. The hardware decision module compares these parameters with the safety threshold set by the potentiometer and generates a risk level code via an encoder: if personnel are near high-temperature equipment (environmental parameters exceeding the threshold), the code controls the MOSFET Q1 of the multipath effect simulator via the FPGA chip, adjusting the dynamic load to simulate signal attenuation caused by equipment obstruction, ensuring the continuity of the personnel's positioning trajectory around the equipment. Simultaneously, the code is transmitted to the execution module to drive its actions.

[0037] The UWB base station module's UWB chip outputs clock and transmit signals to a multipath effect simulator. A delay line chip, combined with the delay settings of DIP switch S1, simulates multipath signal delays reflected from workshop pillars and machines. The generated delayed signal is superimposed with the transmitted signal by a mixer to form a signal with multipath interference. After dynamic load adjustment, it is fed back to the UWB chip receiver via a power divider, testing the chip's anti-interference tracking capability for personnel movement trajectories in a complex workshop environment. The execution module, based on signals from the hardware decision module, drives relays after optocoupler isolation, triggering actions such as audible and visual alarms, and linking access control to restrict entry. Through diode D3 protection circuit, it ultimately achieves precise positioning of workshop personnel, continuous trajectory tracking, and real-time safety management of hazardous conditions.

[0038] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A dynamic environment compensation and hardware decision control circuit for UWB positioning, characterized in that, It includes: an environmental compensation module, a UWB base station module, a multipath effect simulator module, a hardware decision-making module, and an execution module; The environmental compensation module is connected to the hardware decision module and the UWB base station module, respectively. The UWB base station module is connected to the multipath effect simulator module, and the hardware decision module is connected to the execution module and the multipath effect simulator module, respectively.

2. The dynamic environment compensation and hardware decision control circuit for UWB positioning according to claim 1, characterized in that, The environmental compensation module includes: humidity sensor RH, thermistor RT, resistor R1, resistor R3, operational amplifier, resistor R2, RC filter network, and diode D1; The 3.3V power supply is connected to the first common terminal of the humidity sensor RH and the thermistor RT. The second common terminal of the humidity sensor RH and the thermistor RT is connected to the first terminal of resistor R1 and the non-inverting input terminal of the operational amplifier. The second terminal of resistor R1 is connected to ground. The inverting input terminal of the operational amplifier is connected to the first terminals of resistors R3 and R2. The second terminal of resistor R3 is connected to ground. The second terminal of resistor R2 is connected to the output terminal of the operational amplifier and the input terminal of the RC filter network. The intermediate node of the RC filter network is connected to the hardware decision module. The output terminal of the RC filter network is connected to the anode of diode D1. The cathode of diode D1 is connected to the UWB base station module.

3. The dynamic environment compensation and hardware decision control circuit for UWB positioning according to claim 2, characterized in that, The multipath effect simulator module includes: a delay line chip, a DIP switch S1, resistors R4, R5, R6, and R7, capacitor C1, a mixer, capacitors C2 and C3, resistor R8, MOSFET Q1, resistor R9, diode D2, resistor R10, capacitor C4, a power divider, capacitor C5, resistor R11, and capacitor C6. The delay line chip's DELAY pin is connected to DIP switch S1. The three pins of DIP switch S1 are connected to ground via resistors R4, R5, and R6, respectively. The delay line chip's CLK_IN pin is connected to the UWB base station module via series resistor R7. The delay line chip's OUTPUT pin is connected to the mixer's RFIN pin via series capacitor C1. The mixer's LOIN pin is connected to the UWB base station module via series capacitor C2. The mixer's IFOUT pin is connected to the first terminal of resistor R8 via series capacitor C3. The second terminal of resistor R8 is connected to the MOSFET. The drain of Q1 is connected, the gate of MOSFET Q1 is connected to the hardware decision module through series resistor R10, the source of MOSFET Q1 is connected to ground through series resistor R9, the source of MOSFET Q1 is connected to the IN pin of the power divider through series capacitor C4, diode D2 is connected in parallel between the gate and source of MOSFET Q1, the VCC pin of the power divider is connected to the 3.3V power supply through series capacitor C5, the OUT pin of the power divider is connected to the first end of capacitor C6 through series resistor R11, and the second end of capacitor C6 is connected to the UWB base station module.

4. The dynamic environment compensation and hardware decision control circuit for UWB positioning according to claim 3, characterized in that, The UWB base station module includes: UWB chip, crystal oscillator, capacitor C7, capacitor C8, capacitor C9, and resistor R22; The ANT_CAL pin of the UWB chip is connected to the cathode of diode D1 in the environmental compensation module. The RX_IN pin of the UWB chip is connected to capacitor C6 and resistor R11 in the multipath effect simulator module. The CLK_OUT pin of the UWB chip is connected to the delay line chip through resistor R7 in the multipath effect simulator module. The TX_OUT pin of the UWB chip is connected to the mixer through capacitor C2 in the multipath effect simulator module. The first terminal of the crystal oscillator is connected to the XTA pin of the UWB chip and the first terminal of capacitor C9, respectively. The second terminal of capacitor C9 is connected to ground. The second terminal of the crystal oscillator is connected to the XTB pin of the UWB chip and the first terminal of capacitor C8, respectively. The second terminal of capacitor C8 is connected to ground. The RST pin of the UWB chip is connected to the first terminal of resistor R22 and the first terminal of capacitor C7. The second terminal of resistor R22 is connected to the 3.3V power supply, and the second terminal of capacitor C7 is connected to ground.

5. The dynamic environment compensation and hardware decision control circuit for UWB positioning according to claim 3, characterized in that, The hardware decision module includes: potentiometer, comparator, resistor R12, environmental compensation module, encoder, resistor R16, LED1, LED2, LED3, resistor R17, resistor R18, resistor R19, resistor R13, resistor R14, resistor R15, and FPGA chip. The potentiometer's power supply terminal is connected to a 3.3V power supply, its ground terminal is connected to ground, and its output terminal is connected to the inverting input terminal of the comparator. The intermediate node of the RC filter network in the environmental compensation module is connected to the non-inverting input terminal of the comparator via a series resistor R12. The comparator's output terminal is connected to the EI pin of the encoder. The encoder's GS pin is connected to a 3.3V power supply via a series resistor R16. The encoder's Y0 pin is connected to ground via a series LED1 and resistor R19. The encoder's Y1 pin is connected to ground via a series LED2 and resistor R18. The encoder's Y2 pin is connected to ground via a series LED3 and resistor R17. The encoder's A0 pin is connected to the GPIO0 pin of the FPGA chip via a series resistor R13. The encoder's A1 pin is connected to the GPIO1 pin of the FPGA chip via a series resistor R14. The encoder's A2 pin is connected to the GPIO2 pin of the FPGA chip via a series resistor R15. The FPGA chip's PWM pin is connected to resistor R10 in the multipath effect simulator module. The encoder's OUIT pin is connected to the execution module.

6. The dynamic environment compensation and hardware decision control circuit for UWB positioning according to claim 5, characterized in that, The execution module includes: resistor R20, resistor R21, LED4, LED5, optocoupler isolator, diode D3, and relay; The anode of the optocoupler is connected to the output terminal of the encoder, the cathode of the optocoupler is connected to ground, the collector 1 of the optocoupler is connected to the anode of LED4 and the first terminal of resistor R20, the cathode of LED4 is connected to ground, and the second terminal of resistor R20 is connected to a 5V power supply. The collector 2 of the optocoupler is connected to the anode of LED5 and the first terminal of resistor R21, the cathode of LED5 is connected to ground, and the second terminal of resistor R21 is connected to a 5V power supply. The collector 3 of the optocoupler is connected to the anode of diode D3 and the first terminal of the relay coil, and the second terminal of the relay coil is connected to the cathode of diode D3 and a 12V power supply.

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