Localization Hardware
The anchors and tags are made up of some main components as described in the table below. The main difference is that the anchors have 180° of the antenna shielded in order to allow mounting on walls and ceilings without changing the antenna properties from reflections, other than that the tags contains a high precision IMU for sensor fusion in order to improve the velocity estimates.
| Anchors | Tag |
|---|---|
| a cortex-m0 processor from ST (STM32f072) | a cortex-m3 processor from ST (STM32f103) |
| an UWB device (DWM1000) | an UWB device (DWM1000) |
| a pressure sensor (LPS25H) | a pressure sensor (LPS25H) |
| a 3.3v low noise LDO regulator (MIC5209) | a high precision IMU (MPU-9250) |
| a single-cell LIPO charger (MCP73831) | a 3.3v low noise LDO regulator (MIC5209) |
| a single-cell LIPO charger (MCP73831) |
Connectivity
The system contains a number of potential ways to extract information. It is possible to connect to the anchors through a UART serial port, a virtual serial port on the USB port, or SWD via eg. openOCD (GDB). In the same way the tags can be reached through the UART port, a virtual serial port through the USB port or SWD. The next generation of the tags are supposed to have I2C and SPI extracted from the uC for improved connectivity to eg. a robot.
The Anchors
The Tags
