CN220653547U - Positioning instrument based on domestic chip - Google Patents

Abstract

The utility model discloses a positioning instrument based on a domestic chip, which belongs to the technical field of positioning and comprises a chip module, a communication module and a power module. The chip module adopts a QSHKHN001+BLE+UWB structure, and the real position information is uploaded to the upper computer through the RS485 interface and the CAN bus communication module by integrating and analyzing the measured value of the BLE+UWB unit by the main control chip QHKHN 001. The positioning instrument can provide real-time continuous and high-precision position information service, and has the characteristics of low power consumption, low cost, wide coverage, indoor and outdoor integrated positioning architecture and the like. Can be widely applied to factories, warehouses, hospitals, intelligent home and high-safety fields.

Description

Positioning instrument based on domestic chip

Technical Field

The utility model relates to the technical field of navigation positioning data processing, in particular to a positioning instrument based on a domestic chip.

Background

Navigation and positioning are relevant to society, economy, safety and the like of the country, and have wide application in military and civil aspects. With the development of high and new technologies such as 5G, internet of things and AI, high-precision navigation positioning has become an indispensable service for human beings, and the demands of location services are continuously expanding. The positioning navigation technology of the global navigation satellite system (Global Navigation Satellite System, GNSS) in the outdoor environment is mature, the positioning navigation of the coverage area can reach millimeter level, but GNSS signals are very weak or tend to be absent in the indoor environment, and more than 80% of life time of people is in indoor and underground space, so that the research of indoor high-precision positioning navigation has become a hot spot in various colleges and universities, research institutions and enterprises.

Ultra-wideband (UWB) and bluetooth low energy (Bluetooth low energy, BLE) are mainstream and widely applied indoor positioning technologies, which have respective advantages and disadvantages. UWB technology has high positioning accuracy and is widely used, but its cost is also high, and BLE is not suitable for large-scale indoor navigation positioning of common pedestrians, and BLE has high popularity in positioning terminals such as smartphones, etc., and its price is low, but its positioning accuracy is lower. Therefore, it is difficult for a single indoor positioning sensor to meet the relatively high-precision and low-cost navigation positioning requirements.

In summary, an indoor UWB/BLE combined positioning scheme is proposed herein, which considers combining and positioning both UWB and BLE positioning technologies, which complement each other. The scheme can integrate the advantages of UWB high precision and BLE low cost, thereby realizing relatively high precision and relatively low cost indoor pedestrian navigation. Has important significance for promoting the sustainable development of location services and socioeconomic and the harmonious stability of society.

Disclosure of Invention

The utility model aims to provide a positioning instrument based on a domestic chip, so as to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the utility model provides a positioning instrument based on domestic chip, includes chip module, communication module and power module, communication module and chip module are connected respectively to power module, and communication module is still connected to chip module, and chip module includes control unit, UWB and BLE combination range unit, communication module includes 485 communication unit and CAN communication unit, power module includes 12V and changes 5V unit and 5V and changes 3.3V unit.

As a further technical scheme of the utility model: the chip module is a new generation UWB radio frequency Bluetooth dual-mode SoC chip which is independently researched and developed, the model is QSHKHN001, and the chip module has the advantages of high performance, low cost, low power consumption and the like, wherein the control unit is a register and mainly functions to perform data fusion on distance data from the ranging unit through a Kalman filtering algorithm, convert the distance data into an RS485 signal and a CAN signal and respectively send the RS485 signal and the CAN signal to the 485 communication circuit and the CAN communication circuit. The UWB and BLE combined ranging unit is based on IEEE802.15.4UWB compatible wireless transceiver modules and a high-performance Bluetooth BLE5.1 baseband processor, and is integrated with a radio frequency circuit, a clock circuit and the like, can be used for two-way ranging, supports TDoA and PDoA, and has positioning accuracy smaller than 10 cm.

As a further technical scheme of the utility model: the UWB and BLE combined ranging unit comprises a IEEE802.15.4UWB wireless transceiver module and a high-performance Bluetooth BLE5.1 baseband processor, and is characterized in that the distance data of the UWB and BLE combined ranging unit are subjected to data fusion through a Kalman filtering algorithm, wherein the integrated radio frequency circuit and the clock circuit are arranged in the integrated radio frequency circuit: and taking the BLE ranging value and the UWB ranging value as observation vectors, keeping the moving speed of the object at a constant speed, continuously and iteratively updating through an extended Kalman filter, and finally outputting carrier position information.

As a further technical scheme of the utility model: the 485 communication unit has the characteristics of long transmission distance, high output speed, more support nodes, stronger anti-interference capability and the like, and the transceiver chip is TP8485/SP3485, supports 3.3V-5.5V power supply and supports output short-circuit protection. The CAN communication unit is realized by a CAN controller and a CAN transceiver, and a CTM8251T chip is selected to realize a CAN transceiver circuit, so that the CAN communication unit has the function of level conversion and has an electrical isolation function.

As a further technical scheme of the utility model: the CAN communication unit is realized by a CAN controller and a CAN transceiver, and a CTM8251T chip is selected to realize a CAN transceiver circuit.

As a further technical scheme of the utility model: the 12V-to-5V circuit is responsible for converting 12V direct current supplied by a system host into 5V and supplying other power units, and provides power for the CAN bus circuit and the 485 protocol conversion circuit.

As a further technical scheme of the utility model: the 5V-to-3.3V circuit is responsible for supplying power to a domestic QSHKHN001 chip and peripheral circuits of the main control unit.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, the UWB module and the Bluetooth chip are combined together, and the cost and the power consumption of the system are reduced by utilizing a combined positioning mode of the UWB module and the Bluetooth chip, so that a plurality of problems encountered by the traditional positioning technology, namely indoor positioning by simply relying on the Bluetooth technology or the UWB technology, can be effectively solved, and meanwhile, the positioning precision of the system is improved by improving the data fusion of UWB and BLE.

Drawings

FIG. 1 is a schematic diagram of an indoor positioner hardware connection;

fig. 2 is a schematic diagram of a data flow process of the indoor positioner.

Reference numerals illustrate: 1. and the system comprises a domestic chip module, a communication module, a power module and a power module. 11. The distance measuring unit, 12, the control unit, 21, 485 communication unit, 22, CAN communication unit, 32, 12V to 5V unit, 31, 5V to 3.3V unit.

Detailed Description

The following will clearly and completely describe the technical solutions in the embodiments of the present utility model, and it is obvious that the described embodiments are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-2, a positioning apparatus based on a domestic chip, a high-precision indoor positioning apparatus based on a domestic chip, is characterized in that: comprising a chip module 1, a communication module 2 and a power module 3. The domestic chip module comprises a UWB and BLE combined ranging unit 11 and a control unit 12. The communication module comprises a 485 communication unit 21 and a CAN communication unit 22. The power supply module includes a 12V to 5V unit 32 and a 5V to 3.3V unit 31.

The domestic chip is a new generation UWB radio frequency Bluetooth dual-mode SoC chip which is independently developed, the model is QSHKHN001, and the domestic chip has the advantages of high performance, low cost, low power consumption and the like, wherein the control unit is a register and mainly aims at carrying out data fusion on distance data from the ranging unit through a Kalman filtering algorithm, converting the distance data into an RS485 signal and a CAN signal and respectively transmitting the RS485 signal and the CAN signal to the 485 communication circuit and the CAN communication circuit. The UWB and BLE combined ranging unit is based on IEEE802.15.4UWB compatible wireless transceiver modules and a high-performance Bluetooth BLE5.1 baseband processor, and is integrated with a radio frequency circuit, a clock circuit and the like, can be used for two-way ranging, supports TDoA and PDoA, and has positioning accuracy smaller than 10 cm.

The data fusion is to take a BLE ranging value and a UWB ranging value as observation vectors, keep the moving speed of an object at a constant speed, continuously and iteratively update the object through an extended Kalman filter, and finally output carrier position information.

The communication module consists of two parts, namely a 485 communication circuit and a CAN communication circuit. The 485 communication unit has the characteristics of long transmission distance, high output speed, more support nodes, stronger anti-interference capability and the like, and the transceiver chip is TP8485/SP3485, supports 3.3V-5.5V power supply and supports output short-circuit protection. The CAN communication unit is realized by a CAN controller and a CAN transceiver, and a CTM8251T chip is selected to realize a CAN transceiver circuit, so that the CAN communication unit has the function of level conversion and has an electrical isolation function.

The power supply module is divided into two parts: 12V to 5V unit and 5V to 3.3V unit. The 12V-to-5V circuit is responsible for converting 12V direct current supplied by a system host into 5V and supplying other power units, and provides power for the CAN bus circuit and the 485 protocol conversion circuit. The 5V-to-3.3V circuit is responsible for supplying power to the domestic QSHKHN001 chip and peripheral circuits of the main control unit.

The specific implementation method is as follows:

step one: initializing devices such as a clock, GPIO, serial ports, SPI and the like;

step two: after the initialization is completed, closing an external interrupt, resetting the UWB unit and the BLE unit, and initializing;

step three: the main control unit circularly reads the ranging data in the UWB unit and the BLE unit, and if the ranging data is successfully read and reaches 1000 groups, communication interruption is generated;

step four: and processing the interruption, and carrying out data fusion on the measured distance data information to obtain correct data information.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims (5)

1. The utility model provides a positioning instrument based on domestic chip, includes chip module, communication module and power module, its characterized in that, communication module and chip module are connected respectively to power module, and communication module is still connected to the chip module, and the chip module includes control unit, UWB and BLE combination range unit, communication module includes 485 communication unit and CAN communication unit, power module includes 12V and changes 5V unit and 5V and changes 3.3V unit.

2. The positioning instrument based on a domestic chip as claimed in claim 1, wherein the chip module is a UWB radio frequency bluetooth dual mode SoC chip, and is of the type QSHKHN001.

3. The positioning instrument of claim 2, wherein the UWB and BLE combined ranging unit comprises a IEEE802.15.4UWB wireless transceiver module and a bluetooth BLE5.1 baseband processor with high performance, integrated radio frequency circuitry, clock circuitry.

4. The positioning instrument of claim 1, wherein the transceiver chip of the 485 communication unit is TP8485/SP3485.

5. The positioning instrument based on a domestic chip as claimed in claim 4, wherein the CAN communication unit is implemented by a CAN controller and a CAN transceiver, and the CTM8251T chip is selected to implement the CAN transceiver circuit.