Crazyflie 2.x DWM1000 Loco Positioning Node for Indoor Positioning System,anultra-wide-band radio module
The Loco Positioning node is a multi-functional node in a Loco Positioning system, it can act either as an Anchor or Tag. Most commonly it is used as an Anchor, being part of the reference base for the system. Alternatively is can also run in Tag mode when it can be attached to an object to track, for instance a robot.
PRODUCT DETAILS
The Loco Positioning node is a multi-functional node in a Loco Positioning system, it can act either as an Anchor or Tag. Most commonly it is used as an Anchor, being part of the reference base for the system. Alternatively, it can also run in Tag mode when it can be attached to an object to track, for instance a robot.
Features
- Powerful chip support: Based on STM32F072 Cortex-M0 MCU can enable fast and accurate data processing and control
- Ultra-wideband communication: Built with the off-the-shelf DWM1000 UWB radio and based on IEEE802.15.4a UWB PHY standard.
- High precision ranging: Measures distances to Loco Positioning Node Anchors with accuracy within a 10 cm range
- Supports Anchor, Tag or Sniffer mode: Can be used as a standalone system with some Nodes acting as Anchors and one or more nodes acting as Tags
- Upgradable and configurable via USB
Description
The Loco Positioning Node is a versatile positioning device that mainly is used as an Anchor in a Loco Positioning system. The system measures the distance between Nodes and Tags, and from those distances, the absolute position of objects carrying Tags can be calculated.
The base of the Loco Positioning system is a set of Anchors that are positioned in the room (compare to the satellites in GPS), they are the reference. The other part of the system is one or more Tags (compare to the GPS receiver) that are fixed to the object(s) that are to be tracked. By sending short high-frequency radio messages between the Anchors and Tags, the system measures the distance from each Anchor to the Tags and calculates the position of the Tags from that information.
Note
This product is intended to be used together with Loco Positioning Deck and can not be used standalone. For more information on the Loco Positioning System please see Loco Positioning System tutorial.
The Loco Positioning system
The default mode (Two way ranging) of the Loco Positioning system supports the positioning of only one Crazyflie so to position multiple Crazyflies the system must be switched to the TDoA mode. The TDoA mode works like an indoor GPS system where the Crazyflies only listen to positioning information from the anchors which makes it possible to position a large number of drones. Due to the nature of TDoA the position estimation works best in the space inside the anchors (the convex hull) and we recommend using 8 anchors for TDoA.
- Compatibility: See compatibility matrix
- What to buy:
- 8 x Loco positioning nodes
- 1 x Crazyradio PACrazyflie 2.1
- 1× Crazyflie 2.1
- 1×Loco Positioning deck
Application
- teaching study
- High-density cluster application
- trajectory planning
- Indoor positioning and navigation
- Ranging system
Specifications
|
Items |
Specifications |
|
Electrical |
|
|
MCU |
STM32F072(Cortex-M0, 48MHz, 16kb SRAM, 128kb flash) |
|
Module |
Decawave DWM1000 |
|
Wireless |
IEEE 802.15.4 UWB |
|
Automatic expansion deck detection |
1-wire memory |
|
High-precision pressure sensor |
LPS25H |
|
connector |
micro-USB |
|
Serial connector compatible with ESP8266 module (not populated) |
|
|
Port |
Full speed USB device |
|
FTDI debug(not populated) |
|
|
Power |
by USB, 6 mm barrel jack (5 - 12V) or screw terminal (5 - 12V) |
|
Consume Current |
Max 180 mA |
|
Radio |
|
|
Operating frequency |
3.2 - 7 GHz |
|
Channel bandwidth |
500 MHz |
|
Ranging |
|
|
Ranging accuracy |
±10 cm |
|
Maximum tested range |
10 m |
|
Mechanical |
|
|
Weight |
13.3 g |
|
Size (WxHxD) |
65x40x13 mm |
|
Installation |
4 × holes for M3 screws |
Nr of anchors required: theoretical minimum of 4 for 3D positioning. More anchors add redundancy and accuracy, up to 8 supported.
Hardware
|
ID |
Type |
Description |
|
1 |
Connector |
micro-USB for power and communication |
|
2 |
Connector |
DC-jack (5V) |
|
3 |
Connector |
Terminal (5V) |
|
4 |
Button |
Reset |
|
5 |
Connector |
Designed for ESP8266 but can be used for other things. Note: Pin-out changed between RevD and RevE (see blow) |
|
6 |
Button |
If pressed and held during reset or power on this will put the board into DFU bootloader mode. When the system is up and running the button is unused, but could be used to trigger functionality in the firmware. |
|
7 |
Connector |
SWD connector for programming and debugging MCU. Uses same pin-out as Crazyflie 2.X. |
|
8 |
Connector |
For FTDI serial-to-USB cable (TTL-232R-3V3). Can be used as a serial port for debugging and to power the board. Note that signals are 3V3 and power is 5V. |
|
9 |
Mounting |
M3 mounting holes |
LED legend:
|
LED |
Color |
Controlled by |
Description |
|
POWER |
Blue |
MCU |
On when board is powered |
|
RANGING |
Red |
MCU |
Blinking when ranging is in progress |
|
SYNC |
Green |
MCU |
TDB |
|
MODE |
Yellow |
MCU |
On in Anchor mode, off in Tag mode and blinking in Sniffer mode |
|
TX |
Red |
DWM1000 |
Transmitting |
|
RX |
Green |
DWM1000 |
Receiving |
|
SFD |
Yellow |
DWM1000 |
Received packet timestamp |
|
RXOK |
Red |
DWM1000 |
Packet received without error |
Part List
|
Loco positioning Node |
×1 |
ECCN/HTS
| HSCODE | 8529101000 |
| USHSCODE | 8517180050 |
| UPC | |
| EUHSCODE | 8517180000 |
| COO | CHINA |
| RoHS | 1 |