UWB localization for ArduPilot

Jonathan Challinger

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Aug 5, 2016, 2:10:29 PM8/5/16

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Hey guys, if anyone is interested, I am about to start a project working on tightly-integrated UWB localization for ArduPilot. The available existing solutions (PoZYX, Kinexon, etc) are expensive, closed, and are incorporating their own inertial sensors and thus require vibration isolation.

Applications:

Indoor localization
Outdoor localization with RTK-like precision
Precision landing (build four anchors into the corners of a landing pad)

The plan is:

Pixhawk is going to be directly connected to a DecaWave DWM1000 module ($20 a pop)

Initially, this means just soldering wires onto the module, perhaps with some copper tape as a ground plane.

Some other microcontroller (initially just more Pixhawks) will communicate with other DecaWave DWM1000 modules, acting as the "anchors" on the ground.
Get them talking to each other
Get them ranging accurately (see DW1000 user manual appendix 3 section 12.3)
Incorporate observations into EKF

Relevant links:

If anyone is interested in participating, please do get in touch. If you have relevant experience, there is a distinct possibility of a contract happening.

Roberto Navoni

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Aug 5, 2016, 3:30:05 PM8/5/16

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Hi Jonathan,
i'm already another project on that module i can support your work.
best
Roberto

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Jonathan Challinger

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Aug 5, 2016, 5:45:52 PM8/5/16

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Thanks Roberto,

Attached is a photo of the hardware I've just completed. It's a 33mm square piece of copper foil tape with the backing still on, SPI and IRQ on the right, power on the left (LM1117T-3.3 regulator). They all go into the 7-pin SPI connector on Pixhawk. I have two of them ready to go.

I'd love for e.g. Tridge to help me get started.

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IMG_20160805_143759.jpg

Randy Mackay

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Aug 5, 2016, 9:05:30 PM8/5/16

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Jon,

Thanks for the links and the picture. As discussed I can pitch in and I’ve ordered 4 of them.

I’m with Jon that I think these look very promising. Here’s a selection of a few products that use the same chip including one for that tiny quadcopter.

https://www.bitcraze.io/category/frontpage/page/2/

http://shop.loligo.se/product/lps-mini (https://hackaday.io/project/7183-lps-mini)

http://kinexon.com/

https://www.pozyx.io/

From some random googling, here’s an open source project that has some Arduino software to talk to the module including a break-out board design.

https://github.com/thotro/arduino-dw1000

https://www.oshpark.com/shared_projects/2qZiePck

-Randy

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Luis Vale Gonçalves

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Aug 6, 2016, 6:40:09 AM8/6/16

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Thanks Jonathan. A great idea!!

A few comments, also reporting to some of the links that Randy posted.

While theoretically better to connect the DecaWave chip to the SPI bus, most of the users won't be able to do it, so perhaps embracing one of the existing projects where the DecaWave chip is combined with a simple Arduino, would be a better solution. I would vote to go with a Arduino Pro mini because I'm lazy and like the convenience of the onboard USB chip, but the plain serial is better to integrate with the flight controller.

This approach of using an existing project would prevent lots of specific development and speed up the embracement of this kind of sensor

Now, I must find an easy way to get some components to Europe :)

Regarding the usage of this solution this would require us to have at least 3 ground markers ??(minimum/ideal) and one on the vehicle.

When used outdoors what range could be expected (100m?) ?

brgds

Luis

james pattison

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Aug 6, 2016, 10:41:14 PM8/6/16

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I think a foot in both camps might be worthwhile here: the rover direct spi on the vehicle, with base units on an arduino or similar. Using a ph for each static unit seems overkill (might be a good repurpose for apm2.x though?)
I've ordered 6 dwm1000 modules, and will put together 4 of the pro-mini boards. I'm in Canberra so these will be available to grant and/or tridge should they be interested.

Randy Mackay

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Aug 7, 2016, 10:43:01 PM8/7/16

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Jon,
Could you share how you've wired up the sensor to the regulator and Pixhawk?

I agree that we don't know which architecture is better yet (i.e. straight connection to pixhawk or interim micro). I guess it will depend upon how much communication needs to happen between the pixhawk and the sensor.

-Randy

Jonathan Challinger

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Aug 8, 2016, 2:11:10 PM8/8/16

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Yep. The DWM1000 datasheet is here (See page 9):

http://www.decawave.com/sites/default/files/resources/dwm1000-datasheet-v1.3.pdf

The LM1117T-3.3 datasheet is here:

http://www.ti.com/lit/ds/symlink/lm1117.pdf

The Pixhawk SPI connector pinout is here:

https://pixhawk.org/modules/pixhawk

Connect ground (it is *not* the heatsink tab) on the LM1117T to one of the DWM1000's VSS pins

Connect Vout on the LM1117T to one of the DWM1000's VDD3V3 pins

Connect ground on the LM1117T to the ground plane, if you're using one

Connect ground on the LM1117T to a black DF13 wire

Connect Vin on the LM1117T to a red DF13 wire

Connect IRQ, SPICLK, SPIMISO, SPIMOSI, SPICSn to black DF13 wires

Put the DF13 wires into a 7-pin DF13 housing in the correct order according to the Pixhawk pinout. I connected IRQ to the GPIO pin, you might want to leave it out at first.

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Jonathan Challinger

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Aug 11, 2016, 2:28:53 PM8/11/16

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Jonathan Challinger

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Aug 11, 2016, 2:30:55 PM8/11/16

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Here's a bundle of app notes etc that were emailed to me by a DecaWave guy: https://drive.google.com/folderview?id=0B1PwjcDYi3utdHJ1cTBEWGZGaGM&usp=sharing

Randy Mackay

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Sep 12, 2016, 7:27:00 AM9/12/16

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Jon,

Here’s a wiring diagram. Does this look correct to you?

I just want to make sure before I do a bunch of soldering.

-Randy

From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jonathan Challinger

Sent: 12-Aug-16 3:31 AM
To: drones-...@googlegroups.com

Subject: Re: [drones-discuss] Re: UWB localization for ArduPilot

Here's a bundle of app notes etc that were emailed to me by a DecaWave guy: https://drive.google.com/folderview?id=0B1PwjcDYi3utdHJ1cTBEWGZGaGM&usp=sharing

On Thu, Aug 11, 2016 at 11:28 AM, Jonathan Challinger <mr.cha...@gmail.com> wrote:

Tom Pittenger

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Sep 12, 2016, 10:42:15 AM9/12/16

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You'll also want some caps on the 2 rails of the regulator.

On Sep 12, 2016 4:26 AM, "'Randy Mackay' via drones-discuss" <drones-...@googlegroups.com> wrote:

Jon,

Here’s a wiring diagram. Does this look correct to you?

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Jonathan Challinger

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Sep 12, 2016, 11:35:56 AM9/12/16

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Yep, I think so. I thought we weren't connecting it directly to Pixhawk though.

On Sep 12, 2016 4:26 AM, "'Randy Mackay' via drones-discuss" <drones-...@googlegroups.com> wrote:

Jon,

Here’s a wiring diagram. Does this look correct to you?

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Randy Mackay

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Sep 12, 2016, 7:47:08 PM9/12/16

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Jon,

I think directly connecting it is a decent first step so we can write a driver. If we insert a little computer in between later that’s fine but I hope we can get the basic communication working with our existing hardware and tools.

I think maybe there’s something wrong with the connection to the regulator..

Jonathan Challinger

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Sep 12, 2016, 8:42:53 PM9/12/16

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I think the driver for the STM32F302 will be totally different from an APM or PX4 driver. That's why I want to get the STM32F302 board done first.

On Mon, Sep 12, 2016 at 4:47 PM, 'Randy Mackay' via drones-discuss <drones-...@googlegroups.com> wrote:

Jon,

I think directly connecting it is a decent first step so we can write a driver. If we insert a little computer in between later that’s fine but I hope we can get the basic communication working with our existing hardware and tools.

I think maybe there’s something wrong with the connection to the regulator..

-Randy

From: drones-discuss@googlegroups.com [mailto:drones-discuss@googlegroups.com] On Behalf Of Jonathan Challinger
Sent: 13-Sep-16 12:36 AM
To: drones-discuss@googlegroups.com
Subject: RE: [drones-discuss] Re: UWB localization for ArduPilot

Yep, I think so. I thought we weren't connecting it directly to Pixhawk though.

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Randy Mackay

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Sep 13, 2016, 1:01:21 AM9/13/16

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Here’s an updated wiring diagram:

- Changed DWM1000’s VDD3V3 to connect to regulator’s OUTPUT instead of Vout. This is different than Jon’s emailed instructions but this change is consistent with what Craig said on the call and I think the picture Jon sent.

- Added two regulators (suggestion from TomP).

-Randy

From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jonathan Challinger
Sent: 13-Sep-16 9:43 AM
To: drones-...@googlegroups.com
Subject: Re: [drones-discuss] Re: UWB localization for ArduPilot

I think the driver for the STM32F302 will be totally different from an APM or PX4 driver. That's why I want to get the STM32F302 board done first.

On Mon, Sep 12, 2016 at 4:47 PM, 'Randy Mackay' via drones-discuss <drones-...@googlegroups.com> wrote:

Jon,

I think directly connecting it is a decent first step so we can write a driver. If we insert a little computer in between later that’s fine but I hope we can get the basic communication working with our existing hardware and tools.

I think maybe there’s something wrong with the connection to the regulator..

-Randy

From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jonathan Challinger
Sent: 13-Sep-16 12:36 AM
To: drones-...@googlegroups.com
Subject: RE: [drones-discuss] Re: UWB localization for ArduPilot

Yep, I think so. I thought we weren't connecting it directly to Pixhawk though.

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On Sep 12, 2016 4:26 AM, "'Randy Mackay' via drones-discuss" <drones-...@googlegroups.com> wrote:

Jon,

Here’s a wiring diagram. Does this look correct to you?

I just want to make sure before I do a bunch of soldering.

-Randy

From: drones-...@googlegroups.com [mailto:drones-...@googlegroups.com] On Behalf Of Jonathan Challinger
Sent: 12-Aug-16 3:31 AM
To: drones-...@googlegroups.com
Subject: Re: [drones-discuss] Re: UWB localization for ArduPilot

Here's a bundle of app notes etc that were emailed to me by a DecaWave guy: https://drive.google.com/folderview?id=0B1PwjcDYi3utdHJ1cTBEWGZGaGM&usp=sharing

On Thu, Aug 11, 2016 at 11:28 AM, Jonathan Challinger <mr.cha...@gmail.com> wrote:

Cameron Owen

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Sep 14, 2016, 9:17:26 AM9/14/16

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Hey all,

If you need help with the DWM1000 stuff I urge you to email Niklas from the Loligo link Randy posted: nik...@casaril.com

He created the LPS mini which has a heap of other sensors on it as well. It's a tiny module with an arduino nano equivalent chip built and would be exactly what you guys seem to be looking for. I tested his LPS mini and it works well! We have it hooked into an Edison which is acting as a companion computer for the Pixhawk.

Regards,

Cameron

Al B

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Sep 15, 2016, 5:24:46 PM9/15/16

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LPS mini info here: https://hackaday.io/project/7183-lps-mini

Jonathan Challinger

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Sep 15, 2016, 5:29:55 PM9/15/16

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Yep. I want CAN-enabled 32-bit hardware. I won't be working on it until that's been made. It'll happen soon enough.

On Thu, Sep 15, 2016 at 2:24 PM, Al B <cagi...@gmail.com> wrote:

LPS mini info here: https://hackaday.io/project/7183-lps-mini

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友紀松丸

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Sep 29, 2016, 7:52:38 PM9/29/16

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From @randy's, it was received DWM1000 module that is wired.
Test this DWM1000 module in SPI of Pixhawk.
GPIO assign number of this SPI is unknown.
If you knew the GPIO assign numbers, please let me know.

2016年9月14日水曜日 22時17分26秒 UTC+9 Cameron Owen:

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