蓝点无限 发表于 2022-11-25 22:42:32

【开源】UWB+IMU融合定位开源代码

UWB定位结合运动传感器IMU可以实现更为精准的定位功能,在之前的一个帖子我们记录了当时imu 工程的开发历程。
参见之前的帖子:http://51uwb.cn/forum.php?mod=viewthread&tid=410&extra=page%3D1
本帖主要是分享最新源代码。相对于之前的工程,这里的代码imu 支持STM32F1 BP30/BP50 两款模块做参考基站,降低学习成本。
工程代码上,属于我们我们第三代固件架构,使用STM32Cube 初始化硬件,底层驱动大部分实现共用,易于二次移植开发。

源码路径:https://gitee.com/bpuwb/bpuwb_imu.git

代码工程截图:
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***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

目录结构说明:
BP-UWB_LIB            -- > 公共底层驱动
STM32F1_UWB      -- > STM32F1 Cube 工程,基站硬件初始化
STM32F4_UWB_PA   -->STM32F4 Cube 工程,IMU 标签硬件初始化
Trilateration_PyDQ5--> 基于Python 的UWB上位机源码
测试HEX                  --> 已经编译好的HEX
twr_51uwb.exe      -->已经编译好的上位机


编译说明:
由于我们采用的标签和基站硬件不一样,需要再两个工程中分别编译基站和标签。
打开工程后,通过bphero_uwb.h 文件对设备类型(标签或者基站)以及设备短地址等信息进行配置。

基站编译
基站使用的是STM32F1,Cube工程目录为STM32F1_UWB 。
如下图所示,基站编译,需要首先确保#define RX_NODE 是“打开的”,每个基站分配一个短地址(SHORT_ADDR),4个基站可以分配0x0001到0x0004


标签编译
标签使用的是STM32F4 IMU,Cube工程目录为STM32F4_UWB_PA
如下图所示,标签编译,首先需要确保#define TX_NODE 是“打开”的,由于IMU 模块没有液晶,所以 #define LCD_ENABLE需要注释掉,
最重要一点,模块有IMU模块,通过#define IMU_ENABLE 使能IMU功能。 短地址保持默认不需要更改。

硬件购买
这个帖子中的代码 基站可以采用BP30或者BP50,标签必须是F4_PA 标签。
以最高性价比组合,4个BP30基站+F4_PA模块
BP30 基站:https://item.taobao.com/item.htm?ft=t&id=650965811316
F4_PA模块:https://item.taobao.com/item.htm?ft=t&id=617598108897

IMU数据测试
默认我们使用了运动检测(motion detection)功能,只有1bit数据,标识模块是否有移位改变。 在调试的时候,可以将九轴数据全部打印出来。 代码修改如下(注意,需要将Enable_MPU9250_MovetionDetection 注释掉)
void Mpu9250_Test(void)
{
    Sw_I2C_Init();
    MPU9250_Init(&mpu9250, MPU9250_Device_0, ACCEL_SCALE_16G, GYRO_SCALE_2000dps, MAG_SCALE_16bit);
    //Enable_MPU9250_MovetionDetection(&mpu9250);
    while (1)
    {
      MPU9250_ReadAcc(&mpu9250);
      HAL_GPIO_WritePin(GPIOB, GPIO_PIN_7, !GPIO_PIN_SET); //PB7 = 1 LED_ON
       
      printf("acc.x = %0.2f acc.y = %0.2f acc.z= %0.2f\n",mpu9250.acc,mpu9250.acc,mpu9250.acc);
      MPU9250_ReadGyro(&mpu9250);
      HAL_Delay(300);
      printf("gyro.x = %0.2f gyro.y = %0.2f gyro.z= %0.2f\n",mpu9250.gyro,mpu9250.gyro,mpu9250.gyro);

      MPU9250_ReadMag(&mpu9250);
      printf("mag.x = %0.2f mag.y = %0.2f mag.z = %0.2f\n",mpu9250.mag,mpu9250.mag,mpu9250.mag);

      MPU9250_ReadTemperature(&mpu9250);
      printf("Temp = %0.2f\n",mpu9250.temp);
      HAL_Delay(1000);

    }
}


串口log 打印如下:
acc.x = 0.01 acc.y = -0.27 acc.z= 0.95
gyro.x = -10.67 gyro.y = 0.37 gyro.z= 2.01
mag.x = 28.27 mag.y = 13.61 mag.z = 7.10
Temp = 41.36
acc.x = -0.14 acc.y = -0.01 acc.z= 0.96
gyro.x = 12.87 gyro.y = 4.21 gyro.z= -43.35
mag.x = 16.76 mag.y = 20.48 mag.z = 9.08
Temp = 41.31
acc.x = -0.18 acc.y = 0.04 acc.z= 0.97
gyro.x = 1.59 gyro.y = -0.43 gyro.z= -22.87
mag.x = 15.01 mag.y = 21.99 mag.z = 8.73
Temp = 41.31




18671186057 发表于 2024-2-17 17:30:49

这套设备能不能直接给树莓派进行数据取用呢

liuyue 发表于 2024-3-1 15:17:29

:(:(:(:(:(:(:(:(

zhaozhixin 发表于 2024-3-5 23:13:45

大佬牛蛙

jd_kelvin 发表于 2024-3-13 09:59:08

谢谢分享。

bsm321 发表于 2024-4-14 22:27:33

果然是牛,谢谢分享

catliker 发表于 7 天前

多源融合定位,很赞

yuqq 发表于 5 天前

谢谢分享,学习了

lidajiao 发表于 3 小时前

太强了,代码太实用
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