Parts and Specifications
Parts and Specifications
Embedded Files
Block Diagram
Block Diagram
Hardware
Hardware
Aion R1 UGV Rover
Nvidia Jetson TX2
LiDAR module
Camera
Node Deployment Mechanism
DWM3000 + Nordic nrf52840dk
Development Board: Nordic nrf52840dk
Arduino Shield (DWM3000)
SEGGER J-Link on-board programming and debugging
Affordable and Available
Other features: Bluetooth Low Energy, Near Field Communication, etc.
Printed Circuit Board
4 layers
Components: DWM3000, nrf52840 MCU, Interface MCU, USB Connector, External Battery Connector, Power Switches
Dimensions: 65mm x 80mm (excluding DWM3000)
Main part of deployed nodes
Inside of the UWB Node
UWB Node
PCB with DWM3000 module
2x AA batteries
PIR sensor
Communication Protocol
Communication Protocol
Phase 1: RTS / CTS
When an endhost wants to transmit a message, it first sends an RTS (Request to Send) that will be relayed to the other endhost.
The other host responds with a CTS (Clear to Send), which signals the start of data transmission in the form of the double ack protocol described below.
Phase 2: Double ACK
Node 1 sends message to node 2.
Upon receiving message, node 2 will send ACK 1 to let node 1 know it has been received.
Node 2 will forward message on to node 3 and wait for ACK 1 to confirm proper transmission.
Now that node 2 is free, it will send ACK 2 to signal to node 1 it can send the next message.
(Note: The protocol can be made more reliable with the inclusion of retransmissions and timeouts to reconcile timing differences. However, the inclusion of these retransmissions or timeouts will add additional overhead and can impact timing significantly.)
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