ESP32 UWB board features DW1000 module for accurate indoor positioning

FiRa “Fine Ranging” UWB technology was introduced a few years ago and is now found in devkits and Apple U1 chip. Makerfabs ESP32 UWB board provides another option with Espressif ESP32-WROVER-32 or ESP32-WROOM-32 WiFi & Bluetooth module combined with a Decawave DW1000 module for precision tracking.

Makerfabs explains the board acts like a continuously scanning radar that locks onto another device (called Anchor, since it’s usually in a fixed location) and communicates with it to determine the distance between objects by calculating the time of flight (ToF) between devices, or in other words, the roundtrip time of challenge/response packets.

ESP32 UWB boardESP32 UWB board specifications:

  • Wireless modules:
    • WiFi & Bluetooth LE – ESP32-WROVER-32 or ESP32-WROOM-32 module with ESP32 dual-core processor @ 240 MHz
    • UWB – B&T BU01 module based on Decawave DW1000 chip; IEEE802.15.4-2011 UWB compliant wireless transceiver module with a precision of 10cm indoors, a data rate of up to 6.8 Mbps, and a range of up to 300m
  • USB – 1x Micro USB port for power and programming
  • Expansion – 20-pin and 12-pin GPIO headers for expansion
  • Misc – Reset and Flash buttons
  • Power Supply – 5V via micro USB port
BU01 / DWM1000 UWB module
BU01/DWM1000 UWB module block diagram

The board is open-source hardware with both hardware (EAGLE) and software available on Github, plus a Wiki on Makerfabs’ website. The software consists of Arduino sketches for UWB Anchor and UWB Tag, as well as another “Indoor positioning” Arduino sketch running a web server combined with Python script to plot the location on a computer or SBC. There’s also a demo showing the location on a small display attached to a Tag. You’ll need at least one Tag and one Anchor for distance measurement, but indoor positioning requires at least two Anchors. You can watch a demo in the video below

Makerfabs ESP32 UWB board is sold with either ESP32 WROOM or WROVER module for around $40 on Tindie or directly on Makerfabs online store.

Via Hackster.io

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14 Comments
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geokon
2 years ago

I wonder why it’s limited to indoors. And could you hook up 4 anchors and do 3D positions?

If it’s affordable enough, I could see this being nice for some quick n dirty surveying/mapping

Jqpabc123
Jqpabc123
2 years ago

This is based on time of flight so all positions are really 3D positions whether you realize it (or consider as much) or not.

3 anchors/distances are mathematically sufficient to locate a point in 3D space; however, for accuracy, at least one anchor point needs to be at a significantly different elevation; at a known distance above or below the plane of the others.

Surveying involves repeated measurement where errors have a funny tendency to accumulate. The accuracy here is not really adequate unless you’re willing to accept some pretty gross errors in the results

Konstantin
Konstantin
2 years ago

indeed, 3 positions are not enough. You can try to solve the equations or you can try visualizing intersection of 3 spheres. Either way, it gives you 2 solutions/intersection points. If you know your floor height, you can guess the right one based on that knowledge, but otherwise you need 4 anchors.

Jqpabc123
Jqpabc123
2 years ago

By selecting practical/sensible boundaries, 3 are sufficient in practice for most earthbound applications.

Set one anchor at min elevation. Set a second at the max elevation. The 3rd can be some where between at a planar boundary.

Only 1 practical solution lies between min and max — and only 3 anchors/distances are required.

Konstantin Balashov
Konstantin Balashov
2 years ago

Did you actually tried to implement the system or at least do the math or visualize 3 intersecting spheres? Because what you are saying is inaccurate. Imagine 3 spheres barely intersecting each other with centers at z=0. Both intersection points are in the middle, very close to the horizontal plane, above and below. Now tilt the plane. Both points are now between min and max Z of the sphere centers.

Deets
Deets
2 years ago

Should have used the new DWM3000TR13 modules

2 years ago

What’s the difference?

Winston
Winston
2 years ago

If I only need to know the distance and angle between anchor and tag, would 1 anchor be enough?

Winston
Winston
2 years ago

Also are the anchor and tag same hardware? Just need to change the config to switch between anchor and tag, right?

Winston
Winston
2 years ago

If I just need to know the distance and angle between anchor and tag, will I be able to do it with one Anchor and one tag?

Jsolla
Jsolla
2 years ago

I wonder how good this would be when required to cross some obstacles. Say for example I want to know proximity of a car to a door (anchor in the door and tag inside the car) so I can open the door just when the car is close to the door. Would it work? Someone here with knowledge/experience on this area? 🙂

Masamaza Steven
Masamaza Steven
1 year ago

Hello sir can i getting this good ESP32 UWB board features DW1000 module 3 pieces

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