Haoru UWB
Project requirements
The source identifies intermittent GNSS reception, accumulated inertial error, platform motion and limitations of visual sensing as challenges. Its example recovery ship is 144m long and 50m wide, with 25,000-ton displacement and DP2 positioning; sea-state-4 motion is described as 2–3°. These are contextual source figures, not module specifications.
Solution
The concept combines UWB relative ranges with vision and inertial measurements in a navigation-fusion architecture, using ranges as an additional spatial constraint. It is a proposed application rather than evidence of a qualified flight-navigation system.
Combined UWB/GPS Hardware Concept
The proposed board integrates UWB and GPS/BeiDou interfaces to support synchronized measurement and integration.
The source describes shared TCXO timing, power management and communication, with CAN/RS422 outputs to simplify interfaces and wiring. Confirm actual synchronization and measurement performance.
The concept describes DS-TWR links to platform reference points, proposed ±10cm ranges and 100Hz output for relative-coordinate estimation. Its CH2/CH5 and IEEE 802.15.4z wording requires checking against the selected radio chipset's supported channels.
Optional multi-constellation GNSS/RTK provides absolute position and alignment references when reception and correction data are available.
Stage/Platform Deployment Concept:
The described stage-side arrangement places the integrated board in an instrument area and distributes four or more UWB antennas for spatial diversity, with the GNSS antenna at the top.
Platform-side reference points define a known cooperative coordinate frame. The source also proposes a GNSS/RTK base and a suitable correction-data link.
Proposed Measurement-Fusion Stages:
Above 2km, the source describes primary inertial/GNSS navigation, with UWB outside its useful ranging region.
Between approximately 2km and several hundred meters, it describes visual/inertial processing with UWB measurements added when within range.
Below approximately 100m, the source proposes greater use of UWB with vision and IMU for relative-state estimation. Ranges alone do not establish full six-degree-of-freedom pose observability or certified guidance performance.
Development Interfaces Described in the Source:
CAN 2.0B/CAN FD, RS422 and Ethernet are proposed for accessing UWB ranges and GNSS observations. Availability depends on the actual hardware.
The source proposes C/C++ interfaces, coordinate libraries, MATLAB/Python fusion references and optional ROS/ROS2 drivers. Confirm the supplied package and implemented functions with the team.
Board-level firmware configuration is proposed for channel, pulse and ranging schedules. Confirm the actual processor, programming access and supported settings.
Reported Outcomes
The source describes intended improvements in ranging, robustness and integration:
Relative RangingIt claims ±10cm ranges at 100Hz and relative-position stability within ±15cm under its sea-state example, compared with a 30Hz visual reference. These are source design/evaluation claims requiring independent verification.
Navigation RobustnessThe source claims availability increasing from approximately 85% to above 99% and final horizontal error below 0.5m through fusion. The underlying evaluation and operating envelope must be established before application.
Development EfficiencyIt describes an integration target of one–two months rather than six–twelve months, approximately 70% better efficiency and 50% lower single-evaluation cost. These are source projections, not flight-qualification evidence.
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