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Ultra-wideband Positioning tool for the BU03 Development Board

Python utility for configuring and working with BU03/BU04 UWB (Ultra-Wideband) positioning modules.

3D UWB Tracking Demo

Quick Start

Start the web UI:

# Auto-detect device port (tries /dev/ttyACM0, /dev/ttyACM1)
uv run uwb_server.py
# or
python3 uwb_server.py  # requires: pip install pyserial numpy scipy

# Specify port and HTTP port manually
uv run uwb_server.py /dev/ttyACM0 8080

Then open your browser to http://localhost:8080

Features:

  • Real-time 3D visualization of tag position
  • Use up to 8 anchors simultaneously
  • Kalman filter for smoother position tracking
  • Adjustable filter parameters in real-time
  • Position trail visualization
  • Connection status monitoring

Connection

  • Port: /dev/ttyUSB0
  • Baud: 115200
  • Format: 8N1

Command line interface

# Interactive mode
uv run bu03_util.py

# Show version
uv run bu03_util.py info
# and configure the board
uv run bu03_util.py set <id> <role> <ch> <rate>

Device Configuration

Configure at least one device as a tag (moving point) and at least one as a base station (anchor).

Important: Tag and first base station must have the same ID. Additional base stations must have different IDs.

UWB Channel Specifications

The BU03 UWB module operates on two configurable channels:

  • Channel 5 (CH5): 6489.5 MHz center frequency
  • Channel 9 (CH9): 7987.2 MHz center frequency
  • Channel Bandwidth: 499.2 MHz

Configuration Parameters

Parameter Values
ID 0-10
Role 0 = Tag (moving), 1 = Base Station (anchor)
Channel 0 = Channel 9 (7987.2 MHz), 1 = Channel 5 (6489.5 MHz)
Rate 0 = 850K, 1 = 6.8M

Example: 1 Tag + 3 Base Stations

Device ID Role Channel Rate Description
Tag 0 0 (Tag) 1 (Ch 5) 1 (6.8M) Moving device to track
Base 1 0 1 (Base) 1 (Ch 5) 1 (6.8M) Primary anchor (same ID as tag)
Base 2 1 1 (Base) 1 (Ch 5) 1 (6.8M) 2nd anchor
Base 3 2 1 (Base) 1 (Ch 5) 1 (6.8M) 3rd anchor

Configuration commands:

# Tag (ID:0)
uv run bu03_util.py set 0 0 1 1

# Base Station 1 (ID:0, same as tag)
uv run bu03_util.py set 0 1 1 1

# Base Station 2 (ID:1)
uv run bu03_util.py set 1 1 1 1

# Base Station 3 (ID:2)
uv run bu03_util.py set 2 1 1 1

Interactive Commands

When running uv run bu03_util.py in interactive mode:

cfg                 # Show current configuration
set <id> <role> <ch> <rate>  # Set and save configuration
ver                 # Show firmware version
dist                # Get distance measurement
sensor              # Get accelerometer data
restart             # Restart device
quit                # Exit

Notes

  • AT+SAVE triggers automatic reboot (3 second wait)
  • "IIC Error 3" on boot is normal (I2C device not connected)
  • Chinese characters in boot messages are system info (expected)
  • Configuration persists after reboot

Reference

See references/ for official AT command documentation.

IMU/Accelerometer Data Limitations

Note: IMU (accelerometer) data can only be read from the "TTL" USB port using AT commands (e.g., AT+GETSENSOR). It is NOT available on the "USB" port where distance measurements are streamed.

  • USB Port (shows as /dev/ttyACM0): Streams UWB distance data in binary CmdM:4[ packets (~20 Hz), but does not respond to AT commands
  • TTL Port (shows as /dev/ttyUSB0 or /dev/ttyUSB1): Responds to AT commands including AT+GETSENSOR for IMU data (~26 Hz polling rate), but does not stream UWB distance data

We attempted to use both USB cables simultaneously to read both data streams, but the device does not support this mode - only one port can be active at a time.

Potential Future Improvement: Someone with firmware modification capabilities could potentially modify the device firmware to output both acceleration data and distance measurements on the USB port simultaneously.