MaUWB ESP32-S3 Positioning System

Ultra-wideband (UWB) positioning system using ESP32-S3 and Makerfabs UWB modules for indoor positioning and warehouse mapping applications.

Features

• ESP32-S3 based anchor and tag devices
• Real-time distance measurement with <10cm accuracy
• OLED display for status and measurements
• Multiple tag support (up to 64 tags)
• 6.8Mbps communication rate
• Complete AT command implementation
• Position calculation with trilateration
• Anchor auto-positioning system
• Real-time positioning with USB data logging

Hardware: Makerfabs MaUWB ESP32-S3 UWB Module with SSD1306 OLED displays

Unified Architecture

Single Firmware - All devices use the same main.cpp with config-driven behavior:

• anchor: Base station with distributed positioning framework (default: ID=0, Network=1234)
• tag: Mobile tracker with coordinate collection (default: ID=1, Network=1234)
• debug: Development build with debug output enabled

Build & Upload

# Build with default settings
pio run -e anchor    # Anchor ID=0, Network=1234
pio run -e tag       # Tag ID=1, Network=1234

# Build with custom device ID and network
set PLATFORMIO_BUILD_FLAGS=-DUWB_INDEX=5 -DNETWORK_ID=2000
pio run -e anchor    # Anchor ID=5, Network=2000

# Upload to device
pio run -e tag -t upload

# Monitor serial output
pio device monitor

Project Structure

Modular Configuration System

• src/main.cpp - Single unified firmware for all device types
• src/config/ - Device behavior configuration
  • config.h - Hardware pins and system settings
  • device_config.h - Device role detection and unified behavior
  • anchor_config.h - Anchor-specific settings (positioning, inter-anchor communication)
  • tag_config.h - Tag-specific settings (USB streaming, coordinate collection)
  • positioning_config.h - Distributed positioning algorithm parameters
• lib/UWBHelper/ - Complete UWB AT command library with positioning support
• platformio.ini - Simplified build environments (3 instead of 8+)

AT Command Support

Complete implementation of all AT commands from the official manual:

Basic Commands

• AT? - Test connection
• AT+GETVER? - Get firmware version
• AT+RESTART - Restart module
• AT+RESTORE - Factory reset
• AT+SAVE - Save configuration

Configuration

• AT+SETCFG / AT+GETCFG? - Device configuration
• AT+SETANT / AT+GETANT? - Antenna delay calibration
• AT+SETCAP / AT+GETCAP? - System capacity settings
• AT+SETRPT / AT+GETRPT? - Auto-reporting control

Network & Power

• AT+SETPAN / AT+GETPAN? - Network ID configuration
• AT+SETPOW / AT+GETPOW? - Transmission power control
• AT+SLEEP - Sleep mode for battery conservation

Data Communication

• AT+DATA / AT+RDATA - Custom data transmission
• Real-time range reporting via AT+RANGE parsing

Library Features

The enhanced UWBHelper library provides:

• Complete AT command coverage
• Advanced range data parsing for multiple anchors
• Position calculation algorithms (trilateration, multilateration)
• Anchor position management for auto-positioning
• Distance filtering for improved accuracy
• Backward compatibility with existing code

Configuration

• Network ID: 1234 (configurable via AT+SETPAN)
• Baud Rate: 115200
• Communication: 6.8Mbps (AT+SETCFG parameter)
• Range filtering: Enabled for accuracy
• Refresh Rate: 10Hz (configurable via AT+SETCAP)
• Max Anchors: Unlimited (tags connect to 8 closest)
• Max Tags: 64 per network

Documentation

• AT Command Manual - Complete AT command reference
• Hardware Product Page - Official hardware documentation
• Project Roadmap - Development plan for indoor positioning system

Applications

This system is designed for:

• Indoor positioning in warehouses and large buildings
• Asset tracking and inventory management
• Navigation assistance in GPS-denied environments
• WiFi signal mapping and coverage analysis
• Research and development in UWB positioning