3D localization
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===Line of sight (LOS)=== | ===Line of sight (LOS)=== | ||
| − | The most important limitation is that it is very sensitive to line of sight (LOS). This means that the tag trying to localize itself, should always have pure line of sight to at least 4 anchors, which is why it is recommended to run the system with 6 or more anchors, as this would give the system redundancy. It is possible to give a clue about whether the most recent range measurement was taken in a line of sight situation or not, by looking at the quality of the measurement. This quality is a combination of the received power level and the first path power level, and is discussed further in | + | The most important limitation is that it is very sensitive to line of sight (LOS). This means that the tag trying to localize itself, should always have pure line of sight to at least 4 anchors, which is why it is recommended to run the system with 6 or more anchors, as this would give the system redundancy. It is possible to give a clue about whether the most recent range measurement was taken in a line of sight situation or not, by looking at the quality of the measurement. This quality is a combination of the received power level and the first path power level, and is discussed further in the '''[http://www.decawave.com/support/download/file/nojs/744 DW1000 User manual]''' on page 45. |
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===Calibration and bias=== | ===Calibration and bias=== | ||
Revision as of 20:40, 26 May 2016
Contents |
The system
Hardware
The localization system at hand consists of at least 4 "anchors" and a "tag".
Each device communicates and ranges with each other through an UWB (Ultra Wide Band) radio.
The anchors and tags are made up of some main components as described in the table below. The min difference is that the anchors have 180° of the antenna shielded in order to allow mounting on walls and ceilings without changing the antenna properties from reflections, other than that the tags contains a high precision IMU for sensor fusion in order to improve the velocity estimates.
| Anchors | Tag |
|---|---|
| a cortex-m0 processor from ST (STM32f072) | a cortex-m3 processor from ST (STM32f103) |
| an UWB device (DWM1000) | an UWB device (DWM1000) |
| a pressure sensor (LPS25H) | a pressure sensor (LPS25H) |
| a 3.3v low noise LDO regulator (MIC5209) | a high precision IMU (MPU-9250) |
| a single-cell LIPO charger (MCP73831) | a 3.3v low noise LDO regulator (MIC5209) |
| a single-cell LIPO charger (MCP73831) |
Operation
Limitations
The system does come with a few limitations, which will be discussed below.
Line of sight (LOS)
The most important limitation is that it is very sensitive to line of sight (LOS). This means that the tag trying to localize itself, should always have pure line of sight to at least 4 anchors, which is why it is recommended to run the system with 6 or more anchors, as this would give the system redundancy. It is possible to give a clue about whether the most recent range measurement was taken in a line of sight situation or not, by looking at the quality of the measurement. This quality is a combination of the received power level and the first path power level, and is discussed further in the DW1000 User manual on page 45.
Calibration and bias
Because the system is based on time of flight measurements of radio waves, even a small change in the time stamps of the system will result in huge variations in distance (1 ns results in a change of 299 mm). This means that proper calibration of the system is crucial in order to obtain any usable performance. The main calibration property of the system is the antenna delay constants, a constant describing the delay from antenna through PCB. A detailed explanation of the antenna delay and how to calibrate it properly can be found in APS014: Antennna Delay Calibration
