dw1000_arduino

Driver to get ranging data from Decawave DW1000 modules connected to Arduino Decawave DW1000 modules (http://www.decawave.com/products/dwm1000-module) are Ultra-Wide-Band devices that can be used for communication and ranging. Especially, using 3 modules as anchors can provide data for a localization system based on trilateration. The DW1000 is using a SPI connection, but an arduino-compatible board can be used with the library https://github.com/thotro/arduino-dw1000 to hyde the low level drivers and provide direct ranging informations. See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on the EKF filtering.

Configures

Name	Value	Description
DW1000_ARDUINO_UART	UARTX	UART on which arduino and its DW1000 module is connected
DW1000_ARDUINO_BAUD	B115200	UART Baudrate, default to 115200
DW1000_USE_AS_LOCAL_POS	FALSE|TRUE	use as a local positioning system (default: TRUE)
DW1000_USE_AS_GPS	FALSE|TRUE	use as a fake GPS positioning system (default: FALSE)

Section DW1000

DW1000_
Name	Value	Description
ANCHORS_IDS	1, 2, 3	Comma separated list of anchors ID
ANCHORS_POS_X	0., 0., 5.	Comma separated list of anchors ID over X axis
ANCHORS_POS_Y	0., 5., 0.	Comma separated list of anchors ID over Y axis
ANCHORS_POS_Z	0., 0., 0.	Comma separated list of anchors ID over Z axis
OFFSET	0., 0., 0.	Position offset other X, Y and Z axis
SCALE	1., 1., 1.	Position scale factor other X, Y and Z axis
INITIAL_HEADING	0.	Initial heading correction between anchors frame and global frame
NB_ANCHORS	3	Set number of anchors, only 3 are required/supported at the moment
USE_EKF	FALSE|TRUE	Enable EKF filtering, required to estimate speed
EKF_Q	1.0	EKF process noise
EKF_R_DIST	0.1	EKF noise on distance measurements
EKF_R_SPEED	0.1	EKF noise on speed measurements (if available)
NOISE_X|Y|Z	0.1	Noise level reported by the POSITION_ESTIMATE message when USE_AS_LOCAL_POS is activated
VEL_NOISE_X|Y|Z	0.1	Noise level reported by the VELOCITY_ESTIMATE message when USE_AS_LOCAL_POS is activated

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