uwb_positioning
Estimate local position from UWB anchor measurements. UWB devices can be used for communication, ranging, and positioning. This module consumes anchor measurements and estimates a local position. With range measurements, 3 anchors are required/supported by the current trilateration path. See https://hal-enac.archives-ouvertes.fr/hal-01936955 for more information on the EKF filtering.
Name |
Value |
Description |
|---|---|---|
UWB_POSITIONING_USE_AS_LOCAL_POS |
FALSE|TRUE |
use as a local positioning system (default: TRUE) |
UWB_POSITIONING_USE_AS_GPS |
FALSE|TRUE |
use as a fake GPS positioning system (default: FALSE) |
UWB_POSITIONING_ |
||
|---|---|---|
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 |
RANGE_OFFSET |
0., 0., 0. |
Offset applied to individual range measurements |
RANGE_SCALE |
1., 1., 1. |
Scale factor applied to individual range measurements |
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 |
Depends
- @ranging