# uwb-localization

**Repository Path**: for-pyja/uwb-localization

## Basic Information

- **Project Name**: uwb-localization
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-05-11
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# UWB Localization
**Accurate 3D Localization for MAV Swarms by UWB and IMU Fusion.**
ICCA (International Conference on Control and Automation) 2018, Anchorage, USA.
Jiaxin Li, Yingcai Bi, Kun Li, Kangli Wang, Feng Lin, Ben M. Chen

[The paper is available here.](https://arxiv.org/abs/1807.10913)
```
@article{li2018accurate,
      title={Accurate 3D Localization for MAV Swarms by UWB and IMU Fusion},
      author={Li, Jiaxin and Bi, Yingcai and Li, Kun and Wang, Kangli and Lin, Feng, and Chen, Ben M.},
      journal={arXiv preprint arXiv:1807.10913},
      year={2018}
}
```

**More codes are comming...**

## Datasets
#### Indoor UAV fly test with VICON ground truth
[Link to rosbag. Provides IMU, UWB, VICON measurements](https://drive.google.com/open?id=1dS5iMt53TOVeWWPnecTjIHguOV3qjjr3)

* /ref_generation/current_reference: reference sent to UAV. ~50Hz.
* /time_domain/full_range_info: UWB raw measurements. ~80Hz.
* /mavros/imu/rpy_acc_short: IMU raw measurements, provides roll, pitch, yaw & acceleration. ~50Hz.
* /mavros/vicon/position: VICON ground truth, precision of 0.1cm, ~20Hz.

UWB anchor positions are acquired by Least Square Optimization over the measurements between each pair of UWB anchors, in NWU coordinate.  
anchor_list: [101, 102, 103, 104, 105, 106]  
anchor_101: [0, 0, 0]  
anchor_102: [6.09394, 8.20272e-05, 0.00105595]  
anchor_103: [0.161215, 6.21084, -0.0104368]  
anchor_104: [5.65533, 5.99776, 2.55325]  
anchor_105: [5.9612, 0.178178, 2.54669]  
anchor_106: [-0.257302, 3.58951, 2.5628]  

![vicon-xy](images/vicon-xy.png)



## Introduction
A ROS based library to perform localization for robot swarms using Ultra Wide Band (UWB) and Inertial Measurement Unit (UWB). 

The algorithm has been deployed to a multiple drone light show performace in Changi Exhibition Center of Singapore, during the opening ceremony of *Unmanned System Asia 2017, Rotorcraft Asia 2017*. [Video link can be found here.](https://youtu.be/1id49danIK4)

Features:
* EKF/UKF localization algorithms that integrate UWB and IMU. Up to 90Hz with the accuracy of 5cm.
* C++/ROS interface for TimeDomain UWB sensors
* Least square optimization to calibrate the positions of UWB anchors

## Usage
### time_domain
C++/ROS based driver for TimeDomain UWB sensors.
### slam_pp
Localization algorithms to perform real-time UWB and IMU fusion.
### uwb_calibration
Least square optimization to determine the 3D position of the anchors. Depends on the Ceres Solver.