uwb定位matlab代码-uwb:用于uwb跟踪的ROS节点

# UWB multi-range tracking A ROS package for tracking using _ultra-wideband_ (UWB) radios. The target needs one UWB tag and is localized by a tracker with multiple UWB radios (i.e. a robot). The package is made up of three nodes: - _uwb_serial_: Reads binary messages from a serial port. The corresponding UWB driver for an embedded board are provided at [https://developer.mbed.org/users/bhepp/code/AIT_UWB_Tracker/](https://developer.mbed.org/users/bhepp/code/AIT_UWB_Tracker/). - _uwb_multi_range_: Processes the multi-range timestamps from _uwb_serial_ and publishes calibrated and uncalibrated ranges. - _uwb_tracker_: Processes the calibrated ranges from _uwb_multi_range_ and tracks the target position using an Extended Kalman Filter. It publishes the state and covariance of the filter but also a corresponding transform. ## Dependencies - Boost (system and thread module) - numpy - scipy - rospy ## Installation Checkout the repository in your ROS _catkin_ workspace and build the workspace as usual. ## Usage You can start all three nodes using ``` roslaunch uwb uwb.launch ``` Many parameters like the serial port, baudrate, transform frames and parameter file can be specified as arguments. See the launch file for details. More low-level parameters can be defined via _rosparam_ (the default parameters should be fine in most cases). Check out the code of the nodes for details. ## Calibration The folder _utils_ contains the MATLAB script _calibrate.m_. This generates a _YAML_ file containing offsets for each UWB unit in the tracker coordinate frame as well as linear coefficients for the calibrated range-measurements. The _uwb_multi_range_ node uses the _YAML_ file to generate calibrated range measurements. A motion-capture system is useful for generating the calibration data but it could also be measured by hand. The file _calibrate_example.m_ in the _utils_ folder shows how the data for _calibrate.m_ can be generated from motion-capture data. __Note__: When recording data for calibration make sure to use the uncalibrated measurements from the _uwb_multi_range_ node (otherwise you might use already calibrated values and get a wrong calibration). ## Contact Information Benjamin Hepp <benjamin.hepp@inf.ethz.ch> Tobias Naegeli <tobias.naegeli@inf.ethz.ch>