Converting data from loco positioning nodes to x, y, z

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bormaley
Beginner
Posts: 1
Joined: Tue Sep 15, 2020 7:47 pm

Converting data from loco positioning nodes to x, y, z

Post by bormaley »

Hello! Is anybody knows where I can find algorithms or maybe code samples (better in python), which convert serial data from Loco Positioning Nodes as tags to positioning x, y and z values. Maybe you can say which .c file in firmware calculate positioning values from UWB data.
I want to connect a Raspberry Pi to the Loco Positioning Node running as tag and calculate position directly on the Raspberry Pi using Python script.
kristoffer
Bitcraze
Posts: 322
Joined: Tue Jun 30, 2015 7:47 am

Re: Converting data from loco positioning nodes to x, y, z

Post by kristoffer »

Hi!

This is unfortunately non-tivial, but if you feel like digging through it everything is available.

You will find the important stuff in
1. the lib for the DWM1000 https://github.com/bitcraze/libdw1000
2. the deck driver https://github.com/bitcraze/crazyflie-f ... locodeck.c
3. The ranging alogos in https://github.com/bitcraze/crazyflie-f ... psTwrTag.c, lpsTdoa2Tag.c and lpsTdoa3Tag.c
4. TDoA engine in https://github.com/bitcraze/crazyflie-f ... Instance.c and https://github.com/bitcraze/crazyflie-f ... s/src/tdoa
5. outlier filtering in https://github.com/bitcraze/crazyflie-f ... erFilter.c
6. position estimation in https://github.com/bitcraze/crazyflie-f ... r_kalman.c and https://github.com/bitcraze/crazyflie-f ... man_core.c

There are also some tools in https://github.com/bitcraze/lps-node-fi ... ls/sniffer to sniff and decode some protocols used by the anchors
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