WP3-15 1 - Revision history

Acorde: /* Anchor at Tag platforms */

2023-03-13T16:34:24Z

Anchor at Tag platforms

← Older revision		Revision as of 16:34, 13 March 2023
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	On top of a base mother board design, the tag and the anchor platforms have been implemented.		On top of a base mother board design, the tag and the anchor platforms have been implemented.
	Thanks to its I/O interfaces, the anchor platform supports the different types of anchor nodes defined for the solution, i.e.:		Thanks to its I/O interfaces, the anchor platform supports the different types of anchor nodes defined for the solution, i.e.:
	- an external ranging node		* an external ranging node
	- an internal ranging node		* an internal ranging node
	- the Configuration, Control and Monitoring (CCM) node (this category can be applied to any of the previous		* the Configuration, Control and Monitoring (CCM) node (this category can be applied to any of the previous

	[[File:wp3-15_1_05b.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]		[[File:wp3-15_1_05b.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]

	For the same form factor, the base platform design brings several advantages in relation to devices found in the market:		For the same form factor, the base platform design brings several advantages in relation to devices found in the market:
	- more estable clock		* more estable clock
	- LiPO connector		* LiPO connector
	- better connectivity for configuration purposes		* better connectivity for configuration purposes

	Moreover, the tag platform adds a more powerful microcontroller, the possibility to add an INS for a powerful tag (capable to provide in real-time fused geo-location solution), and an SD card slot (e.g. to enableo local logging).		Moreover, the tag platform adds a more powerful microcontroller, the possibility to add an INS for a powerful tag (capable to provide in real-time fused geo-location solution), and an SD card slot (e.g. to enableo local logging).

Acorde: /* Anchor at Tag platforms */

2023-03-13T16:32:39Z

Anchor at Tag platforms

← Older revision		Revision as of 16:32, 13 March 2023
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	On top of a base mother board design, the tag and the anchor platforms have been implemented.		On top of a base mother board design, the tag and the anchor platforms have been implemented.
	~~The later~~, ~~in turn~~ supports the different types of anchor nodes defined for the solution.		Thanks to its I/O interfaces, the anchor platform supports the different types of anchor nodes defined for the solution, i.e.:
			- an external ranging node
			- an internal ranging node
			- the Configuration, Control and Monitoring (CCM) node (this category can be applied to any of the previous

	[[File:wp3-15_1_05b.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]		[[File:wp3-15_1_05b.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]

	For the same form factor, ~~these platforms have~~ several ~~benefits~~ in relation to devices found in the market:		For the same form factor, the base platform design brings several advantages in relation to devices found in the market:
	- more estable clock		- more estable clock
			- LiPO connector
	- better connectivity for configuration purposes		- better connectivity for configuration purposes
	~~- more powerful tag (capable to provide in real-time fused geo-location solution)~~

			Moreover, the tag platform adds a more powerful microcontroller, the possibility to add an INS for a powerful tag (capable to provide in real-time fused geo-location solution), and an SD card slot (e.g. to enableo local logging).

	Moreover, this development has provided ACORDE a strong technological base to further develop with greater flexibility the firmare of the positioning solution ([[WP4-17]]),		Moreover, this development has provided ACORDE a strong technological base to further develop with greater flexibility the firmare of the positioning solution ([[WP4-17]]),
	where much of the added value of the solution is concentrated.		where much of the added value of the solution is concentrated.

Acorde: /* Anchor at Tag platforms */

2023-03-13T16:24:57Z

Anchor at Tag platforms

← Older revision		Revision as of 16:24, 13 March 2023
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	The later, in turn supports the different types of anchor nodes defined for the solution.		The later, in turn supports the different types of anchor nodes defined for the solution.

	[[File:wp3-~~15_1_05~~.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]		[[File:wp3-15_1_05b.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]

	For the same form factor, these platforms have several benefits in relation to devices found in the market:		For the same form factor, these platforms have several benefits in relation to devices found in the market:

Acorde: /* Curent Status */

2023-03-13T16:15:36Z

Curent Status

← Older revision		Revision as of 16:15, 13 March 2023
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	* The support of a Mavlink interface at the tag side, to provide both completely processed (e.g., position data) and partially processed (e.g., ranges). The latter enable the ACORDE IPS to behave as a complementary positioning sub-system, whose outputs can be fused by integrators with other alternative sensor data. Moreover, ranges transfer is enabled via a “smooth” (in the form of dialect) Mavlink extension contributed by ACORDE in COMP4DRONES.		* The support of a Mavlink interface at the tag side, to provide both completely processed (e.g., position data) and partially processed (e.g., ranges). The latter enable the ACORDE IPS to behave as a complementary positioning sub-system, whose outputs can be fused by integrators with other alternative sensor data. Moreover, ranges transfer is enabled via a “smooth” (in the form of dialect) Mavlink extension contributed by ACORDE in COMP4DRONES.

	==~~Curent Status~~==		==Anchor at Tag platforms==
	In C4D ACORDE has ~~made~~ the ~~following main achievements on the design, implementation~~ and ~~validation of these system:~~		In C4D ACORDE has performed a customized development for the anchor and tag platforms.

	* Anchor and tag platform design and implementation..		On top of a base mother board design, the tag and the anchor platforms have been implemented.
	* The implementation and assessment of a ~~novel~~ and ~~improved Medium Access Control (MAC) and ranging protocol for single-tag scenario.~~		The later, in turn supports the different types of anchor nodes defined for the solution.
	* A set of basic anchor~~&task application versions (including modified trilateration algorithms) developed and assessed on IPS-MAF. Implementation transferred and former test on ACORDE platform~~.
	* Assessement of ranges and communicaiton robustness in ~~field.~~
	* Development of the IPS-Modelling and analysis framework supporting static and simulation-based analysis.
	* Tested MAVLINK output from the ~~tag application (on top~~ of ~~Mavlink)~~
	* A Mavlink extension proposed for ~~enabling the tag providing the ranges to~~ the ~~autopilot/navigation system~~.

	~~Given~~ the ~~potential of this~~ solution, ~~before~~ the ~~formal end~~ of the ~~project, ACORDE may report in this repository further improvementa and achivements~~, ~~as ACORDE is still performing some additional testing~~ of the ~~final implementation and some polished versions~~ of the ~~tag&anchor algorithms~~.		[[File:wp3-15_1_05.png\|frame\|center\|Indoor Positioning System developed by ACORDE]]

			For the same form factor, these platforms have several benefits in relation to devices found in the market:
			- more estable clock
			- better connectivity for configuration purposes
			- more powerful tag (capable to provide in real-time fused geo-location solution)


			Moreover, this development has provided ACORDE a strong technological base to further develop with greater flexibility the firmare of the positioning solution ([[WP4-17]]),
			where much of the added value of the solution is concentrated.

Acorde: /* Contribution and Improvements */

2023-03-13T16:00:52Z

Contribution and Improvements

← Older revision		Revision as of 16:00, 13 March 2023
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	* Providing at the tag a Mavlink [29] interface to support providing both processed positioning information, and “pre-processed” information (ranges) (WP3, WP4, and WP5).		* Providing at the tag a Mavlink [29] interface to support providing both processed positioning information, and “pre-processed” information (ranges) (WP3, WP4, and WP5).

	==~~Contribution~~ and ~~Improvements~~ ==		==Challenges and Contributions ==

	The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges''' in relation to other existing real-time location systems:		The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges''' in relation to other existing real-time location systems:

Acorde: /* Contribution and Improvements */

2023-03-13T15:59:36Z

Contribution and Improvements

← Older revision		Revision as of 15:59, 13 March 2023
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	* The specific ''long geometry'' of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).		* The specific ''long geometry'' of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).
	* ~~Providing~~ features for a flexible and agile anchor deployment, which does not oblige surveyors to geo-positioning all anchors, especially mobile ones.		* Demand of features for a flexible and agile anchor deployment, which does not oblige surveyors to geo-positioning all anchors, especially mobile ones.
	* Need to provide real-time, 3D geo-referenced positioning on the tag (while most solutions focus on 2D relative positioning, commonly computed on a ground platform which centralizes data from anchors).		* Need to provide real-time, 3D geo-referenced positioning on the tag (while most solutions focus on 2D relative positioning, commonly computed on a ground platform which centralizes data from anchors).
	* Cost and energy/power optimization (the latter important for fixed anchors)		* Cost and energy/power optimization (the latter important for fixed anchors)

Acorde: /* Contribution and Improvements */

2023-03-13T15:59:10Z

Contribution and Improvements

← Older revision		Revision as of 15:59, 13 March 2023
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	The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges''' in relation to other existing real-time location systems:		The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges''' in relation to other existing real-time location systems:

	* The specific long geometry of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).		* The specific ''long geometry'' of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).
	* Providing features for a flexible and agile anchor deployment, which does not oblige surveyors to geo-positioning all anchors, especially mobile ones.		* Providing features for a flexible and agile anchor deployment, which does not oblige surveyors to geo-positioning all anchors, especially mobile ones.
	* Need to provide real-time, 3D geo-referenced positioning on the tag (while most solutions focus on 2D relative positioning, commonly computed on a ground platform which centralizes data from anchors).		* Need to provide real-time, 3D geo-referenced positioning on the tag (while most solutions focus on 2D relative positioning, commonly computed on a ground platform which centralizes data from anchors).

Acorde: /* Contribution and Improvements */

2023-03-13T15:58:57Z

Contribution and Improvements

← Older revision		Revision as of 15:58, 13 March 2023
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	==Contribution and Improvements ==		==Contribution and Improvements ==

	The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges'''~~, many of them specific~~ in relation to other existing real-time location systems:		The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges''' in relation to other existing real-time location systems:

	* The specific long geometry of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).		* The specific long geometry of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).

Acorde: /* Contribution and Improvements */

2023-03-13T15:57:42Z

Contribution and Improvements

← Older revision		Revision as of 15:57, 13 March 2023
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	==Contribution and Improvements ==		==Contribution and Improvements ==

	The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents several challenges, many of them specific in relation to other existing real-time location systems:		The stakeholder (ACCIONA) described the digitization scenario at a specific time slot where the construction 7days/24hours activity stopped for 1-2hours. At that time, it is possible to set up some “mobile” anchors, together with the “fixed” anchors, and later let the drone perform a pre-programmed digitization flight, where the tunnel under-construction can present some eventual obstacles (e.g., machines, signals). The posed scenario presents '''several challenges''', many of them specific in relation to other existing real-time location systems:

	* The specific long geometry of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).		* The specific long geometry of the tunnel (which challenges UWB range estimation, the cost of the solution and the validity of conventional trilateration algorithms).
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	The same scenario also presented the opportunity to exploit the fact that during digitization flight only one drone, i.e., one tag, needs to be serviced. The question is how to exploit this single-tag assumption for a safer flight and better digitalization.		The same scenario also presented the opportunity to exploit the fact that during digitization flight only one drone, i.e., one tag, needs to be serviced. The question is how to exploit this single-tag assumption for a safer flight and better digitalization.

	The ACORDE solution tackles these challenges and opportunities. So far, a number of contributions in comparison to other existing solutions are highlighted:		The ACORDE solution tackles these challenges and opportunities. So far, a number of '''contributions''' in comparison to other existing solutions are highlighted:

	* Customized, cost-effective anchor and tag platforms, specifically designed to cope with the computational needs (specially for tag) and energy/power efficiency needs (specially anchors).		* Customized, cost-effective anchor and tag platforms, specifically designed to cope with the computational needs (specially for tag) and energy/power efficiency needs (specially anchors).

Acorde: /* Description */

2023-03-13T15:54:52Z

Description

← Older revision		Revision as of 15:54, 13 March 2023
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	* Design and implementation of anchor and tag platforms (including the required board support package (BSP) ([[WP3-15_1]]).		* Design and implementation of anchor and tag platforms (including the required board support package (BSP) ([[WP3-15_1]]).
	* Design and implementation of anchor and tag firmware, including the configuration, positioning algorithms and interfacing ([[WP4-17]]).		* Design and implementation of anchor and tag firmware, including the configuration, positioning algorithms and interfacing ([[WP4-17]]).
	* Ensuring a robust and enriched communication among anchors, and among the tag (within the drone) and the anchors, for a more robust and improved positioning ([[WP5-~~19-ACO~~]]).		* Ensuring a robust and enriched communication among anchors, and among the tag (within the drone) and the anchors, for a more robust and improved positioning ([[WP5-19_ACO]]).
	* Developing an Indoor Positioning System Modelling and Analysis Framework (IPS-MAF) for indoor structures, specifically tunnels ([[WP6-21\|IPS-MAF]]).		* Developing an Indoor Positioning System Modelling and Analysis Framework (IPS-MAF) for indoor structures, specifically tunnels ([[WP6-21\|IPS-MAF]]).
	* Providing at the tag a Mavlink [29] interface to support providing both processed positioning information, and “pre-processed” information (ranges) (WP3, WP4, and WP5).		* Providing at the tag a Mavlink [29] interface to support providing both processed positioning information, and “pre-processed” information (ranges) (WP3, WP4, and WP5).