WP4-17
Anchor&Tag firmware of the Indoor Positioning System
| ID | WP4-17 |
| Contributor | ACORDE |
| Levels | Function |
| Require | Indoor Positioning System anchor and tag platforms WP3-15_1 |
| Provide | Navigation data (position) |
| Input | Raw sensed data from UWB transceiver. RTK enabled positioning out of the tunnel. INS data (on the tag). |
| Output | Position |
| C4D building block | |
| TRL | 4 |
| Parent Building block | WP3-15_1 |
| Contact | fernando.herrera at acorde.com |
This page introduced the software developed for Indoor Positioning solution developed by ACORDE in COMP4DRONES. It includes tag and anchor firmware (application and other underlying levels).
Description
The following figure shows the several software layers present on top of the HW anchor&tag devices of the ACORDE Indoor Positioning Solution (IPS) addressed.
The development of the ACORDE IPS has required actions and developments on all these layers. Some of these layers have been tackled on other project WPs:
- BSP set up (in WP3)-15-1, which includes drivers and RTOS adaptation/configuration
- Medium Access Control protocol (in WP5-19_ACO), where acorde has made specific innovation.
The higher software levels of the soltions have been addressed in the context of the WP4 of COMP4RDRONES, as described in the figure.
The layers addressed are:
- Upper application layers, in charge of I/O interfacing (e.g. support of Mavlink API) and configuration.
- geo-positioning, which includes geo-positioning via trilateration and fusion techniques in general
- ranging, in charge of computation of ranges derived from the time metrics derived from UWB message exchages
Improvements
Anchor and tag algorithms are key for the performance of the ACORDE IPS solution for the special requirements and characteristics of indoor infrastructures and positioning requirements posed for the construction use case of COMP4DRONES:
TBC
