Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld ATLAS – An Open-Source TDOA-based Ultra-Wideband Localization System Communications Networks Institute Jani nis Tiemann, emann, M.Sc Sc. Fabian Eckermann, M.Sc. Prof. Dr.-Ing. Christian Wietfeld ATLAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 1 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Hardware • Based ed on n deca caWave ave DWM100 000 • Using LPC134 347 7 Microcon ocontroller roller Unit (MCU) U) • Integrated rated MPU-925 250 0 Inertial al Measurem rement ent Unit (IMU) U) Not used so far… • USB for backbon kbone e communicat cation on and power er supp pply ly J. Tiemann, ATLAS node hardware design repository, http://dx.doi.org/10.5281/zenodo.61464, September 2016. ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 2 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld System Topology & Architecture Distribu ributed ed setup p is possib sible le through gh wireles less clock ck synchron roniza izatio ion Wired d backbon kbone e is replaceab laceable le through wireless ess/o /other r backbon kbone ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 3 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld System Topology & Architecture Central al clock ck correcti ection on Anc ncho hors rs are configur gured ed once Timest stamped amped frames es are report rted ed to to th the central ral localiza alizatio ion engine J. Tiemann, ATLAS Localization Server Source Code repository, http://dx.doi.org/10.5281/zenodo.61465, September 2016. ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 4 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Experimental Setup for Accuracy Analysis Repeated ated robot otic c movemen ment over prede defin fined ed track OptiTr iTrack ack motion on capture re system em for accura racy cy analysis ysis Robot controlled rolled via moti tion capture ture system em ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 5 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Experimental Setup for Accuracy Analysis ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 6 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Experimental Results – Robot Trajectory ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 7 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Experimental Results – Trajectory Error Time-seri series es of sing ngle le trajector ectory y run Co Cons nste tell llation on optim timized ized for horizontal ontal posit itio ioning ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 8 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Experimental Results – Calibration Effect Calibra bratio ion of static c error r of each TDOA through gh node e with known positio ition Calibra bratio ion adds s static c offset et to the TDOA ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 9 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Experimental Results – Quantitative Analysis 90% Quantile ile of the horizontal ontal posit ition ioning g error r in th the range of ~20cm cm 3D Position itioning g is worse e due ue to to cons nstell ellatio ion cons nstra raints ts J. Tiemann, Raw Experimental localization, sample and tracking data, http://dx.doi.org/10.5281/zenodo.61335, September 2016. ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 10 10 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Competition System Mounted ed in pairs s of 2 to to the 4 m mounting posts, s, 1 m mobile ile tag on the robot ot Wired d backbon kbone e through gh Ethernet, , localiza alization on server ver on lapt ptop op ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 11 11 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Competition Tracking Results Quantifi ified ed results lts will be presen sented ed tomorr rrow ow at the closi sing g event (we don’t know them) ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 12 12 Alcalá de Henare res, Spain
Communication Networks Institute Prof. Dr.-Ing. C. Wietfeld Thank you for your attention! Questions? Point of Contact (POC): Head of Institute Janis Tiemann Prof. Dr.-Ing. Christian Wietfeld fon.: +49 231 755 3274 fax: +49 231 755 6136 Address: e-mail: janis.tiemann@tu-dortmund.de TU Dortmund internet: http://kn.e-technik.tu-dortmund.de Communication Networks Institute Otto-Hahn-Str. 6 44227 Dortmund Germany ALTAS – An Open-Source TDOA-based Ultra-Wideband Localization System IPIN N 2016 13 13 Alcalá de Henare res, Spain
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