After the team picked up our UWB boards for localization, we needed to set them up and program them. This week, I read the full documentation of both the boards themselves as well as the kit they came in. I downloaded and installed the many softwares required to program the boards, and since the kit sellers flashed a starter code on the chips, I had to reflash the chip to remove them. Then I setup the special IDE used to program the chips, and wrote my first starter program, that simply prints a “Hello, World!” message from the boards to my Mac Terminal over UART. I also researched a self-localization technique that involves using 4 or more anchors to calculate a scale-accurate point cloud of all anchor positions relative to each other.
I am personally on-schedule, as at this time, I am supposed to be setting up the hardware for my part of the project (developing the anchors). Since the hardware is acquired and everything to do with the coding environment is now set up, I can begin that development immediately.
In the next week, I hope to complete the self-localization routine, by solving a simultaneous equation for all anchor positions. This means that when mapping, all we have to do is align this 3d anchor point cloud with the real building layout by standing at a few sample positions (I think 2 is all that is required) and marking them on the building map.