{"id":192,"date":"2024-03-30T22:58:34","date_gmt":"2024-03-31T03:58:34","guid":{"rendered":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/?p=192"},"modified":"2024-03-30T23:22:31","modified_gmt":"2024-03-31T04:22:31","slug":"ifeanyis-status-report-for-03-30-2024","status":"publish","type":"post","link":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/2024\/03\/30\/ifeanyis-status-report-for-03-30-2024\/","title":{"rendered":"Ifeanyi’s Status Report for 03\/30\/2024"},"content":{"rendered":"

This week I worked primarily on increasing the accuracy of localization, as well as the finishing of the tag device. To increase the accuracy of localization, I wrote a gradient descent-based routine for finding the position of the tag given the anchor distances. This was not only more accurate than the linear-algebra-based trilateration we were using before (since it was not as brittle\/much more robust to input measurement error), but also more versatile (since it didn’t take exactly 3 distances as input, but rather, as many anchors as we wanted). The other work I did on increasing localization accuracy was to code up a kind of low pass filter for the distance readings. If a new reading was very far away from the previous readings (based on the maximum speed we estimate a person will be walking), we can mark it as an anomaly and not include it in our tracking. As for my work on the tag device, I fully assembled all parts: Raspberry Pi, battery pack, UWB chip, and accelerometer. I also wrote a script for the Raspberry Pi to estimate its orientation using the gyroscope onboard the accelerometer.<\/p>\n

\"\"<\/p>\n

My progress is on track, since I was supposed to program the IMU and complete the tag device this week, which I have done.<\/p>\n

Next week, I will program the tag device with the same code as the laptop we are currently using to test, so that we can finally use the tag device in a real test. After that, we should be ready for our interim demo, after which I will continue to work with the rest of the team on improvements to our current tracking system, to make it more responsive and accurate.<\/p>\n","protected":false},"excerpt":{"rendered":"

This week I worked primarily on increasing the accuracy of localization, as well as the finishing of the tag device. To increase the accuracy of localization, I wrote a gradient descent-based routine for finding the position of the tag given the anchor distances. This was not only more accurate than the linear-algebra-based trilateration we were … <\/p>\n

Continue reading “Ifeanyi’s Status Report for 03\/30\/2024”<\/span><\/a><\/p>\n","protected":false},"author":893,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[7],"tags":[4],"_links":{"self":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/posts\/192"}],"collection":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/users\/893"}],"replies":[{"embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/comments?post=192"}],"version-history":[{"count":3,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/posts\/192\/revisions"}],"predecessor-version":[{"id":196,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/posts\/192\/revisions\/196"}],"wp:attachment":[{"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/media?parent=192"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/categories?post=192"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/course.ece.cmu.edu\/~ece500\/projects\/s24-teamb7\/wp-json\/wp\/v2\/tags?post=192"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}