This week I received all the DWM1001 UWB anchors. I was able to set them all up to communicate with the tag. I configured the UWB API to read 3 distances simultaneously.
I was able to use the UWB hardware to triangulate to position of the tag on a smaller scale. An image of this setup is attached below, but I was able to successfully triangulate the tag on a table by placing anchors on the corners of the table.
I also helped with the GPIO communication with the haptic vibrators. We were able to trigger vibration motors, and Talay adapted them to our path planning communication.
I think we made good progress this week but our schedule is still tight. For the upcoming week, I think we are on a good track if we can have the entire system integrated; this involves setting up the UWB to be calibrated with the occupancy matrix in the full room. We also need to consider how to set this system up for demo day; I am thinking to buy some tall stands, and use them to hang our overhead camera and install our UWB anchors.
For verification, I want to measure the precision between the sensors. What is interesting is that the absolute distance doesn’t really matter since our distances are arbitrarily scaled. But we can verify that the measurements are consistent across each anchor. Then, we should verify the accuracy of the actual localization system by comparing the actual vs measured location.
