This week I completed the hardware preparation needed for full anchor deployment by soldering and rewiring all five anchors so they could reliably operate with their battery packs. I validated the setup through over five hours of continuous operation to confirm that the system can support the required runtime. I also flashed and configured the operating systems on all of the Raspberry Pi 5 units, completed device setup, and connected them to the campus network so that our team can remotely access and manage the devices when needed. Additionally, I implemented a real time UWB tracking pipeline to begin evaluating node accuracy and movement across the anchors which now utilize a polygon system to create the 2D space upon configuration of locations. Moreover, I developed per anchor range filtering using a rolling median and adaptive EWMA approach to reduce noise while still preserving responsiveness, then using bounded Gauss Newton multilateration to estimate node position from the anchor measurements while keeping the solution within the valid anchor footprint. Next up I hope to properly calibrate the anchors, and continue fine tuning accuracy. In parallel, I built a live UWB visualizer that displays the anchor layout, current node position, and movement history, along with playback controls for reviewing recorded tracking data. I have also began software preparation on our multi-node configuration, which will be finalized in the next couple of days, maintaining our schedule.
