This week I was able to create the ranging UWB ranging pipeline between one of the UWB modules and an ESP32S3. In order to do so, I had to solder some header pins to the DWM3001CDK, and then hooked up the UART pins, 5V, and GND pins to the ESP32S3. The ESP32S3 sends CLI commands and then receives ranging data over UART. After this, I setup one DWM board to be an initiator for TWR while another was setup as a responder. The initiator was connected to and powered solely by the ESP32S3, while the responder was connected to my computer over USB. With this setup, I confirmed from the ESP32S3’s serial monitor that the ranging data was successfully being picked up. Lastly, I also set the UWB modules to be roughly 15cm away from each other and confirmed that the measurements were, on average, accurate.
Regarding scheduling, I am behind on implementing formation of the global frame as this was supposed to be completed by today, however to compensate I plan on spending additional slack time tomorrow working on this. The primary concern in falling behind on this task is that the trilateration implementation requires the anchor boards to have coordinates assigned to them, and so a coordinate system is needed. However, this can technically be solved temporarily for trilateration testing purposes by assigning an arbitrary origin and axes. Therefore, my plan is to allow myself until Monday night to complete global frame formation. If I’m unable to completely finish it by this point, then I will move onto implementing the trilateration algorithm and plan to test by assigning a corner of the Hamerschlag room that our group works in, and define the axes myself. I gave myself longer than what should be necessary to implement trilateration (the algorithm is pretty straightforward), so I hope to finish that part early, giving me time to return to global frame formation if need be.
As mentioned above, the deliverables I hope to complete next week are global frame formation and trilateration, but I will prioritize trilateration if global frame formation takes me longer than Monday to complete.