Commit 5a11ff3e authored by Cung Lian Sang's avatar Cung Lian Sang
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# Positioning Algorithms for UWB Localization in Matlab
The Matlab scripts and its corresponding experimental data for five positioning algorithms regarding UWB localization system are provided in this repository. The five algorithms are Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Taylor Series-based location estimation technique, Trilateration, and Multilateration methods. The UWB system under investigation is assumed as the state-space model. A constant velocity motion model is used as the state model for the mentioned UWB positioning and navigation system. In contrast to typical simulation approach for comparative analysis in literature, we use the experimental data directly achieved from the UWB hardware module manufacutured by Qorvo (Decawave) called [TREK1000/EVK1000](https://www.decawave.com/product/evk1000-evaluation-kit/) evaluation boards. The documentation of the evalauted five algorithms and their comparative results can also be found in our paper entitle [A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data](https://ieeexplore.ieee.org/document/8970249).
The Matlab scripts and its corresponding experimental data for five positioning algorithms regarding UWB localization system are provided in this repository. The five algorithms are Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Taylor Series-based location estimation technique, Trilateration, and Multilateration methods. The UWB system under investigation is assumed as the state-space model. A constant velocity motion model is used as the state model for the mentioned UWB positioning and navigation system. In contrast to typical simulation approach for comparative analysis in literature, we use the experimental data directly achieved from the UWB hardware module manufacutured by Qorvo (Decawave) called [TREK1000/EVK1000](https://www.decawave.com/product/evk1000-evaluation-kit/) evaluation boards. The documentation of the evalauted five algorithms and their comparative results can also be found in our paper entitled [A Comparative Study of UWB-based True-Range Positioning Algorithms using Experimental Data](https://ieeexplore.ieee.org/document/8970249).
The code snippets regarding the point clould transformation and registration of the Vicon camera system used in this repo were written by [Timo](https://github.com/tik0).
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