Commit d5e4f417 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 in positioning and navigation purposes are provided in this repository. The five algorithms are Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Taylor Series-based location estimation technique, Trilaateration, and Multilateration methods. The UWB system under investigation is assumed as the state-space model. A constant velocity motion model is apllied in the state model of the UWB-based positioning and navigation system in this repo. In contrast to typical simulation approach for comparative analysis of location estimation algorithms, we use the experimental data achieved from the UWB module from Qorvo (formely Decawave) namely TREK1000/EVK1000 development boards. The documentation of the evalauted algorithms and a few results from this repository can 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 in positioning and navigation purposes are provided in this repository. The five algorithms are Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Taylor Series-based location estimation technique, Trilaateration, and Multilateration methods. The UWB system under investigation is assumed as the state-space model. A constant velocity motion model is apllied in the state model of the UWB-based positioning and navigation system in this repo. In contrast to typical simulation approach for comparative analysis of location estimation algorithms, we use the experimental data achieved from the UWB module from Qorvo (formely Decawave) namely TREK1000/EVK1000 development boards. The documentation of the evalauted algorithms and a few results from this repository can 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 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) and are fully credited to him.
## Dependencies
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