mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
Gautier Hattenberger
2aabe921b3
Implement trilateration algorithm for positionning using the UltraWideBand modules DW1000 from Decawave. The interface with the modules is done with an arduino using the low level library https://github.com/thotro/arduino-dw1000 with some modifications. The data extraction and trilateration are working, calibration and real flight have not been done at the moment.
58 lines
1.7 KiB
C
58 lines
1.7 KiB
C
/*
|
|
* Copyright (C) 2017 Gautier Hattenberger <gautier.hattenberger@enac.fr>
|
|
*
|
|
* This file is part of paparazzi
|
|
*
|
|
* paparazzi is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 2, or (at your option)
|
|
* any later version.
|
|
*
|
|
* paparazzi is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with paparazzi; see the file COPYING. If not, see
|
|
* <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/**
|
|
* @file "modules/decawave/trilateration.h"
|
|
* @author Gautier Hattenberger
|
|
* Trilateration algorithm
|
|
* https://en.wikipedia.org/wiki/Trilateration
|
|
*/
|
|
|
|
#ifndef TRILATERATION_H
|
|
#define TRILATERATION_H
|
|
|
|
#include "std.h"
|
|
#include "math/pprz_geodetic_float.h"
|
|
|
|
/** Anchor structure */
|
|
struct Anchor {
|
|
float distance; ///< last measured distance
|
|
float time; ///< time of the last received data
|
|
struct EnuCoor_f pos; ///< position of the anchor
|
|
uint16_t id; ///< anchor ID
|
|
};
|
|
|
|
/** Init internal trilateration structures
|
|
*
|
|
* @param[in] anchors array of anchors with their location
|
|
*/
|
|
extern int trilateration_init(struct Anchor *anchors);
|
|
|
|
/** Compute trilateration based on the latest measurments
|
|
*
|
|
* @param[in] anchors array of anchors with updated distance measurements
|
|
* @param[out] pos computed position
|
|
* @return error status (0 for valid position)
|
|
*/
|
|
extern int trilateration_compute(struct Anchor *anchors, struct EnuCoor_f *pos);
|
|
|
|
#endif
|
|
|
|
|