Good day all,
Currently i am using the anchor autocalibration code, courtesy of @jremington
(GitHub - jremington/UWB-Indoor-Localization_Arduino: Open source Indoor localization using Arduino and ESP32_UWB tags + anchors), but getting grossly inaccurate antenna delay (Adelay) values using the ESP32 UWB pro module by makerfabs. I get these inaccurate values in both my 1 and 7 meter anchor autocalibration. in my trials i have Gotten Final Adelay values ranging from 20k-60k. Currently i have both modules on a table 1 meter apart as im testing. Any guidance will be greatly appreciated thank you.
Anchor code:
// This program calibrates an ESP32_UWB module intended for use as a fixed anchor point
// uses binary search to find anchor antenna delay to calibrate against a known distance
//
// modified version of Thomas Trojer's DW1000 library is required!
// Remote tag (at origin) must be set up with default antenna delay (library default = 16384)
// user input required, possibly unique to each tag:
// 1) accurately measured distance from anchor to tag
// 2) address of anchor
//
// output: antenna delay parameter for use in final anchor setup.
// S. James Remington 2/20/2022
#include <SPI.h>
#include "DW1000Ranging.h"
#include "DW1000.h"
// ESP32_UWB pin definitions
#define SPI_SCK 18
#define SPI_MISO 19
#define SPI_MOSI 23
#define DW_CS 4
// connection pins
const uint8_t PIN_RST = 27; // reset pin
const uint8_t PIN_IRQ = 34; // irq pin
const uint8_t PIN_SS = 4; // spi select pin
char this_anchor_addr[] = "84:00:22:EA:82:60:3B:9C";
float this_anchor_target_distance = 1; //measured distance to anchor in m
uint16_t this_anchor_Adelay = 16600; //starting value
uint16_t Adelay_delta = 100; //initial binary search step size
void setup()
{
Serial.begin(115200);
while (!Serial);
//init the configuration
SPI.begin(SPI_SCK, SPI_MISO, SPI_MOSI);
DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin
Serial.print("Starting Adelay "); Serial.println(this_anchor_Adelay);
Serial.print("Measured distance "); Serial.println(this_anchor_target_distance);
DW1000.setAntennaDelay(this_anchor_Adelay);
DW1000Ranging.attachNewRange(newRange);
DW1000Ranging.attachNewDevice(newDevice);
DW1000Ranging.attachInactiveDevice(inactiveDevice);
//Enable the filter to smooth the distance
//DW1000Ranging.useRangeFilter(true);
//start the module as anchor, don't assign random short address
DW1000Ranging.startAsAnchor(this_anchor_addr, DW1000.MODE_LONGDATA_RANGE_LOWPOWER, false);
}
void loop()
{
DW1000Ranging.loop();
}
void newRange()
{
static float last_delta = 0.0;
Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), DEC);
float dist = DW1000Ranging.getDistantDevice()->getRange();
Serial.print(",");
Serial.print(dist);
if (Adelay_delta < 3) {
Serial.print(", final Adelay ");
Serial.println(this_anchor_Adelay);
// Serial.print("Check: stored Adelay = ");
// Serial.println(DW1000.getAntennaDelay());
while(1); //done calibrating
}
float this_delta = dist - this_anchor_target_distance; //error in measured distance
if ( this_delta * last_delta < 0.0) Adelay_delta = Adelay_delta / 2; //sign changed, reduce step size
last_delta = this_delta;
if (this_delta > 0.0 ) this_anchor_Adelay += Adelay_delta; //new trial Adelay
else this_anchor_Adelay -= Adelay_delta;
Serial.print(", Adelay = ");
Serial.println (this_anchor_Adelay);
// DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin
DW1000.setAntennaDelay(this_anchor_Adelay);
}
void newDevice(DW1000Device *device)
{
Serial.print("Device added: ");
Serial.println(device->getShortAddress(), HEX);
}
void inactiveDevice(DW1000Device *device)
{
Serial.print("delete inactive device: ");
Serial.println(device->getShortAddress(), HEX);
}
Tag code:
// currently tag is module #5
// The purpose of this code is to set the tag address and antenna delay to default.
// this tag will be used for calibrating the anchors.
#include <SPI.h>
#include "DW1000Ranging.h"
#include "DW1000.h"
#define SPI_SCK 18
#define SPI_MISO 19
#define SPI_MOSI 23
#define DW_CS 4
// connection pins
const uint8_t PIN_RST = 27; // reset pin
const uint8_t PIN_IRQ = 34; // irq pin
const uint8_t PIN_SS = 4; // spi select pin
// TAG antenna delay defaults to 16384
// leftmost two bytes below will become the "short address"
char tag_addr[] = "7D:00:22:EA:82:60:3B:9C";
void setup()
{
Serial.begin(115200);
delay(1000);
//init the configuration
SPI.begin(SPI_SCK, SPI_MISO, SPI_MOSI);
DW1000Ranging.initCommunication(PIN_RST, PIN_SS, PIN_IRQ); //Reset, CS, IRQ pin
DW1000Ranging.attachNewRange(newRange);
DW1000Ranging.attachNewDevice(newDevice);
DW1000Ranging.attachInactiveDevice(inactiveDevice);
// start as tag, do not assign random short address
DW1000Ranging.startAsTag(tag_addr, DW1000.MODE_LONGDATA_RANGE_LOWPOWER, false);
}
void loop()
{
DW1000Ranging.loop();
}
void newRange()
{
Serial.print(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX);
Serial.print(",");
Serial.println(DW1000Ranging.getDistantDevice()->getRange());
}
void newDevice(DW1000Device *device)
{
Serial.print("Device added: ");
Serial.println(device->getShortAddress(), HEX);
}
void inactiveDevice(DW1000Device *device)
{
Serial.print("delete inactive device: ");
Serial.println(device->getShortAddress(), HEX);
}
