atlas_rtls

Overview

This is the ATLAS Real-Time Localization System (RTLS). ATLAS is based on ultra-wideband using the time-difference of arrival (TDOA) topology in which the mobile nodes transmit periodically and the infrastructure-based nodes are mostly passive.

Keywords:

License

The source code of the localization is released under BSD 3-Clause license.

Authors: Janis Tiemann, Yehya Elmasry, Johannes Friedrich

Maintainer: Janis Tiemann, janis.tiemann@tu-dortmund.de

Affiliation: Communication Networks Institute (CNI), TU Dortmund University

Publications

If you use this work in an academic context, please cite the following publication(s):

J. Friedrich, J. Tiemann, C. Wietfeld, Accurate Multi-Zone UWB TDOA Localization utilizing Cascaded Wireless Clock Synchronization, In 11th International Conference on Indoor Positioning and Indoor Navigation (IPIN), Lloret de Mar, Spain, Dezember 2021. (accepted for presentation).

  @InProceedings{Friedrich2021accurate,
          Author = {Johannes Friedrich and Janis Tiemann and Christian Wietfeld},
          Title = {Accurate Multi-Zone {UWB} {TDOA} Localization utilizing Cascaded Wireless Clock Synchronization},
          Booktitle = {11th International Conference on Indoor Positioning and Indoor Navigation (IPIN)},
          Year = {2021},
          Publishingstatus = {accepted for presentation},
          Address = {Lloret de Mar, Spain},
          Month = {Dec}
  }

J. Tiemann, Y. Elmasry, L. Koring, C. Wietfeld, ATLAS FaST: Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization, In IEEE International Conference on Robotics and Automation (ICRA), Montréal, Canada, May 2019.

  @InProceedings{Tiemann2019atlasfast,
          Author = {Janis Tiemann and Yehya Elmasry and Lucas Koring and Christian Wietfeld},
          Title = {ATLAS FaST: Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization},
          Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
          Year = {2019},
          Address = {Montréal, Canada},
          Month = {May}
  }

The atlas_rtls package has been tested under ROS Kinetic and Ubuntu 18.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),
Eigen (linear algebra library)
```
  sudo apt-get install libeigen3-dev
```

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/tudo-cni-atlas/atlas_rtls.git
cd ../
catkin_make -j1

Usage

Due to the numerous configuration files that are required to run the ATLAS RTLS, a seperate deployment-specific config repository is needed. An example is provided here: Example config and raw data

The firmware for the nodes will be provided upon completion of academic review.

Nodes

atlas_node_bridge

Connects an anchor node through the serial protocol interface.

atlas_core

Collects the TOA messages from multiple node bridges and assembles samples.

atlas_loc

Calculates position results from the sample messages of the atlas core.

atlas_fast

Provides scheduling for ATLAS FaST enabled mobile tags.

atlas_viz

Enables visualization of the anchor nodes within rviz.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.