Preparation

System higher than Ubuntu 16.04 (with ROS).

sudo apt-get updatesudo apt install python-pipsudo pip install --user numpy scipy matplotlib ipython jupyter pandas sympy nosesudo easy_install -U statsmodelssudo apt install libcholmod3.0.6 libcsparse3.1.4 libsuitesparse-dev python-cvxopt sudo apt install ros-kinetic-hector-trajectory-server

git clone https://github.com/RainerKuemmerle/g2o

cd g2o ; git checkout deafc01ee8315b9405351fb145238c5d62f82dc7mkdir build ; cd buildcmake .. ; make -j4sudo make install

git clone https://github.com/wang-chen/uwb_driver.gitsudo apt-get install ros-kinetic-serial

please find its driver on:https://github.com/wang-chen/lps-ros

add_definitions(-DTIME_DOMAIN)

Usage

1. The following ROS param should be set before the program is started

/uwb/nodesId: an array, the IDs of the UWB anchors (the last ID is the moving module to be localized)/uwb/nodesPos: an array, the postions (x, y, z) of the UWB anchors (the last three elements, is the initial postion of the moving module to be localized)/uwb/antennaOffset: the antenna offset on the moving module, there may be multiple antennas. DONOT SET IT IF THERE IS NO OFFSET  One example can be found in the uwb_driver repo:https://github.com/wang-chen/uwb_driver/blob/master/cfg/anchor.yaml

2. Program Parameters

It can be set by modifying the yaml files in the cfg folder.Include the specific yaml file in your launch file. For example, the "uwb_only.yaml" sets parameters for uwb-only localization.

3. Topic subscriber

This localizaiton repo subsribes the specific sensor measurement topic.Make sure they are published before the program is started.The topic name can also be changed in the aformentioned yaml files.

If you are interested in this work, you may cite:

@article{fang2020graph,  title={Graph Optimization Approach to Range-based Localization},  author={Fang, Xu and Wang, Chen and Nguyen, Thien-Minh and Xie, Lihua},  journal={IEEE Transactions on Systems, Man and Cybernetics: Systems},  year={2020}}@inproceedings{fang2018model,  title={Model-free approach for sensor network localization with noisy distance measurement},  author={Fang, Xu and Wang, Chen and Nguyen, Thien-Minh and Xie, Lihua},  booktitle={2018 15th International Conference on Control, Automation, Robotics and Vision (ICARCV)},  pages={1973--1978},  year={2018},  organization={IEEE}}@inproceedings{wang2017ultra,  title={Ultra-Wideband Aided Fast Localization and Mapping System},  author={Wang, Chen and Zhang, Handuo and Nguyen, Thien-Minh and Xie, Lihua},  booktitle={IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},  pages={1602--1609},  year={2017},  organization={IEEE}}