Introduction

DWM1001C is a radio technology that utilizes the DW1000 Ultra-Wideband (UWB) transceiver IC, which is compliant with the IEEE 802.15.4a standard for UWB implementation. This module integrates a UWB (Channel 5) and Bluetooth® antenna, a Nordic Semiconductor nRF52832 microcontroller, and a motion sensor.

It is known for its ability to transmit high-bandwidth data over short distances, using minimal amounts of energy. It operates across a broad range of the radio spectrum, making it highly versatile and ideal for various applications. This technology is a cost-effective and efficient solution for communication needs within close proximity.

The DWM1001-DEV is a development board specifically designed for the DWM1001C module. It features an integrated Jlink, providing a convenient solution for development and debugging.

Applications that require precise positioning include, but are not limited to:

• Hospitals for emergency response and patient care.
• Peer-to-peer fine ranging for precise distance measurement.
• Real-time location systems for navigation and asset tracking.

About

This project contains C++ examples that demonstrate how to interface with the DWM1001-DEV board through a UART protocol with a Linux-based OS using the Standard C POSIX library. The Eigen3 Library is used to ensure smooth geolocation data acquisition by implementing a Kalman Filter for noise reduction. The examples within this project leverage ROS for potential use in state estimation and navigation applications.

Docker Usage

1. Pulling the Docker container.

   docker pull duckstarr/dwm1001:arm32v7
   

2. Deploying (executing) the Docker container.

   docker run -it --rm --privileged --name dwm1001 \
       duckstarr/dwm1001:arm32v7 \
       roslaunch dwm1001_ros main.launch
   

DWM1001-DEV API

Published Topics

~< name >/Point (geometry_msgs/PointStamped)

• The position of the DWM1001 Module in cartesian coordinate.

Parameters

~< name >/device (string, default: /dev/ttyACM0)

• The aboslute path to DWM1001 device.

~< name >/nominal_update_rate (int, default: 100)

• The nominal update rate of the DMW1001 module.