fy03_localization

A ROS package containing an outdoor localization system that fuses UWB and IMU sensor data through a Particle Filter.

Overview

This repository contains a UWB-IMU sensor fusion algorithm developed for the purposes of affordable outdoor localization. Specifically, absolute positioning data from Decawave's DWM1001 UWB sensors and relative motion data from Adafruit's BNO055 IMU sensors are fused using a Particle Filter; the output of the process is a continuous best-estimate of pose (position and orientation). The entire system is built within the ROS ecosystem, and is deployed on the Raspberry Pi 4 Model B (4 GB RAM). The drivers for the BNO055 IMU and DWM1001 UWB sensors are not contained within this repository; they need to be installed individually. Upon setting up the UWB perimeter and connecting the IMU and UWB (tag) to the Raspberry Pi, real-time localization can be performed using this package.

Prerequisites

Software

• ROS Kinetic

Hardware

• Raspberry Pi 4 Model B (4 GB RAM recommended)
• Adafruit's BNO055 Absolute Orientation Sensor
• Decawave's DWM1001 Development Kit (x5 recommended: 1 tag, 4 anchors)
• Android Smartphone

Installation

Install from Git Repository

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone --single-branch --branch kinetic-devel https://github.com/joeyjyyang/fy03_localization.git # Localization package
git clone --single-branch --branch kinetic-devel https://github.com/joeyjyyang/ros_dwm1001.git # UWB package
git clone --single-branch --branch kinetic-devel https://github.com/joeyjyyang/ros_bno055.git # IMU package
cd .. 
sudo apt-get install -y
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
catkin_make
source devel/setup.bash
rospack profile

Setup

Raspberry Pi Setup

1. Install ROS Kinetic either on default Raspberry Pi OS, or using Raspberry Pi image containing Ubuntu 16.04 and ROS Kinetic
2. Enable software I2C on Raspberry Pi

UWB Setup

1. Install Decawave Android application onto Android smartphone
2. Connect DWM1001 UWB (tag) to Raspberry Pi over USB (Micro B to USB)
3. Configure UWB system (3-4 anchors, 1 tag) using Decawave's Quickstart
4. Launch DWM1001 ROS driver node to see UWB data in ROS

IMU Setup

1. Wire IMU to Raspberry Pi over GPIO (I2C) pins
2. Launch BNO055 ROS driver node to see IMU data in ROS

Nodes

• fy03_localization_node

Topics

Subscribed Topics

• /tag
• /imu/data

Published Topics

• /fused_pose

Usage

Example

roslaunch fy03_localization localization_online.launch

Contact

• Author and Maintainer: Joey Yang
• Email: joeyyang.ai@gmail.com
• GitHub: https://github.com/joeyjyyang
• LinkedIn: https://www.linkedin.com/in/joey-yang